US 11,704,902 B2
Field determination for obstacle detection
Vikram Appia, San Jose, CA (US); Umit Batur, Seattle, WA (US); and Qian Song, Menlo Park, CA (US)
Assigned to Rivian IP Holdings, LLC, Plymouth, MI (US)
Filed by Rivian IP Holdings, LLC, Plymouth, MI (US)
Filed on Jul. 16, 2020, as Appl. No. 16/930,489.
Prior Publication US 2022/0017096 A1, Jan. 20, 2022
Int. Cl. G06V 20/00 (2022.01); G08G 1/16 (2006.01)
CPC G06V 20/00 (2022.01) [G08G 1/166 (2013.01)] 17 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a path identifier configured to identify a path of travel for a vehicle;
at least one camera disposed on the vehicle configured to capture image data of an area including the path of travel;
a region of interest selector configured to select a region of interest within the image data, wherein a horizontal width of the region of interest is specified by the path of travel and a vertical height of the region of interest is fixed or specified based on the horizontal width, and wherein visually homogeneous portions of the region of interest are filtered out to reduce the vertical height of the region of interest;
a horizon identifier configured to identify a horizon in the region of interest; and
a field determiner configured to project the horizon onto the region of interest to isolate a field within the region of interest specified by the path of travel and the horizon, the field being evaluatable for the presence of objects.