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:
May. 04, 2010
Filed:
Jul. 28, 2006
Hiroyuki Koike, Utsunomiya, JP;
Shingo Ogawa, Utsunomiya, JP;
Ichiro Masaki, Boxborough, MA (US);
Berthold K. P. Horn, Interrale, NH (US);
Yajun Fang, Cambridge, MA (US);
Hiroyuki Koike, Utsunomiya, JP;
Shingo Ogawa, Utsunomiya, JP;
Ichiro Masaki, Boxborough, MA (US);
Berthold K. P. Horn, Interrale, NH (US);
Yajun Fang, Cambridge, MA (US);
Honda Motor Co., Ltd., , JP;
Massachusetts Institute of Technology, Cambridge, MA (US);
Abstract
A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.