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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
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。
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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
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。
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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
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。
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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
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.
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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。
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Patent Agency Ranking
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
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。
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7.发明授权公开(公告)号：US09679205B2
公开(公告)日：2017-06-13
申请号：US14731577
申请日：2015-06-05
Applicant: Chao Chen , Yaojie Lu , Zhongchao Shi , Dianchao Liu
Inventor： Chao Chen , Yaojie Lu , Zhongchao Shi , Dianchao Liu
CPC classification number: G06K9/00805 , G06K2209/21 , G06T7/0042
Abstract: A method and a system for analyzing a target in a stereo image by displaying the stereo image using a cascade structure are disclosed. The method includes for the input stereo image, generating, based on a first relevant feature, rule or model of the stereo image, at least a first first-level structure map, each of the first first-level structure maps being generated based on an individual tolerance level of the first relevant feature, rule or model, and each of the first first-level structure maps including the target at an individual first division level; and at least partly integrating the first first-level structure maps and analyzing the target in the stereo image, to obtain a structure map of a first-level target analysis result including the target.
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公开(公告)号：US10402664B2
公开(公告)日：2019-09-03
申请号：US15311946
申请日：2015-05-19
Applicant: Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
Inventor： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
Abstract: A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.
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公开(公告)号：US08504367B2
公开(公告)日：2013-08-06
申请号：US12872291
申请日：2010-08-31
Applicant: Dafei Shi , Yaojie Lu , Yueyan Yin , Jichuan Zheng , Lijun Zhao
Inventor： Dafei Shi , Yaojie Lu , Yueyan Yin , Jichuan Zheng , Lijun Zhao
CPC classification number: G06F17/3074 , G06F17/30743
Abstract: Disclosed are a speech retrieval apparatus and a speech retrieval method for searching, in a speech database, for an audio file matching an input search term by using an acoustic model serialization code, a phonemic code, a sub-word unit, and a speech recognition result of speech. The speech retrieval apparatus comprises a first conversion device, a first division device, a first speech retrieval unit creation device, a second conversion device, a second division device, a second speech retrieval unit creation device, and a matching device. The speech retrieval method comprises a first conversion step, a first division step, a first speech retrieval unit creation step, a second conversion step, a second division step, a second speech retrieval unit creation step, and a matching step.
Abstract translation: 公开了一种用于在语音数据库中搜索与输入搜索词匹配的音频文件的语音检索装置和语音检索方法，该音频文件通过使用声学模型序列化码，音素码，子字单元和语音识别 结果语言 语音检索装置包括第一转换装置，第一分割装置，第一语音检索单元创建装置，第二转换装置，第二分割装置，第二语音检索单元创建装置和匹配装置。 语音检索方法包括第一转换步骤，第一分割步骤，第一语音检索单元创建步骤，第二转换步骤，第二分割步骤，第二语音检索单元创建步骤和匹配步骤。
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公开(公告)号：US08316004B2
公开(公告)日：2012-11-20
申请号：US12910148
申请日：2010-10-22
Applicant: Yueyan Yin , Yaojie Lu , Dafei Shi , Jichuan Zheng , Lijun Zhao
Inventor： Yueyan Yin , Yaojie Lu , Dafei Shi , Jichuan Zheng , Lijun Zhao
CPC classification number: G10L25/48 , G06F17/30746 , G06F17/30749 , G10H2240/131
Abstract: Disclosed are a speech retrieval apparatus and a speech retrieval method for searching, in an audio file database, for one or more target audio files by using one or more input search terms. The speech retrieval apparatus comprises a related document obtaining unit configured to search, in a related document database where documents related to audio files in the audio file database are stored, for one or more related documents by using the search terms; a correspondence audio file obtaining unit configured to search, in the audio file database, for one or more correspondence audio files corresponding to the obtained related documents; and a speech-to-speech search unit configured to search, in the audio file database, for the target audio files by using the obtained correspondence audio files.
Abstract translation: 公开了一种用于在音频文件数据库中通过使用一个或多个输入搜索项来搜索一个或多个目标音频文件的语音检索装置和语音检索方法。 语音检索装置包括：相关文档获取单元，被配置为在相关文档数据库中搜索与音频文件数据库中的音频文件相关的文档，通过使用搜索词来搜索一个或多个相关文档; 对应音频文件获取单元，被配置为在音频文件数据库中搜索与所获得的相关文档相对应的一个或多个对应音频文件; 以及语音到语音搜索单元，被配置为通过使用所获得的对应音频文件在音频文件数据库中搜索目标音频文件。
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