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    • 14. 发明授权
    • Recognizing geometrically salient objects from segmented point clouds using strip grid histograms
    • 使用带状网格直方图识别来自分段点云的几何显着对象
    • US08396293B1
    • 2013-03-12
    • US12644751
    • 2009-12-22
    • Thommen KorahSwarup S. MedasaniYuri Owechko
    • Thommen KorahSwarup S. MedasaniYuri Owechko
    • G06K9/00
    • G06K9/0063
    • A method of recognizing geometrically salient objects from sensed data points collected in a 3D environment includes using a sensor that collects a plurality of sensed data points each having spatial coordinate information in three dimensions x, y and z, populating a strip histogram grid having a plurality of strips, each strip having a z, dx and dy dimensions, wherein dx is a portion of an x dimension and dy is a portion of a y dimension of the strip histogram grid, by assigning each sensed data point to a strip that has x, y and z dimensions that encompass the spatial coordinate information of the respective assigned sensed data point, and segmenting the strip histogram grid into a plurality of segmented regions, each segmented region comprising one strip or a group of neighboring strips having similar attributes.
    • 从在3D环境中收集的感测数据点识别几何显着物体的方法包括使用收集多个感测数据点的传感器,每个感测数据点具有三维x,y和z的空间坐标信息,填充具有多个 每个条带具有az,dx和dy尺寸,其中dx是x尺寸的一部分,dy是条形柱状图网格的ay尺寸的一部分,通过将每个感测数据点分配给具有x,y的条带 和Z维度,其包含相应分配的感测数据点的空间坐标信息,并将条带直方图网格分割成多个分段区域,每个分段区域包括具有相似属性的一个条带或一组相邻条带。
    • 15. 发明授权
    • Street curb and median detection using LIDAR data
    • 使用LIDAR数据的街道路边和中值检测
    • US08537338B1
    • 2013-09-17
    • US13216580
    • 2011-08-24
    • Swarup S. MedasaniYuri OwechkoThommen Korah
    • Swarup S. MedasaniYuri OwechkoThommen Korah
    • G01C3/08G06K9/00G06K9/48
    • G01C21/32G01S7/4802G01S17/89G06K9/00651G06K9/6221
    • A method of extracting street and road data from a dataset obtained using LIDAR techniques to scan a terrestrial region of the earth's surface of interest to form the dataset. The method includes: converting the dataset into an implicit representation using a population function; converting the implicit representation into 2D point data which are supplied to an agglomerative Gaussian mixture decomposition module, the agglomerative Gaussian mixture decomposition module automatically and parsimoniously fitting the 2-D point data with a set of Gaussian components; and modeling a segment of a street grid in the dataset by Gaussian models and constraining the Gaussian models to align with each other and a dominant orientation of the streets in order to detect streets. Ray tracing techniques may be used to detect curbs and medians.
    • 从使用LIDAR技术获得的数据集中提取街道和道路数据的方法来扫描地球表面的地球区域以形成数据集。 该方法包括:使用群体函数将数据集转换为隐式表示; 将隐含表示转换为提供给聚集高斯混合分解模块的2D点数据,聚集高斯混合分解模块自动且简约地将2-D点数据与一组高斯分量拟合; 并通过高斯模型对数据集中的街道网格的一个模型进行建模,并约束高斯模型以便彼此对齐以及街道的主导方向以便检测街道。 光线跟踪技术可用于检测路缘石和中位数。
    • 16. 发明授权
    • Application-specific object-based segmentation and recognition system
    • 特定于应用程序的基于对象的分割和识别系统
    • US07227893B1
    • 2007-06-05
    • US10646585
    • 2003-08-22
    • Narayan SrinivasaSwarup S. MedasaniYuri OwechkoDeepak Khosla
    • Narayan SrinivasaSwarup S. MedasaniYuri OwechkoDeepak Khosla
    • H04N7/18
    • G08B13/19606G06K9/00771G08B13/19602G08B13/19608G08B13/19613
    • A video detection and monitoring method and apparatus utilizes an application-specific object based segmentation and recognition system for locating and tracking an object of interest within a number of sequential frames of data collected by a video camera or similar device. One embodiment includes a background modeling and object segmentation module to isolate from a current frame at least one segment of the current frame containing a possible object of interest, and a classification module adapted to determine whether or not any segment of the output from the background modeling apparatus includes an object of interest and to characterize any such segment as an object segment. An object segment tracking apparatus is adapted to track the location within a current frame of any object segment and to determine a projected location of the object segment in a subsequent frame.
    • 视频检测和监测方法和装置利用基于特定目标的对象分割和识别系统来定位和跟踪由摄像机或类似设备收集的多个数据的连续数据帧内的感兴趣对象。 一个实施例包括背景建模和对象分割模块,以从当前帧与当前帧的至少一个分段包含可能的感兴趣对象隔离,并且分类模块适于确定来自背景建模的输出的任何分段 装置包括感兴趣的对象并且将任何这样的片段表征为对象片段。 对象段跟踪装置适于跟踪任何对象段的当前帧内的位置,并且确定对象段在随后帧中的投影位置。