Patent ID: 9269142
Filing Date: 2016-02-23
CPC Classification: G06K,G06T,H04N

Claim Text:
1. A method for determining a state of obstruction of at least one camera in a multi-camera system installed on board a vehicle comprising the following steps: acquisition of the successive stereoscopic images of a field of view, each stereoscopic image from the multi-camera system being formed from left and right images ( calculation of a disparity map based on successive multi-camera images, and calculation of a level of obstruction as being a weighted average determined by the following steps: breakdown of the disparity map ( determination of the density of each sector ( determination of a probability of stereo obstruction by sector ( determination ( wherein the method furthermore comprises a complementary mono-stereo combined analysis test including the following steps in order to determine the presence of an object in front of a camera: selection ( breakdown ( calculation ( comparison of the probabilities of stereo and mono obstruction, then merging ( if the probability of merged obstruction is globally less than the probability of stereo obstruction (test in the opposite case, an object is considered as having masked the field of view of the camera being analyzed.