Patent ID: 8934669
Filing Date: 2015-01-13
Classification: G06K

Abstract:
1. A self-adaptive image-based obstacle detection method, comprising steps: capturing an original image; transforming said original image to an HSV (Hue-Saturation-Value) color space, and retrieving a hue component (H) and a saturation component (S) of said HSV color space to form an HS-based image; dividing said HS-based image into a plurality of image blocks; selecting one of said image blocks as a background block; according to an obstacle recognition equation, determining whether each of said image blocks in said HS-based image is similar to said background block; if said image block is dissimilar to said background block, deleting said image block; if said image block is similar to said background block, preserving said image block to form a binary obstacle image; and overlaying said binary obstacle image on said original image to filter out a background and obtain an initial ambit of an obstacle image.