公开(公告)号：US09311542B2

公开(公告)日：2016-04-12

申请号：US14025008

申请日：2013-09-12

Applicant: Dianchao Liu ,  Yuan Liu ,  Tong Liu ,  Zhongchao Shi ,  Gang Wang

Inventor： Dianchao Liu ,  Yuan Liu ,  Tong Liu ,  Zhongchao Shi ,  Gang Wang

IPC: G06K9/00

CPC classification number: G06K9/00798 ,  G06K9/00208 ,  G06K9/00791 ,  G06K9/00805

Abstract: A method and an apparatus for detecting a continuous road partition with a height that includes obtaining disparity maps having the continuous road partition, and U-disparity maps corresponding to the disparity maps; obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of first N frames; and detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result.

Abstract translation: 一种用于检测具有高度的连续道路分隔的方法和装置，所述高度包括获得具有连续道路分隔的视差图和对应于视差图的U视差图; 从前N帧的U视差图中获取连续道路分区的中间检测结果; 并根据获得的中间检测结果，根据当前帧的U视差图检测连续道路分割。

公开(公告)号：US20160019683A1

公开(公告)日：2016-01-21

申请号：US14797667

申请日：2015-07-13

Applicant: Ganmei YOU ,  Yuan LIU ,  Zhongchao SHI ,  Yaojie LU ,  Gang WANG

Inventor： Ganmei YOU ,  Yuan LIU ,  Zhongchao SHI ,  Yaojie LU ,  Gang WANG

IPC: G06T7/00

CPC classification number: G06T7/74 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30261

Abstract: Disclosed is an object detection method used to detect an object in an image pair corresponding to a current frame. The image pair includes an original image of the current frame and a disparity map of the same current frame. The original image of the current frame includes at least one of a grayscale image and a color image of the current frame. The object detection method comprises steps of obtaining a first detection object detected in the disparity map of the current frame; acquiring an original detection object detected in the original image of the current frame; correcting, based on the original detection object, the first detection object so as to obtain a second detection object; and outputting the second detection object.

Abstract translation: 公开了一种用于检测对应于当前帧的图像对中的对象的对象检测方法。 图像对包括当前帧的原始图像和相同当前帧的视差图。 当前帧的原始图像包括灰度图像和当前帧的彩色图像中的至少一个。 对象检测方法包括以下步骤：获得在当前帧的视差图中检测到的第一检测对象; 获取在当前帧的原始图像中检测到的原始检测对象; 基于原始检测对象来校正第一检测对象，以获得第二检测对象; 并输出第二检测对象。

公开(公告)号：US20140086477A1

公开(公告)日：2014-03-27

申请号：US14034689

申请日：2013-09-24

Applicant: Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Gang WANG

Inventor： Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Gang WANG

IPC: B60Q9/00 ,  G06T7/00

CPC classification number: B60Q9/008 ,  B60W40/06 ,  B60W2420/42 ,  G06K9/00 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/4647 ,  G06T7/50

Abstract: A method and a device are disclosed for detecting a drivable region of a road, the method comprising the steps of: deriving a disparity map from a gray-scale map including the road and detecting the road from the disparity map; removing a part with a height above the road greater than a predetermined height threshold from the disparity map so as to generate a sub-disparity map; converting the sub-disparity map into a U-disparity map; detecting the drivable region from the U-disparity map; and converting the drivable region detected from the U-disparity map into the drivable region within the gray-scale map.

Abstract translation: 公开了一种用于检测道路的可驱动区域的方法和装置，所述方法包括以下步骤：从包括所述道路的灰度图并从所述视差图检测道路导出视差图; 从视差图中移除高于道路高度的部分大于预定高度阈值，以便生成子视差图; 将子视差图转换为U-视差图; 从U-视差图检测可驱动区域; 以及将从U视差图检测到的可驱动区域转换为灰度图内的可驱动区域。

公开(公告)号：US20140086451A1

公开(公告)日：2014-03-27

申请号：US14025008

申请日：2013-09-12

Applicant: Dianchao LIU ,  Yuan LIU ,  Tong LIU ,  Zhongchao SHI ,  Gang WANG

Inventor： Dianchao LIU ,  Yuan LIU ,  Tong LIU ,  Zhongchao SHI ,  Gang WANG

IPC: G06K9/00

CPC classification number: G06K9/00798 ,  G06K9/00208 ,  G06K9/00791 ,  G06K9/00805

Abstract: A method and an apparatus are disclosed for detecting a continuous road partition with a height, the method comprising the steps of: obtaining disparity maps having the continuous road partition, and U-disparity maps corresponding to the disparity maps; obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of first N frames; and detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result.

