The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 26, 2021
Filed:
Sep. 30, 2019
Kabushiki Kaisha Toyota Jidoshokki, Kariya, JP;
Masataka Ishizaki, Kariya, JP;
KABUSHIKI KAISHA TOYOTA JIDOSHOKKI, Kariya, JP;
Abstract
A parallax image in which a parallax is associated with each pixel is acquired from an image captured by a stereo camera. The parallax is voted to a two-dimensional matrix. A line is extracted from a coordinate system in which an X-axis indicates the parallax and a Y-axis indicates the pixel in the vertical direction. In the case where a first line and a second line are detected, an X-coordinate of the start point coordinates of the second line is larger than an X-coordinate of end point coordinates of the first line, and the difference between the slope of the first line and the slope of the second line falls within a permissible range, a determination section determines that a low position is present at a position farther from the movable body than a position in real space corresponding to a Y-coordinate of start point coordinates.