04872051 is referenced by 254 patents and cites 5 patents.

The following invention is a passive collision avoidance alarm system. An optical sensor (which may optionally be visable, infrared or ultraviolet) is disposed to provide a continuous raster scan of the scene within a wide angle of the direction of travel of the vehicle. This sensor output is converted into digital data and stored. A computer system compares consecutive scenes to detect identifiable objects. For such identifiable objects the computer calculates the centroid of the object and its angle, and a measure of the size or extent of the object. Detection of an object having a constant angle and a increasing measure of extent causes an alarm to be triggered.

Title
Collision avoidance alarm system
Application Number
7/103202
Publication Number
4872051
Application Date
October 1, 1987
Publication Date
October 3, 1989
Inventor
Robert H Dye
Ann Arbor
MI, US
Agent
Krass & Young
Assignee
Environmental Research Institute of Michigan
MI, US
IPC
H06N 7/18
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