公开(公告)号：US09898823B2

公开(公告)日：2018-02-20

申请号：US14662519

申请日：2015-03-19

申请人： Wei Zhong ,  Kiichiroh Saitoh

发明人： Wei Zhong ,  Kiichiroh Saitoh

IPC分类号： G06T7/00 ,  G06K9/62 ,  H04N13/02 ,  G06K9/00 ,  G06T7/593 ,  H04N13/00

CPC分类号： G06T7/593 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/6212 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20032 ,  G06T2207/20228 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261 ,  H04N13/239 ,  H04N13/296 ,  H04N2013/0081 ,  H04N2013/0088

摘要： A disparity deriving apparatus for deriving disparity of an object includes a calculator to calculate costs between a first reference area in a reference image and each one of corresponding areas corresponding to the first reference area in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a comparison image; a synthesizer to synthesize the costs of the first reference area and the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis costs; and a correction unit to apply a spatial filter to a local region, composed of a plurality of areas, in the first reference image to correct a disparity value of the local region.

公开(公告)号：US09865164B2

公开(公告)日：2018-01-09

申请号：US15461029

申请日：2017-03-16

申请人： Nissan North America, Inc.

发明人： Heather Konet ,  Adrian Tan ,  Roy Goudy ,  Andrew Christensen ,  Neal Probert ,  Jeremy Chambers

IPC分类号： G08G1/0967 ,  B60K35/00 ,  B60Q9/00 ,  G06K9/00 ,  G06F3/01 ,  G02B27/01 ,  G06T7/70 ,  G06T7/292 ,  G08G1/0962 ,  G02B27/00

CPC分类号： G08G1/096708 ,  B60K35/00 ,  B60K2350/106 ,  B60Q9/008 ,  G02B27/0093 ,  G02B27/01 ,  G02B2027/0138 ,  G06F3/013 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00845 ,  G06T7/292 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30236 ,  G06T2207/30241 ,  G08G1/0962 ,  G08G1/09626 ,  G08G1/096716 ,  G08G1/096775 ,  G08G1/096791 ,  G08G1/163 ,  G08G1/165 ,  G08G1/166

摘要： A vehicle may traverse a portion of a vehicle transportation network, which may include a processor of the vehicle executing instructions to identify a first vehicle operation assistance information item, and, on a condition that an immanency for the first vehicle operation assistance information item is within a maximum relevant immanence and a utility metric for the first vehicle operation assistance information item indicates high utility, present a representation of the first vehicle operation assistance information item by, on a condition that a first urgency identified based on the immanency indicates a warning urgency or an advisory urgency, controlling a primary graphical display portion to present a first portion of a graphical representation of the first vehicle operation assistance information item, and controlling a secondary graphical display portion to present a second portion of the graphical representation.

公开(公告)号：US09858717B2

公开(公告)日：2018-01-02

申请号：US14972894

申请日：2015-12-17

申请人： HERE Global B.V.

发明人： James Lynch ,  William Gale

IPC分类号： G06T19/00 ,  G06T15/20 ,  G06F17/30 ,  G06K9/00 ,  G06T3/40 ,  H04N5/369

CPC分类号： G06T19/003 ,  G06F17/30241 ,  G06F17/30256 ,  G06F17/30277 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06T3/4038 ,  G06T15/205 ,  G06T19/00 ,  G06T19/006 ,  G06T2200/32 ,  H04N5/3696

摘要： Disclosed are a system and method for creating multi-angle views of an object-of-interest from images stored in a dataset. A user specifies the location of an object-of-interest. As the user virtually navigates through the locality represented by the image dataset, his current virtual position is determined. Using the user's virtual position and the location of the object-of-interest, images in the image dataset are selected and interpolated or stitched together, if necessary, to present to the user a view from his current virtual position looking toward the object-of-interest. The object-of-interest remains in the view no matter where the user virtually travels. From the same image dataset, another user can select a different object-of-interest and virtually navigate in a similar manner, with his own object-of-interest always in view. The object-of-interest also can be “virtual,” added by computer-animation techniques to the image dataset. For some image datasets, the user can virtually navigate through time as well as through space.

公开(公告)号：US20170372176A1

公开(公告)日：2017-12-28

申请号：US15634169

申请日：2017-06-27

申请人： DENSO CORPORATION

发明人： Katsuhiko HIBINO ,  Tatsuhiko FUTAMURA

IPC分类号： G06K9/78 ,  H04B7/24 ,  H04B10/114 ,  G06K9/00 ,  H04N7/18 ,  H04N5/225

CPC分类号： G06K9/78 ,  B60R1/04 ,  B60R1/12 ,  B60R11/04 ,  B60R2001/1253 ,  B60R2011/0026 ,  B60R2300/406 ,  B60R2300/80 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  H04B7/24 ,  H04B10/114 ,  H04N5/2252 ,  H04N5/2257 ,  H04N7/183

摘要： A camera system mounted on a vehicle includes a first substrate including an image sensor that generates image information by photoelectric conversion and a first communication unit, and a second substrate including a second communication unit for performing wireless communication with the first communication unit and a first information processing section at least capable of recognition processing for recognizing a situation outside the vehicle based on the image information acquired via the second communication unit.

