20130162826 | METHOD OF DETECTING AN OBSTACLE AND DRIVER ASSIST SYSTEM - To detect an obstacle in a single image captured using a single image sensor of a driver assist system, at least one image feature is established in the single image which extends along a line passing through a projection point of the image sensor. At least one line extending along a direction normal to a road surface in the world coordinate system is thereby identified based on the single image, which is used as a signature for an obstacle. | 06-27-2013 |