Abstract translation: 公开了一种用于检测具有高度的连续道路分隔的方法和装置，所述方法包括以下步骤：获得具有连续道路划分的视差图和对应于视差图的U视差图; 从前N帧的U视差图中获取连续道路分区的中间检测结果; 并根据获得的中间检测结果，根据当前帧的U视差图检测连续道路分割。

公开(公告)号：US08660317B2

公开(公告)日：2014-02-25

申请号：US12076612

申请日：2008-03-20

Applicant: Tao Li ,  Haike Guan ,  Gang Wang ,  Zhongchao Shi ,  Cheng Du

Inventor： Tao Li ,  Haike Guan ,  Gang Wang ,  Zhongchao Shi ,  Cheng Du

IPC: G06K9/00

CPC classification number: G06K9/3208 ,  G06K9/00228 ,  G06K9/4614

Abstract: An object image detection device is disclosed that is able to rapidly detect an object image from an input image without a great deal of computation. The object image detection device includes an object image classification unit for determining whether the object images are included in an image having a given orientation, an image orientation detection unit for detecting orientation of the input image, an image rotation unit for rotating the object image classification unit according to the detected orientation of the input image, and a detection unit for detecting the object images from the input image by using the rotated object image classification unit.

Abstract translation: 公开了一种能够在没有大量计算的情况下从输入图像快速检测物体图像的物体图像检测装置。 对象图像检测装置包括：对象图像分类单元，用于确定对象图像是否包括在具有给定取向的图像中;图像取向检测单元，用于检测输入图像的取向;图像旋转单元，用于旋转对象图像分类 根据检测到的输入图像的方向的单位，以及检测单元，用于通过使用旋转的对象图像分类单元从输入图像检测对象图像。

公开(公告)号：US20110221933A1

公开(公告)日：2011-09-15

申请号：US12986456

申请日：2011-01-07

Applicant: Xun Yuan ,  Zhongchao Shi ,  Cheng Zhong ,  Tong Liu ,  Gang Wang

Inventor： Xun Yuan ,  Zhongchao Shi ,  Cheng Zhong ,  Tong Liu ,  Gang Wang

IPC: H04N9/68

CPC classification number: H04N5/2351 ,  G06K9/00234 ,  G06K9/4661 ,  G06T7/0002 ,  G06T7/194 ,  G06T2207/10024 ,  G06T2207/30168 ,  G06T2207/30201 ,  H04N5/23219

Abstract: Disclosed are a backlight detection device and a backlight detection method. The device comprises a pixel value acquiring unit used to acquire a pixel value of each of pixels in an image; a focal position determination unit used to determine a focal position in the image; a subject area determination unit used to determine, based on the pixel values of the pixels in the image, a subject area starting from the focal position by using an area growth processing so as to divide the image into the subject area and a background area; a brightness difference calculation unit used to calculate a brightness difference between the subject area and the background area; and a backlight determination unit used to determine, based on the brightness difference, whether the image is in the backlight state so that the image in the backlight state can be detected.

Abstract translation: 公开了一种背光检测装置和背光检测方法。 该装置包括用于获取图像中的每个像素的像素值的像素值获取单元; 焦点位置确定单元，用于确定图像中的焦点位置; 主题区域确定单元，用于基于图像中的像素的像素值，通过使用区域增长处理从焦点位置开始的对象区域，以将图像划分为对象区域和背景区域; 用于计算被摄体区域和背景区域之间的亮度差的亮度差计算单元; 以及背光判定单元，用于基于亮度差来确定图像是否处于背光状态，从而可以检测到背光状态下的图像。

公开(公告)号：US20110194779A1

公开(公告)日：2011-08-11

申请号：US12968603

申请日：2010-12-15

Applicant: Cheng ZHONG ,  Zhongchao Shi ,  Xun Yuan ,  Tong Liu ,  Tao Li ,  Gang Wang

Inventor： Cheng ZHONG ,  Zhongchao Shi ,  Xun Yuan ,  Tong Liu ,  Tao Li ,  Gang Wang

IPC: G06K9/68

CPC classification number: G06K9/00288 ,  G06K9/6203

Abstract: Disclosed are an apparatus and a method for determining a multi-view specific object. The apparatus comprises an input device for inputting image data; and cascade classifiers formed of stage classifiers corresponding to a same detection angle, the stage classifiers corresponding to different features. Each cascade classifier is for calculating a degree of confidence of the image data of a specific object corresponding to the detection angle based on the aspect of the corresponding feature, and determining whether the image data belongs to the specific object based on the degree of confidence. A self-adaptive posture prediction device is disposed between two stage classifiers in each cascade classifier, and is used to determine whether the image data enters the cascade classifiers corresponding to the detection angles and located after the self-adaptive posture prediction device.

