Patent Document ID: 9990550
Application ID: 14491009
Patent Status: 1

Claim One:
1. A system that facilitates detecting an object in a surround-view image of a vehicle, comprising: a first camera that captures a first image of an object; a second camera that captures a second image of the object; a processor configured to: generate a composite image by merging the first and second images; analyze the composite image to detect one or more features indicative of the type of object in the composite image; and generate a signal that indicates the presence of the object and location of the object relative to the vehicle; and a ray calculation module configured to calculate at least one ray emanating from each camera through its field of view to a boundary of a more distant half, relative to each camera, of an area of disagreement D between the first and second images, wherein the calculated rays define an outline of the object; wherein the processor is further configured to scan pixels defining the area of disagreement in order to determine where the calculated rays intersect, and identify a highest point of intersection as a highest point of the object; wherein the processor is further configured to identify a V-shape formed in the composite image by the front and rear views of the object, and to confirm that the object is a one of cyclist or a pedestrian.