Patent Document ID: 9437001
Application ID: 14490369
Patent Status: 1

Claim One:
1. A computing device for determining a distance of an object from a vehicle, the computing device comprising: a fisheye camera to capture a fisheye image; an object projection module to (i) identify an object captured in the fisheye image and (ii) project a contour of the identified object on a selected virtual plane that is located outside the vehicle and selected from a predefined set of virtual planes based on a location of the identified object relative to the vehicle; and a location determination module to (i) identify a bottom of the projected contour on the selected virtual plane, (ii) determine an intersection point of an imaginary line with a ground plane coincident with a plane on which the vehicle is positioned, wherein the imaginary line passes through each of the identified bottom of the projected contour and the fisheye camera, and (iii) determine a location of the identified object relative to the vehicle based on the determined intersection point and the identified bottom of the projected contour.