公开(公告)号：US09576367B2

公开(公告)日：2017-02-21

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: G06K9/00 ,  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：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：US09242601B2

公开(公告)日：2016-01-26

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: G06K9/00 ,  B60Q9/00 ,  G06T7/00 ,  G06K9/46 ,  B60W40/06

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：US09373043B2

公开(公告)日：2016-06-21

申请号：US13708013

申请日：2012-12-07

Applicant: Yaojie Lu ,  Ganmei You ,  Jichuan Zheng

Inventor： Yaojie Lu ,  Ganmei You ,  Jichuan Zheng

IPC: G06K9/00

CPC classification number: G06K9/00798

Abstract: A method and an apparatus are used for detecting a road partition, the method comprising: a step of obtaining a disparity top view having a road area; and a step of detecting parallel lines as the road partitions from the disparity top view.

Abstract translation: 一种用于检测道路分隔的方法和装置，所述方法包括：获得具有道路面积的视差俯视图的步骤; 以及从视差俯视图检测平行线作为道路分隔的步骤。

公开(公告)号：US08923605B2

公开(公告)日：2014-12-30

申请号：US13673199

申请日：2012-11-09

Applicant: Ganmei You ,  Yaojie Lu ,  Jichuan Zheng

Inventor： Ganmei You ,  Yaojie Lu ,  Jichuan Zheng

IPC: G06K9/00 ,  H04N7/18 ,  H04N13/02

CPC classification number: H04N7/18 ,  G06K9/00208 ,  G06K9/00798 ,  G06K9/00805 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/30261 ,  H04N13/204

Abstract: Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.

Abstract translation: 公开了一种用于在道路上检测物体的方法和系统。 该方法包括同时捕获两个深度图，然后计算视差图的步骤; 基于视差图，通过采用V视差算法获得V视差图像的步骤; 检测V型视差图像中的斜线，然后去除与斜线对应的视差图中的点，以获得不包括道路的子视差图; 检测V-视差图像中的多个垂直线的步骤，然后对于每个垂直线，提取与该副视差图相对应的该垂直线的点作为对应于该垂直线的对象子视差图 ; 以及将彼此靠近的对象子视差映射的任何两个矩形区域合并成矩形对象区域的步骤。

公开(公告)号：US09378424B2

公开(公告)日：2016-06-28

申请号：US14483771

申请日：2014-09-11

Applicant: Ganmei You ,  Jichuan Zheng

Inventor： Ganmei You ,  Jichuan Zheng

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/00 ,  G01C11/04 ,  G01C21/28

CPC classification number: G06K9/00798 ,  G01C11/04 ,  G01C21/28 ,  G06K9/00208 ,  G06K9/4609 ,  G06T7/13 ,  G06T2207/10028 ,  G06T2207/30256

Abstract: Disclosed are a road line detection method and a road line detection device. The road line detection method comprises a step of obtaining a first disparity map including one or more road regions and a corresponding V-disparity image; a step of sequentially detecting plural sloped line segments in the corresponding V-disparity image according to a big-to-small order of disparities and a big-to-small order of V-values, to serve as plural sequentially adjacent road surfaces; a step of obtaining a second disparity map of plural road line regions of interest corresponding to the plural sloped line segments; and a step of detecting one or more road lines in the second disparity map of the plural road line regions of interest.

Abstract translation: 公路线路检测方法和路线检测装置。 路线检测方法包括获得包括一个或多个道路区域和对应的V视差图像的第一视差图的步骤; 根据大小差异和V值的大小顺序顺序地检测相应V视差图像中的多个倾斜线段的步骤，用作多个顺序相邻的路面; 获得与多个倾斜线段对应的多个路线区域的第二视差图的步骤; 以及检测所述多个公路线路区域的所述第二视差图中的一条或多条路线的步骤。

公开(公告)号：US08861791B2

公开(公告)日：2014-10-14

申请号：US13705718

申请日：2012-12-05

Applicant: Ganmei You ,  Jichuan Zheng

Inventor： Ganmei You ,  Jichuan Zheng

IPC: G06K9/00 ,  G06K9/46 ,  G06T7/00

CPC classification number: G06K9/00798 ,  G01C11/04 ,  G01C21/28 ,  G06K9/00208 ,  G06K9/4609 ,  G06T7/13 ,  G06T2207/10028 ,  G06T2207/30256

Abstract: Disclosed are a road line detection method and a road line detection device. The road line detection method comprises a step of obtaining a first disparity map including one or more road regions and a corresponding V-disparity image; a step of sequentially detecting plural sloped line segments in the corresponding V-disparity image according to a big-to-small order of disparities and a big-to-small order of V-values, to serve as plural sequentially adjacent road surfaces; a step of obtaining a second disparity map of plural road line regions of interest corresponding to the plural sloped line segments; and a step of detecting one or more road lines in the second disparity map of the plural road line regions of interest.

Abstract translation: 公路线路检测方法和路线检测装置。 路线检测方法包括获得包括一个或多个道路区域和对应的V视差图像的第一视差图的步骤; 根据大小差异和V值的大小顺序顺序地检测相应V视差图像中的多个倾斜线段的步骤，用作多个顺序相邻的路面; 获得与多个倾斜线段对应的多个路线区域的第二视差图的步骤; 以及检测所述多个公路线路区域的所述第二视差图中的一条或多条路线的步骤。