Patent ID: 9721172
Date: 2017-08-01
CPC Classifications: G06K,G06T

Claim:
1. An imaging system of a vehicle, comprising: an imager configured to acquire images of a scene external and forward of the vehicle and to generate image data corresponding to the acquired images; and a controller configured to: detect a plurality of objects of interest in the image data, wherein each object of interest comprises one of a moving object and a stationary object; analyze an optical flow between successive image frames, the optical flow including a pattern of apparent motion of the objects of interest caused by a relative motion between the imager and the scene; compute a vertical position value based on a change in vertical position for each object of interest appearing in the successive image frames; compute a vertical motion value based on a change in vertical position for only the objects of interest appearing in the successive image frames as having a common apparent motion in a vertical direction; determine the relative motion in the vertical direction based on a relationship between the vertical position value and the vertical motion value; determine the relative motion in a horizontal direction based on a vehicle heading; and based on the relative motion determined in the vertical and horizontal directions, correct for apparent motion and generate a control signal provided to a vehicle device.