US 11,854,272 B2
Hazard detection from a camera in a scene with moving shadows
Gideon Stein, Jerusalem (IL); and Erez Dagan, Jerusalem (IL)
Assigned to MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed by MOBILEYE VISION TECHNOLOGIES LTD., Jerusalem (IL)
Filed on Mar. 19, 2021, as Appl. No. 17/207,206.
Application 17/207,206 is a continuation of application No. 16/298,256, filed on Mar. 11, 2019, granted, now 10,956,756.
Application 16/298,256 is a continuation of application No. 15/867,550, filed on Jan. 10, 2018, granted, now 10,262,216, issued on Apr. 16, 2019.
Application 15/867,550 is a continuation of application No. 14/737,522, filed on Jun. 12, 2015, granted, now 9,892,328, issued on Feb. 13, 2018.
Claims priority of provisional application 62/013,562, filed on Jun. 18, 2014.
Prior Publication US 2021/0264176 A1, Aug. 26, 2021
Int. Cl. G06V 20/58 (2022.01); G06T 7/246 (2017.01); G06V 20/56 (2022.01); G06T 7/40 (2017.01); H04N 7/18 (2006.01)
CPC G06V 20/58 (2022.01) [G06T 7/248 (2017.01); G06T 7/40 (2013.01); G06V 20/588 (2022.01); H04N 7/183 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/30256 (2013.01); G06T 2207/30261 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A computerized method for processing images captured by a camera mountable in a host vehicle while the host vehicle is moving, the method comprising:
capturing a first image frame and a second image frame from a field of view of the camera;
tracking corresponding image points from the first image frame to the second image frame;
detecting, from the tracked corresponding image points and based on a comparison of the first image frame to the second image frame, a first plurality of image points associated with a suspect hazard of a road;
detecting, from the tracked corresponding image points, a second plurality of image points associated with a moving vehicle;
determining first motion between the first plurality of image points and second motion between the second plurality of image points; and
determining that the first motion is associated with a moving shadow cast from the moving vehicle based on a correlation between the first motion and the second motion.