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:
Sep. 01, 2009
Filed:
Feb. 21, 2006
Yoshikatsu Kimura, Nisshin, JP;
Yoshiki Ninomiya, Nagoya, JP;
Yoshikatsu Kimura, Nisshin, JP;
Yoshiki Ninomiya, Nagoya, JP;
Kabushiki Kaisha Toyota Chuo Kenkyusho, Aichi-gun, JP;
Abstract
An object determining apparatus is disclosed which is structured such that right and left disparity images are acquired from different view points, disparity of corresponding points in the right and left images is computed, information relating to the points for which disparity is computed is voted to respective blocks of a disparity map that arranges blocks with one side corresponding to disparity, other side corresponding to image lateral position, and these sides being elongated with increasing disparity. An attribute of three dimensional object is applied to first blocks in which distribution of voted disparity points in disparity direction is small and image vertical direction is large. An attribute of road surface is applied to second blocks in which distribution in disparity direction is large and image vertical direction small, thereby determining an object as a three dimensional object or road surface.