Object Detection and Tracking using an Optical Time-of-Flight Range Camera Module for Vehicle Safety and Driver Assist Applications 2007-01-1104

This paper describes a high frame rate focal-plane-array range camera module, based on optical time-of-flight measurement, along with machine vision algorithms that take advantage of the real-time 3D information. The utility of such technology is demonstrated in an advanced backup safety system. This system detects obstacles lying on the ground as well as tracks moving objects. Using dual detection criteria, the system outperforms existing backup proximity sensors. Based on 3D imagery collected from a rear-viewing camera configuration, we evaluate the detection and tracking accuracy for varying object sizes and ranges. Operational experience shows that our time-of-flight range camera can be a cost-effective and reliable component of intelligent automotive safety and driver assist systems.