Patent Document ID: 8803966
Application ID: 12581792
Patent Status: 1

Claim One:
1. A method for detecting a clear path of travel for a vehicle using a current image generated by a camera, the method comprising: determining a human-defined exemplary clear path for each of a plurality of sample images, the human-defined exemplary clear path determined during an off-line training process; during the off-line training process, identifying features as corresponding to one of the clear path and an obstacle within each of the plurality of sample images, comprising convoluting selected patches corresponding to the human-defined exemplary clear path within each sample image to obtain a plurality of filter responses for each selected patch using a filter bank, summing absolute responses for each filter, applying area normalization to compensate for different image areas within each sample image by dividing the image area of each selected patch, and forming a predetermined dimensional feature vector associated with each selected patch based on the applied area normalization; storing the identified features within each of the plurality of sample images in a refined database; monitoring the current image generated by the camera; identifying features within the current image; comparing the identified features within the current image to the identified features within each of the plurality of sample images stored in the refined database; selecting one or more candidate sample images from the plurality of sample images, each candidate sample image having identified features that match the identified features within the current image; matching the current image to the one or more candidate sample images based upon the identified features within the current image and the identified features within the one or more candidate sample images; determining a clear path of travel for the current image based upon the matching and the exemplary clear path for each of the one or more candidate sample images; and utilizing the clear path of travel to navigate the vehicle.