Stereo camera-based detection of objects proximate to a vehicle
A system is disclosed. The system includes one or more processors, and a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method. The method includes receiving first image data from a first image sensor mounted on a vehicle and second image data from a second image sensor mounted on the vehicle, the vehicle including an element configured to open into a space external to the vehicle; generating a depth map from a comparison of the first image data and the second image data, the depth map including an object; in accordance with a determination that the object, in the depth map, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and in accordance with a determination that the object, in the depth map, is not within the space into which the element is configured to open, determining that the object will not interfere with opening of the element into the space.
1. A system comprising:
one or more processors; and
a memory including instructions, which when executed by the one or more processors, cause the one or more processors to perform a method comprising:
receiving first image data from a first image sensor mounted on a vehicle and second image data from a second image sensor mounted on the vehicle, the vehicle including an element configured to open into a space external to the vehicle;
generating a depth map from a comparison of the first image data and the second image data, the depth map including an object;
generating a confidence value associated with the depth map; and comparing the confidence value to a predetermined threshold;
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is not within the space into which the element is configured to open, determining that the object will not interfere with opening of the element into the space;
in accordance with the confidence value being below the predetermined threshold,
locating the object using ultrasonic detection;
in accordance with a determination that the object, as located using ultrasonic detection, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with a determination that the object, as located using ultrasonic detection, is not within the space into which the element is configured to open, generating a warning notification and determining that the object will not interfere with opening of the element into the space.
2. The system of claim 1 , wherein the element comprises a door configured to open into an interaction space external to the vehicle.
3. The system of claim 2 , wherein the first image sensor is mounted on the door, and the second image sensor is mounted on an additional door of the vehicle.
4. The system of claim 1 , wherein generating the depth map comprises:
in accordance with a determination that the vehicle will likely stop within a time threshold, generating the depth map; and
in accordance with a determination that the vehicle will not likely stop within the time threshold, forgoing generating the depth map.
5. The system of claim 1 , wherein generating the depth map comprises:
in accordance with a determination that the vehicle is stopped, generating the depth map; and
in accordance with a determination that the vehicle is not stopped, forgoing generating the depth map.
6. The system of claim 1 , wherein the first image sensor is mounted a first distance from the second image sensor, and the depth map is generated based on the first distance.
7. The system of claim 1 , wherein the first and second image sensors comprise a stereo camera.
8. The system of claim 1 , wherein the method further comprises:
in accordance with a determination that the object will interfere with the opening of the element into the space, preventing the opening of the element; and
in accordance with a determination that the object will not interfere with the opening of the element into the space, allowing the opening of the element.
9. The system of claim 1 , wherein the method further comprises:
detecting user input for opening the element;
in response to detecting the user input:
in accordance with a determination that the object will interfere with the opening of the element into the space, partially opening the element into the space to the extent allowed by the object; and
in accordance with a determination that the object will not interfere with the opening of the element into the space, fully opening the element into the space.
10. The system of claim 1 , wherein the method further comprises:
detecting a user approaching the vehicle;
in response to detecting the user approaching the vehicle:
in accordance with a determination that the object will interfere with the opening of the element into the space, partially opening the element into the space to the extent allowed by the object; and
in accordance with a determination that the object will not interfere with the opening of the element into the space, fully opening the element into the space.
11. A non-transitory computer-readable medium including instructions, which when executed by one or more processors, cause the one or more processors to perform a method comprising:
receiving first image data from a first image sensor mounted on a vehicle and second image data from a second image sensor mounted on the vehicle, the vehicle including an element configured to open into a space external to the vehicle;
generating a depth map from a comparison of the first image data and the second image data, the depth map including an object;
generating a confidence value associated with the depth map; and comparing the confidence value to a predetermined threshold;
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is not within the space into which the element is configured to open, determining that the object will not interfere with opening of the element into the space;
in accordance with the confidence value being below the predetermined threshold,
locating the object using ultrasonic detection;
in accordance with a determination that the object, as located using ultrasonic detection, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with a determination that the object, as located using ultrasonic detection, is not within the space into which the element is configured to open, generating a warning notification and determining that the object will not interfere with opening of the element into the space.
12. A method comprising:
receiving first image data from a first image sensor mounted on a vehicle and second image data from a second image sensor mounted on the vehicle, the vehicle including an element configured to open into a space external to the vehicle;
generating a depth map from a comparison of the first image data and the second image data, the depth map including an object;
generating a confidence value associated with the depth map; and comparing the confidence value to a predetermined threshold;
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is not within the space into which the element is configured to open, determining that the object will not interfere with opening of the element into the space;
in accordance with the confidence value being below the predetermined threshold,
locating the object using ultrasonic detection;
in accordance with a determination that the object, as located using ultrasonic detection, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with a determination that the object, as located using ultrasonic detection, is not within the space into which the element is configured to open, generating a warning notification and determining that the object will not interfere with opening of the element into the space.
13. A vehicle comprising:
a first image sensor;
a second image sensor;
an element configured to open into a space external to the vehicle; and
a memory including instructions, which when executed by one or more processors, cause the one or more processors to perform a method comprising:
receiving first image data from the first image sensor mounted on the vehicle and second image data from the second image sensor mounted on the vehicle;
generating a depth map from a comparison of the first image data and the second image data, the depth map including an object;
generating a confidence value associated with the depth map; and comparing the confidence value to a predetermined threshold;
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with the confidence value being above the predetermined threshold and a determination that the object, in the depth map, is not within the space into which the element is configured to open, determining that the object will not interfere with opening of the element into the space;
in accordance with the confidence value being below the predetermined threshold,
locating the object using ultrasonic detection;
in accordance with a determination that the object, as located using ultrasonic detection, is within the space into which the element is configured to open, determining that the object will interfere with opening of the element into the space; and
in accordance with a determination that the object, as located using ultrasonic detection, is not within the space into which the element is configured to open, generating a warning notification and determining that the object will not interfere with opening of the element into the space.