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公开(公告)号：US10360460B2
公开(公告)日：2019-07-23
申请号：US15474755
申请日：2017-03-30
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Inventor： An Jiang , Ran Meng , Haitao Zhu , Feng Cui , Qiwei Xie
Abstract: A lane departure warning method includes steps of: collecting a road image by an imaging device; detecting a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle; acquiring steering information and a movement speed of the vehicle by an OBD system; judging whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle; in the case that the vehicle is unconsciously running on the lane marking, recording a duration within which the vehicle is unconsciously running on the lane marking; and judging whether or not to send a lane departure warning to the vehicle.
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公开(公告)号：US10061993B2
公开(公告)日：2018-08-28
申请号：US15465343
申请日：2017-03-21
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Inventor： Feng Cui , Haitao Zhu , Ran Meng , Qiwei Xie , An Jiang
Abstract: An obstacle warning method includes the steps of: acquiring scenario images at a current sampling time and a previous sampling time, and a map about first relative distances between respective viewing points in a viewing field and a vehicle; acquiring a profile and marking information of an obstacle and a map about a second relative distance between the obstacle and the vehicle in accordance with the map about the first relative distances; calculating a map about a third relative distance between the obstacle and the vehicle at a previous sampling time in accordance with the map about the first relative distances at the previous sampling time, the profile and the marking information of the obstacle at the current sampling time and a motion vector of the obstacle from the current sampling time to the previous sampling time.
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Patent Agency Ranking
公开(公告)号：US11762957B2
公开(公告)日：2023-09-19
申请号：US17400574
申请日：2021-08-12
Applicant: Beijing Smarter Eye Technology Co. Ltd.
CPC classification number: G06F18/254 , G06F18/253 , G06T7/50 , G06T7/90 , G06V20/58 , G06T2207/10024 , G06T2207/10028
Abstract: An RGB-D fusion information-based obstacle target classification method includes: collecting an original image through a binocular camera within a target range, and acquiring a disparity map of the original image; collecting a color-calibrated RGB image through a reference camera of the binocular camera within the target range; acquiring an obstacle target through disparity clustering in accordance with the disparity map and the color-calibrated RGB image, and acquiring a target disparity map and a target RGB image of the obstacle target; calculating depth information about the obstacle target in accordance with the target disparity map; and acquiring a classification result of the obstacle target through RGB-D channel information fusion in accordance with the depth information and the target RGB image.
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公开(公告)号：US10217007B2
公开(公告)日：2019-02-26
申请号：US15470283
申请日：2017-03-27
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Abstract: The present disclosure provides a disparity map-based obstacle detection method, a disparity map-based obstacle detection device, and a vehicle assistant driving system. The method includes steps of: acquiring a disparity map and a V disparity map in accordance with an image including a road surface; simulating the road surface in accordance with the V disparity map; identifying a first obstacle in accordance with a simulation result; extracting an object whose disparity value is greater than a first threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a second obstacle; extracting an object whose disparity value is smaller than a second threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a third obstacle; and screening the first obstacle, the second obstacle and the third obstacle in accordance with a training model, so as to detect the obstacle, the training model being acquired through machine learning in accordance with correct obstacle information and erroneous obstacle information. According to the present disclosure, it is able to improve the robustness.
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5.发明授权公开(公告)号：US10803621B2
公开(公告)日：2020-10-13
申请号：US16254321
申请日：2019-01-22
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Inventor： Ran Meng , An Jiang , Haitao Zhu , Feng Cui , Hua Chai , Zunying Pang
Abstract: A method for building a camera imaging model includes: converting world coordinate values of a random point P into camera coordinate values of a target camera in accordance with a predetermined mode; converting the camera coordinate values into image coordinate values of the target camera; and converting the image coordinate values into digital image coordinate values and building the camera imaging model. The converting the image coordinate values into the digital image coordinate values includes performing a spatial sampling operation on the random point P, and adjusting coordinate values of an origin to image coordinate values through calculation. The method can be used in an automated driving system for a vehicle.
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公开(公告)号：US12183028B2
公开(公告)日：2024-12-31
申请号：US17811215
申请日：2022-07-07
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Abstract: Provided is an Aobject-based short range measurement method, a short range measurement device, a short range measurement system, and a storage medium. The short range measurement method includes: identifying a target object, and acquiring border information about an ROI of the target object; acquiring two groups of geometric constraint points of the target object with respect to a left-eye camera and a right-eye camera respectively; acquiring pixel coordinates of each geometric constraint point and a border pixel size corresponding to the border information, and calculating a monocular distance estimation value of the target object; acquiring an overall disparity of the two groups of geometric constraint points, and calculating a binocular distance estimation value of the target object in accordance with the overall disparity; and acquiring a final measurement value in accordance with the monocular distance estimation value and the binocular distance estimation value.
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公开(公告)号：US11057603B2
公开(公告)日：2021-07-06
申请号：US16721056
申请日：2019-12-19
Applicant: Beijing Smarter Eye Technology Co. Ltd.
Inventor： Qiwei Xie , Xinliang Wang , An Jiang , Yuan Hao , Jian Li
IPC: H04N13/128 , H04N13/271 , H04N13/246 , H04N13/00
Abstract: Provided is a binocular camera depth calibration method, a binocular camera depth calibration device, a binocular camera depth calibration system and a storage medium. The method includes: acquiring a plurality of groups of images of a 2D code calibration board at different positions so as to acquire disparity maps of the 2D code calibration board; acquiring a 2D code template image of a target region; matching the 2D code template image, so as to determine and store matching region information; determining a position of the 2D code template image in each disparity map in accordance with the matching region information, and calculating an average disparity value of the 2D code template image at the position; acquiring a plurality of groups of average disparity values, and calculating a final disparity value; and calibrating a depth of a binocular camera.
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