US 12,235,108 B2
Determination of free space around a vehicle
Lior Regev, Alei Zahav (IL); Tomer Baba, Jerusalem (IL); Ariel Benou, Be'er Sheva (IL); David Aloni, Tel Aviv (IL); Dmitry Kirzhner, Ness Ziona (IL); and Jack Kario, Jerusalem (IL)
Assigned to Mobileye Vision Technologies Ltd., Jerusalem (IL)
Filed by MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed on May 19, 2023, as Appl. No. 18/199,626.
Application 18/199,626 is a continuation of application No. 17/635,599, granted, now 11,680,801, previously published as PCT/US2020/067756, filed on Dec. 31, 2020.
Claims priority of provisional application 62/957,524, filed on Jan. 6, 2020.
Claims priority of provisional application 62/956,964, filed on Jan. 3, 2020.
Claims priority of provisional application 62/956,970, filed on Jan. 3, 2020.
Claims priority of provisional application 62/957,014, filed on Jan. 3, 2020.
Prior Publication US 2023/0296382 A1, Sep. 21, 2023
Int. Cl. G01C 21/00 (2006.01); B60W 60/00 (2020.01); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/82 (2022.01); G06V 40/10 (2022.01)
CPC G01C 21/00 (2013.01) [B60W 60/0016 (2020.02); G06T 7/50 (2017.01); G06T 7/70 (2017.01); G06V 10/25 (2022.01); G06V 10/82 (2022.01); G06V 40/103 (2022.01); B60W 2420/403 (2013.01); G06T 2207/10028 (2013.01); G06T 2207/20081 (2013.01); G06T 2207/20084 (2013.01); G06T 2207/30196 (2013.01); G06T 2207/30261 (2013.01)] 25 Claims
OG exemplary drawing
 
1. A system for detecting free space relative to a host vehicle and for navigating the host vehicle relative to the detected free space, the system comprising:
at least one processor comprising circuitry and a memory, wherein the memory includes instructions that when executed by the circuitry cause the at least one processor to:
receive a plurality of images acquired by one or more cameras associated with the host vehicle, the plurality of images representing regions forward, behind, and to the sides of the host vehicle;
correlate the plurality of images by aligning corresponding points in the plurality of images to generate a stitched image;
generate a simulated top view of an environment surrounding the host vehicle, wherein the simulated top view is generated by:
analyzing the stitched image to identify a representation of at least one object in the environment surrounding the host vehicle; and
positioning the representation of the at least one object within the simulated top view at a location based on the stitched image;
analyze the simulated top view to identify a free space region in the environment surrounding the host vehicle; and
cause the host vehicle to navigate within the identified free space region while avoiding navigation within regions outside of the identified free space region.