Patent ID: 9704062
Date: 2017-07-11
CPC Classifications: B60R,G06K,G06T

Claim:
1. An apparatus for warning an obstacle of a vehicle comprising: an image obtaining device configured to take an image around the vehicle through at least two image sensors; an image segmentation device configured to segment a current reference image obtained through one image sensor among the at least two image sensors in blocks of an object; a motion estimator configured to estimate two dimensional motion information of the object in each of segmented blocks segmented by the image segmentation device; a variation estimator configured to estimate distance information between the object in a segmented block and the vehicle; a relative motion estimator configured to estimate three dimensional relative motion information of the object in the segmented block by combining the two dimensional motion information and the distance information; a collision time estimator configured to estimate a collision time between the object in the segmented block and the vehicle by using the three dimensional relative motion information; an image processor configured to adjust a brightness of a corresponding segmented block in a pre-defined ratio according to the collision time; and a display configured to display an image processed by the image processor, wherein the image processor adds a shadow effect to an outline of the corresponding segmented block if the collision time is less than a threshold time.