Patent ID: 9747507
Date: 2017-08-29
CPC Classifications: G06K,G06T

Claim:
1. A method to detect the ground plane of a road scene from two images of the scene comprising: generating a road model of each image; determining a vanishing point in each image; determining a region of interest in each image by selecting a region of the image positioned below a horizon line extending through the determined vanishing point in each image; masking lane markings in each image: determining corresponding feature points in the road models of each image by extracting features and their corresponding descriptors from each image and comparing the descriptors from one image to that of the other image; performing homography computations using corresponding features in the road models of each image; using a plurality of the corresponding features to select sets of homography points and computing a plurality of homography matrices from the sets of homography points; and selecting the most dominant homography matrix and using it to warp one of the images.