Patent ID: 7741961

Claim:
An obstacle detection system to detect objects in the path of a motor vehicle moving on a road surface and identify which of said objects are of potential concern as obstacles, the obstacle detection system comprising: a depth imaging system that acquires depth data and is attachable to said motor vehicle so as to have a field of view encompassing at least a portion of a desired detection zone in which an object of potential concern to said motor vehicle may be present, said depth imaging system including an emitter of optical energy, at least one detector that detects at least a fraction of the emitted said optical energy reflected by at least one of said objects, and means for determining said depth data from a comparison of the emitted said optical energy and said fraction of said optical energy reflected by at least one of said objects; means for processing data acquired by said depth imaging system to model said road surface in at least said detection zone so as to define at least one road plane therein; means for discerning from data processed by said means for processing objects that are of potential concern to said motor vehicle; and means for signaling at least one warning mechanism, coupled to said means for discerning, responsive to identification of an object of potential concern.