Patent Document ID: 9892328
Application ID: 14737522
Patent Status: 1

Claim One:
1. A method of processing images captured by a camera mountable in a host vehicle while the vehicle is moving, the method comprising: capturing a first image frame and a second image frame from a field of view of the camera; tracking corresponding image points from the first image frame and the second image frame; detecting a plurality of corresponding suspect hazard image points, from among the tracked image points, based on a comparison of the first image frame to the second image frame; provisionally classifying the suspect hazard image points as part of a hypothetical static object on a road; comparing a change in a position of a bottom edge of the hypothetical static object in the first image frame and the second image frame relative to a change in a position of an image point of a road plane in the first image frame and the second image frame; and rejecting the provisional static object classification if the change in the position of the bottom edge of the hypothetical static object is not attributable to the change in the position of the image point of the road plane or validating the provisional static object classification if the change in the position of the bottom edge of the hypothetical static object is attributable to the change in the position of the image point of the road plane.