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    Vehicular vision system
    2.
    发明授权
    Vehicular vision system 有权
    车辆视觉系统

    公开(公告)号：US07263209B2

    公开(公告)日：2007-08-28

    申请号：US10461699

    申请日：2003-06-13

    Applicant: Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

    Inventor： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

    IPC: G06K9/00 ,  B60Q1/00

    CPC classification number: G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

    Abstract: A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

    Abstract translation: 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

    System and method of detecting objects
    5.
    发明授权
    System and method of detecting objects 有权
    检测对象的系统和方法

    公开(公告)号：US08385599B2

    公开(公告)日：2013-02-26

    申请号：US12578440

    申请日：2009-10-13

    Applicant: Theodore Armand Camus ,  Aparna Taneja ,  Mayank Bansal ,  Ankit Kumar ,  John Benjamin Southall

    Inventor： Theodore Armand Camus ,  Aparna Taneja ,  Mayank Bansal ,  Ankit Kumar ,  John Benjamin Southall

    IPC: G06K9/00

    CPC classification number: G06K9/3233 ,  G06K9/00201 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/30196 ,  G06T2207/30232

    Abstract: The present invention is a system and a method of segmenting and detecting objects which can be approximated by planar or nearly planar surfaces in order to detect one or more objects with threats or potential threats. The method includes capturing imagery of the scene proximate a platform, producing a depth map from the imagery and tessellating the depth map into a number of patches. The method also includes classifying the plurality of patches as threat patches and projecting the threat patches into a pre-generated vertical support histogram to facilitate selection of the projected threat patches having a score value within a sufficiency criterion. The method further includes grouping the selected patches having the score value using a plane fit to obtain a region of interest and processing the region of interest to detect said object.

    Abstract translation: 本发明是一种分割和检测物体的系统和方法，其可由平面或近似平面的表面近似，以便检测具有威胁或潜在威胁的一个或多个物体。 该方法包括捕获靠近平台的场景的图像，从图像生成深度图并将深度图细分为多个补丁。 该方法还包括将多个补丁分类为威胁补丁并将威胁补丁投影到预先生成的垂直支持直方图中，以便于选择具有在足够准则内的得分值的投影威胁补丁。 该方法还包括使用平面拟合来对具有得分值的所选择的片段进行分组以获得感兴趣的区域并且处理感兴趣的区域以检测所述对象。

    Vehicular vision system
    6.
    发明授权
    Vehicular vision system 有权
    车辆视觉系统

    公开(公告)号：US07974442B2

    公开(公告)日：2011-07-05

    申请号：US11837114

    申请日：2007-08-10

    Applicant: Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

    Inventor： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

    IPC: G06K9/00 ,  G06K9/62

    CPC classification number: G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

    Abstract: A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

    Abstract translation: 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

    SYSTEM AND METHOD OF DETECTING OBJECTS
    7.
    发明申请
    SYSTEM AND METHOD OF DETECTING OBJECTS 有权
    检测对象的系统和方法

    公开(公告)号：US20100092038A1

    公开(公告)日：2010-04-15

    申请号：US12578440

    申请日：2009-10-13

    Applicant: Armand Camus Theodore ,  Aparna Taneja ,  Mayank Bansal ,  Ankit Kumar ,  John Benjamin Southall

    Inventor： Armand Camus Theodore ,  Aparna Taneja ,  Mayank Bansal ,  Ankit Kumar ,  John Benjamin Southall

    IPC: G06K9/00

    CPC classification number: G06K9/3233 ,  G06K9/00201 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/30196 ,  G06T2207/30232

    Abstract: The present invention is a system and a method of segmenting and detecting objects which can be approximated by planar or nearly planar surfaces in order to detect one or more objects with threats or potential threats. The method includes capturing imagery of the scene proximate a platform, producing a depth map from the imagery and tessellating the depth map into a number of patches. The method also includes classifying the plurality of patches as threat patches and projecting the threat patches into a pre-generated vertical support histogram to facilitate selection of the projected threat patches having a score value within a sufficiency criterion. The method further includes grouping the selected patches having the score value using a plane fit to obtain a region of interest and processing the region of interest to detect said object.

    Abstract translation: 本发明是一种分割和检测物体的系统和方法，其可由平面或近似平面的表面近似，以便检测具有威胁或潜在威胁的一个或多个物体。 该方法包括捕获靠近平台的场景的图像，从图像生成深度图并将深度图细分为多个补丁。 该方法还包括将多个补丁分类为威胁补丁并将威胁补丁投影到预先生成的垂直支持直方图中，以便于选择具有在足够准则内的得分值的投影威胁补丁。 该方法还包括使用平面拟合来对具有得分值的所选择的片段进行分组以获得感兴趣的区域并且处理感兴趣的区域以检测所述对象。

    Vehicular Vision System
    8.
    发明申请
    Vehicular Vision System 有权
    车辆视觉系统

    公开(公告)号：US20080159620A1

    公开(公告)日：2008-07-03

    申请号：US11837114

    申请日：2007-08-10

    Applicant: Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  Andre Rieder ,  John Benjamin Southall

    Inventor： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  Andre Rieder ,  John Benjamin Southall

    IPC: G06K9/00

    CPC classification number: G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

    Abstract: A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

    Abstract translation: 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

    Method and apparatus for refining target position and size estimates using image and depth data
    9.
    发明授权
    Method and apparatus for refining target position and size estimates using image and depth data 有权
    使用图像和深度数据来提炼目标位置和尺寸估计的方法和装置

    公开(公告)号：US07321669B2

    公开(公告)日：2008-01-22

    申请号：US10617231

    申请日：2003-07-10

    Applicant: John Benjamin Southall ,  David Hirvonen ,  Theodore Armand Camus

    Inventor： John Benjamin Southall ,  David Hirvonen ,  Theodore Armand Camus

    IPC: G06K9/00

    CPC classification number: G06K9/00624 ,  G06T7/55

    Abstract: A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.

    Abstract translation: 一种车辆视觉系统，其使用深度图，图像强度数据和系统校准参数来确定目标的尺寸和相对位置。 初始目标边界信息被投影到深度图和图像强度上。 可视性分析确定目标的后部是否在系统的视野内。 如果是，则分析映射的图像边界以确定目标的上边界。 然后，通过搜索位于大约相同深度的最强的一对垂直图像边缘来找到映射图像边界的垂直图像边缘。 然后，找到映射图像边界的底部（或从校准参数假设）。 然后，通过平均技术找到目标的位置。 然后计算目标的高度和宽度。

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