Patent Document ID: 10140530
Application ID: 15713875
Patent Status: 1

Claim One:
1. A method for identifying path boundary for vehicle navigation, the method comprising: capturing, by a vehicle navigation device, a plurality of images of a path being traversed by a vehicle, through a plurality of cameras placed to meet predefined placement criteria; processing, by the vehicle navigation device, shadowed regions within each of the plurality of images based on an associated Hue Saturation and Value (HSV) color space to generate a plurality of shadow processed images; identifying, by the vehicle navigation device, boundaries of the path within each of the plurality of shadow processed images based on a histogram of each of the plurality of shadow processed images; and estimating, by the vehicle navigation device, a distance between the boundaries of the path identified in the plurality of shadow processed images, based on a disparity map created for the plurality of shadow processed images and parameters associated with the plurality of cameras.