公开(公告)号：US20170337435A1

公开(公告)日：2017-11-23

申请号：US15526748

申请日：2016-09-09

申请人： Lightmetrics Technologies Pvt. Ltd.

发明人： Mithun ULIYAR ,  Gururaj PUTRAYA ,  Soumik UKIL ,  Krishna A G ,  Ravi SHENOY ,  Pushkar PATWARDHAN

IPC分类号： G06K9/00 ,  G08G1/052 ,  G08G1/04 ,  G06K9/78 ,  G06K9/68 ,  G06K9/20 ,  G08G1/0967 ,  G08G1/01 ,  B60R1/00

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/302 ,  B60W40/04 ,  B60W40/08 ,  G01C11/04 ,  G06K9/00711 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/2054 ,  G06K9/6277 ,  G06K9/6857 ,  G06K9/78 ,  G06T7/254 ,  G06T2207/30261 ,  G08G1/0129 ,  G08G1/04 ,  G08G1/052 ,  G08G1/096783

摘要： Advanced driver assistance systems (ADAS) and methods for object detection such as traffic lights, speed signs, in an automotive environment, are disclosed. In an embodiment, ADAS includes camera system for capturing image frames of at least a part of surroundings of vehicle, memory comprising image processing instructions and processing system for detecting one or more objects in a coarse detection followed by a fine detection. Coarse detection includes detecting presence of the one or more objects in non-consecutive image frames of the image frames, where non-consecutive image frames are determined by skipping one or more frames of the image frames. Upon detection of presence of the one or more objects in coarse detection, fine detection of the one or more objects is performed in a predetermined number of neighboring image frames of a frame in which the presence of the objects is detected in coarse detection.

公开(公告)号：US20170336794A1

公开(公告)日：2017-11-23

申请号：US15673343

申请日：2017-08-09

申请人： MOBILEYE VISION TECHNOLOGIES LTD.

发明人： Amnon Shashua ,  Yoram Gdalyahu ,  Ofer Springer ,  Aran Reisman ,  Daniel Braunstein

IPC分类号： G05D1/00 ,  B62D15/02 ,  G01C21/14 ,  G05D1/02 ,  G08G1/0967 ,  G06K9/00 ,  G08G1/01 ,  G08G1/16 ,  G01C21/34

CPC分类号： G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F16/2379 ,  G06F16/29 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

摘要： Systems and methods navigate a vehicle on a road with snow covering at least some lane markings and road edges. In one implementation, a system may include at least one processor programmed to receive from an image capture device, at least one environmental image forward of the vehicle, including areas where snow covers at least some lane markings and road edges, identify, based on an analysis of the at least one image, at least a portion of the road that is covered with snow and probable locations for road edges bounding the at least a portion of the road that is covered with snow, and cause the vehicle to navigate a navigational path that includes the identified portion of the road and falls within the determined probable locations for the road edges.

公开(公告)号：US20170336793A1

公开(公告)日：2017-11-23

申请号：US15673334

申请日：2017-08-09

申请人： MOBILEYE VISION TECHNOLOGIES LTD.

发明人： Amnon Shashua ,  Yoram Gdalyahu ,  Ofer Springer ,  Aran Reisman ,  Daniel Braunstein

IPC分类号： G05D1/00 ,  G08G1/0967 ,  G06K9/00 ,  B62D15/02 ,  G01C21/34 ,  G08G1/16 ,  G05D1/02

CPC分类号： G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F16/2379 ,  G06F16/29 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

摘要： Systems and methods navigate a vehicle by determining a free space region in which the vehicle can travel. In one implementation, a system may include at least one processor programmed to receive from an image capture device, a plurality of images associated with the environment of a vehicle, analyze at least one of the plurality of images to identify a first free space boundary on a driver side of the vehicle and extending forward of the vehicle, a second free space boundary on a passenger side of the vehicle and extending forward of the vehicle, and a forward free space boundary forward of the vehicle and extending between the first free space boundary and the second free space boundary. The first free space boundary, the second free space boundary, and the forward free space boundary may define a free space region forward of the vehicle. The at least one processor of the system may be further programmed to determine a navigational path for the vehicle through the free space region and cause the vehicle to travel on at least a portion of the determined navigational path within the free space region forward of the vehicle.

公开(公告)号：US09817399B2

公开(公告)日：2017-11-14

申请号：US15273060

申请日：2016-09-22

申请人： Mobileye Vision Technologies Ltd.

