Clear traveling path detecting method for vehicle e.g. car, involves generating three-dimensional map of features in view based upon preferential set of matched pairs, and determining clear traveling path based upon features

摘要

The method involves monitoring a set of images, where each image comprises a set of pixels. A set of interest points from the pixels in each of current image and a preceding image is identified. Pairs of interest points from the current image and the preceding image are matched. The matched pairs of interest points are filtered to select a preferential set of matched pairs. A three-dimensional map of features is generated in a view based upon the preferential set of matched pairs. A clear traveling path is determined based upon the features. An independent claim is also included for a clear traveling path detecting apparatus for a vehicle comprising a camera device.