Abstract translation: 公开了一种用于确定多视图特定对象的装置和方法。 该装置包括用于输入图像数据的输入装置; 并且级联分类器由阶段分类器形成，对应于相同的检测角度，阶段分类器对应于不同的特征。 每个级联分类器用于基于相应特征的方面来计算与检测角度对应的特定对象的图像数据的置信度，并且基于置信度来确定图像数据是否属于特定对象。 自适应姿势预测装置设置在每个级联分类器中的两级分类器之间，并且用于确定图像数据是否进入与检测角度相对应并位于自适应姿势预测装置之后的级联分类器。

公开(公告)号：US09681047B2

公开(公告)日：2017-06-13

申请号：US14814160

申请日：2015-07-30

Applicant: Na He ,  Gang Wang ,  Zhongchao Shi ,  Dianchao Liu ,  Yaojie Lu

Inventor： Na He ,  Gang Wang ,  Zhongchao Shi ,  Dianchao Liu ,  Yaojie Lu

IPC: H04N5/232 ,  G06K9/46 ,  H04N5/262

CPC classification number: H04N5/23238 ,  G06K9/4614 ,  H04N5/2628

Abstract: Disclosed is an image feature extraction method including a step of defining a combination of at least two kinds of solid angles along at least two directions, of an input spherical image; a step of determining respective values of the combination of the at least two kinds of solid angles, so that surface areas of spherical crowns of spherical segments, which are obtained by dividing the spherical image by the respective values of the combination of the at least two kinds solid angles, have a same value; and a step of generating, by utilizing the respective values of the combination of the at least two kinds of solid angles, an image feature template so as to conduct image feature extraction.

公开(公告)号：US09298990B2

公开(公告)日：2016-03-29

申请号：US14568223

申请日：2014-12-12

Applicant: Ganmei You ,  Yaojie Lu ,  Zhongchao Shi ,  Chao Chen ,  Gang Wang

Inventor： Ganmei You ,  Yaojie Lu ,  Zhongchao Shi ,  Chao Chen ,  Gang Wang

IPC: G06K9/00 ,  G06K9/52 ,  G06K9/46 ,  G06K9/62

CPC classification number: G06K9/00624 ,  G06K9/00805 ,  G06K9/4604 ,  G06K9/52 ,  G06K9/6215 ,  G06T7/246 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20068 ,  G06T2207/20076 ,  G06T2207/30252

Abstract: Disclosed is an object tracking method. The method includes steps of obtaining a first boundary region of a waiting-for-recognition object in the disparity map related to the current frame; calculating a probability of each valid pixel in the first boundary region so as to get a pixel probability map of the waiting-for-recognition object; obtaining historic tracking data of each tracked object, which includes identifier information of the tracked object and a pixel probability map related to each of one or more prior frame related disparity maps prior to the disparity map related to the current frame; determining identifier information of the waiting-for-recognition object, and updating the pixel probability map of the waiting-for-recognition object; and updating, based on the updated pixel probability map of the waiting-for-recognition object, the first boundary region of the waiting-for-recognition object, so as to get a second boundary region of the waiting-for-recognition object.

Abstract translation: 公开了一种物体跟踪方法。 该方法包括以下步骤：获得与当前帧相关的视差图中等待识别对象的第一边界区域; 计算第一边界区域中的每个有效像素的概率，以获得等待识别对象的像素概率图; 获得每个跟踪对象的历史跟踪数据，其包括跟踪对象的标识符信息和与在与当前帧相关的视差图之前的一个或多个先前帧相关视差图中的每一个相关的像素概率图; 确定等待识别对象的标识符信息，以及更新等待识别对象的像素概率图; 以及基于等待识别对象的更新的像素概率图来更新等待识别对象的第一边界区域，以获得等待识别对象的第二边界区域。

公开(公告)号：US08983126B2

公开(公告)日：2015-03-17

申请号：US13589393

申请日：2012-08-20

Applicant: Tong Liu ,  Zhongchao Shi ,  Cheng Zhong ,  Yuan Liu ,  Yi Chen

Inventor： Tong Liu ,  Zhongchao Shi ,  Cheng Zhong ,  Yuan Liu ,  Yi Chen

IPC: G06K9/00

CPC classification number: G06K9/00805 ,  G06K9/00798

Abstract: Disclosed are a method and a system for detecting a vehicle position by employing a polarization image. The method comprises a step of capturing a polarization image by using a polarization camera; a step of acquiring two road shoulders in the polarization image based on a difference between a road surface and each of the two road shoulders in the polarization image, and determining a part between the two road shoulders as the road surface; a step of detecting at least one vehicle bottom from the road surface based on a significant pixel value difference between each wheel and the road surface in the polarization image; and a step of generating a vehicle position from the vehicle bottom based on a pixel value difference between a vehicle outline corresponding to the vehicle bottom and background in the polarization image.

Abstract translation: 公开了一种通过采用偏振图像来检测车辆位置的方法和系统。 该方法包括通过使用偏振照相机捕获偏振图像的步骤; 基于所述偏振图像中的路面与所述两个路肩中的每一个之间的差异，在所述偏振图像中获取两个路肩的步骤，以及确定所述两个路肩之间的部分作为所述路面; 基于所述偏振图像中的每个车轮与所述路面之间的有效像素值差异，从所述路面检测至少一个车辆底部的步骤; 以及基于车辆底部对应的车辆轮廓与偏振图像中的背景之间的像素值差异，从车辆底部产生车辆位置的步骤。