Patent attributes
An image sequence is inputted from a camera and vertical motion is estimated. A windowed horizontal edge-projection is extracted from the inputted image sequence and corresponding horizontal edges are projected. The horizontal edge-projection and the vertical motion estimation are combined in a horizontal segmentation and tracking element, and are forwarded to an object parameter estimation element, where the object's distance and height are estimated. This data is combined in a fusion with a radar detection element. By correctly matching the overhead objects sensed by the radar detection element and the video camera, the proximity and relative speed can be ascertained. Once overhead objects have been identified they can be isolated and not considered for collision avoidance purposes.
