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:
Jul. 19, 2022
Filed:
Oct. 12, 2020
Denso Corporation, Kariya, JP;
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Takuya Miwa, Kariya, JP;
Takayuki Hiromitsu, Kariya, JP;
Yutaka Hamamoto, Toyota, JP;
Masumi Fukuman, Toyota, JP;
Akihiro Kida, Toyota, JP;
Kunihiro Sugihara, Toyota, JP;
DENSO CORPORATION, Kariya, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
Abstract
An obstacle identification apparatus acquires an image that is captured by a camera that is mounted to a vehicle. The obstacle identification apparatus calculates a first gradient that is a gradient in a first direction of a luminance value of pixels in the image and a second gradient that is a gradient of the luminance value in a second direction orthogonal to the first direction of the first gradient. Based on the first gradient and the second gradient, the obstacle identification apparatus estimates a shadow boundary that is a boundary between an own-vehicle shadow that is a shadow of the own vehicle and an object outside the vehicle. Based on the estimated shadow boundary, the obstacle identification apparatus estimates the own-vehicle shadow.