Patent ID: 6963657
Filing Date: 2005-11-08
Classification: G01S,G06K,G06T,G08G

Abstract:
1. An object recognition system mounted on a vehicle, comprising: one or more sensors for capturing an image of a road surface; measuring means for dividing the image into a plurality of windows and measuring distance to the road surface for each of the plurality of the windows; means for storing, for each of the plurality of the windows, estimated distance to the road surface; means for comparing, for each of the plurality of the windows, the measured distance with the estimated distance to determine if the measured distance belongs to the road surface; inclination estimation means for estimating a relative inclination of the road surface against the vehicle based on the measured distances that are determined to be of the road surface; and means for modifying the estimated distances based on the inclination estimated by said inclination estimation means.