Rivian Automotive, Inc.
FIELD DETERMINATION FOR OBSTACLE DETECTION

Abstract:

Disclosed embodiments include apparatuses, systems, and methods for determining a field in a path of travel of a vehicle for detection of objects in the path of travel. In an illustrative embodiment, an apparatus includes a path identifier configured to identify a path of travel for a vehicle. At least one camera is disposed on the vehicle and is configured to capture image data of an area including the path of travel. A region of interest selector is configured to select a region of interest within the image data. A horizon identifier is configured to identify a horizon in the image data. A field determiner is configured to project the horizon onto the region of interest to isolate a field specified by the path of travel and the horizon, the field being evaluatable for the presence of objects in the path of travel of the vehicle.