Patent ID: 7660436
Filing Date: 2010-02-09
Classification: G06K

Abstract:
1. A computer implemented method of detecting an imminent collision comprising the steps of: capturing and preprocessing imagery of a scene proximate a platform using an image processor; producing from the imagery a depth map using the image processor, wherein each pixel in the depth map has associated 3D position data; performing by the image processor the steps of tessellating the depth map into a number of patches and selecting a plurality of the patches of the depth map for processing, wherein said processing comprise fitting a plane to each patch of said selected plurality the patches, obtaining a normal vector to each said plane, and classifying the selected plurality of patches of the depth map into a plurality of classes based on the obtained normal vector for each said selected patch and on said 3D position data; and detecting a potential threat in the tessellated depth map during the processing of the selected plurality of the patches.