US 12,380,610 B2
Driving assistance method and system
Matteo Corno, Milan (IT); Luca Franceschetti, Milan (IT); Sergio Matteo Savaresi, Milan (IT); and Marco Centurioni, Milan (IT)
Assigned to POLITECNICO DI MILANO, Milan (IT)
Appl. No. 18/553,397
Filed by POLITECNICO DI MILANO, Milan (IT)
PCT Filed Mar. 18, 2022, PCT No. PCT/IB2022/052467
§ 371(c)(1), (2) Date Sep. 29, 2023,
PCT Pub. No. WO2022/208222, PCT Pub. Date Oct. 6, 2022.
Claims priority of application No. 102021000007862 (IT), filed on Mar. 30, 2021.
Prior Publication US 2024/0362827 A1, Oct. 31, 2024
Int. Cl. G06T 11/00 (2006.01); G06T 7/593 (2017.01); G06T 7/73 (2017.01)
CPC G06T 11/00 (2013.01) [G06T 7/593 (2017.01); G06T 7/74 (2017.01); G06T 2207/10012 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A method of assisting driving a vehicle implemented by a system comprising a head mounted display (HMD) and a positioning module mounted on the vehicle, wherein the HMD comprises a screen and a pair of video cameras located on opposite sides of the screen along a main length direction of the screen, the method comprising the steps of:
a. acquiring a pair of images by the HMD, each image being acquired by a respective camera of the HMD and framing a same portion of field of view, said same portion of field of view comprising a portion of road surface;
b. estimating a position in a three-dimensional space of each point comprised in the same portion of field of view based on the pair of acquired images and the characteristics of the cameras;
c. estimating a volume of interest of the three-dimensional space comprising the portion of the road surface based on the pair of images acquired and a position determined by the positioning module in the contiguity of the acquisition of the pair of images;
d. selecting a subset of points comprised in the same portion of the field of view and comprised in the volume of interest;
e. calculating a planar surface (RS) corresponding to the road surface based on the estimated position of the points comprised in the subset of selected points, and
g. reproducing a two-dimensional image on the screen of the HMD so that it is arranged on the planar surface corresponding to the road surface calculated in step e.