发明人： Daniel Braunstein ,  Yoram Gdalyahu ,  Sergey Rubinsky

IPC分类号： B60T8/32 ,  G05D1/00 ,  G06F7/00 ,  G01C21/32 ,  G06F17/30 ,  B60W30/18 ,  G01C21/14 ,  G05D1/02 ,  G08G1/0967 ,  B62D15/02 ,  G08G1/0962 ,  G08G1/16 ,  G01C21/34 ,  G01C21/36 ,  G06K9/00 ,  G01C21/16 ,  G08G1/01 ,  B60W30/14 ,  G08G1/0968 ,  H04L29/08 ,  G06T7/00 ,  G01S19/10

CPC分类号： G05D1/0088 ,  B60W30/14 ,  B60W30/18 ,  B60W2420/42 ,  B60W2550/22 ,  B60W2710/18 ,  B60W2710/20 ,  B60W2720/10 ,  B62D15/025 ,  G01C21/14 ,  G01C21/165 ,  G01C21/32 ,  G01C21/34 ,  G01C21/3407 ,  G01C21/3476 ,  G01C21/36 ,  G01C21/3602 ,  G01C21/3623 ,  G01C21/3644 ,  G01C21/3691 ,  G01S19/10 ,  G05D1/0212 ,  G05D1/0219 ,  G05D1/0221 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0253 ,  G05D1/0278 ,  G05D1/0287 ,  G05D2201/0213 ,  G06F17/30241 ,  G06F17/30377 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3258 ,  G06T7/00 ,  G06T2207/20081 ,  G06T2207/30256 ,  G06T2207/30261 ,  G08G1/0112 ,  G08G1/09623 ,  G08G1/096725 ,  G08G1/096805 ,  G08G1/167 ,  H04L67/12

摘要： Systems and methods may calibrate an indicator of speed of an autonomous vehicle. In one implementation, a system may include at least one processor programmed to: receive from a camera at least a plurality of images representative of an environment of the vehicle; analyze the plurality of images to identify at least two recognized landmarks; determine, based on known locations of the two recognized landmarks, a value indicative of a distance between the at least two recognized landmarks; determine, based on an output of at least one sensor associated with the autonomous vehicle, a measured distance between the at least two landmarks; determine a correction factor for the at least one sensor based on a comparison of the value indicative of the distance between the at least to recognized landmarks and the measured distance between the at least two landmarks.

公开(公告)号：US20170308761A1

公开(公告)日：2017-10-26

申请号：US15518258

申请日：2014-10-14

申请人： TOYOTA MOTOR EUROPE

发明人： Christophe GILLET ,  Tomoya KAWASAKI ,  Yuzo KANESHIGE ,  Tom RYCKEN ,  Tomoya SANO

IPC分类号： G06K9/00 ,  G08G1/16 ,  G06K9/62

CPC分类号： G06K9/00818 ,  B60R2300/302 ,  G06K9/6215 ,  G08G1/165

摘要： A traffic sign assistance system for a vehicle including optical recognition unit to obtain data regarding a regulation indicator in proximity to the vehicle, at least one sensor unit configured to monitor a vehicle travel direction, and processing unit. The processing unit are configured to determine a location of a location of a next road intersection based on the vehicle travel direction, measure a distance between a location of the regulation indicator and the location of the next road intersection, cause display of a regulation value associated with the regulation indicator on a display device to be maintained if the distance is less than a predetermined threshold value and a change in vehicle travel direction is detected, and hide the regulation value associated with the regulation indicator from the display device if the distance is greater than the predetermined threshold value and a change in vehicle travel direction is detected.

公开(公告)号：US09796386B2

公开(公告)日：2017-10-24

申请号：US14831777

申请日：2015-08-20

申请人： Waymo LLC

发明人： David I. Ferguson ,  Nathaniel Fairfield ,  Anthony Levandowski

IPC分类号： B60W30/18 ,  G06K9/00 ,  G05D1/02 ,  G05D1/00

CPC分类号： B60W30/18154 ,  B60W2550/22 ,  B60W2550/402 ,  G05D1/0088 ,  G05D1/0231 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/00825

摘要： Methods and devices for detecting traffic signals and their associated states are disclosed. In one embodiment, an example method includes a scanning a target area using one or more sensors of a vehicle to obtain target area information. The vehicle may be configured to operate in an autonomous mode, and the target area may be a type of area where traffic signals are typically located. The method may also include detecting a traffic signal in the target area information, determining a location of the traffic signal, and determining a state of the traffic signal. Also, a confidence in the traffic signal may be determined. For example, the location of the traffic signal may be compared to known locations of traffic signals. Based on the state of the traffic signal and the confidence in the traffic signal, the vehicle may be controlled in the autonomous mode.