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1. 发明授权

US09664789B2 Navigation based on radar-cued visual imaging 有权
公开(公告)号：US09664789B2
公开(公告)日：2017-05-30
申请号：US14627178
申请日：2015-02-20
申请人： Kevin Rosenblum , Erez Dagan
发明人： Kevin Rosenblum , Erez Dagan
IPC分类号： G01S13/93 , G01S13/86 , G06T7/00 , G06T7/215 , G01S13/42 , G01S13/87
CPC分类号： G01S13/931 , G01S13/426 , G01S13/86 , G01S13/867 , G01S13/87 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G01S2013/9382 , G06K9/00791 , G06T7/00 , G06T7/215 , G06T2207/30261
摘要： A navigation system for a vehicle may include at least one image capture device configured to acquire a plurality of images of an environment of a vehicle and a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object. The system may also include at least one processing device programmed to: receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; use range information determined based on the output of the radar sensor together with the indicators of optical flow determined for each of the plurality of image segments in the first image and the corresponding image segments in the second image to calculate for each of a plurality of imaged regions at least one value indicative of a focus of expansion; identify a target object region, including at least a subset of the plurality of imaged regions that share a substantially similar focus of expansion; and cause a system response based on the identified target object region.

2. 发明授权

US09650025B2 Systems and methods for braking a vehicle based on a detected object 有权
公开(公告)号：US09650025B2
公开(公告)日：2017-05-16
申请号：US14720187
申请日：2015-05-22
申请人： Erez Dagan
发明人： Erez Dagan
IPC分类号： B60T7/22 , B60T8/171 , B60T8/172 , G06T7/269
CPC分类号： B60T17/221 , B60T7/22 , B60T8/171 , B60T8/172 , B60T2201/022 , B60T2270/40 , G06T7/269 , G06T2207/30252 , G06T2207/30261 , G07C5/0808
摘要： Systems and methods are provided for detecting an object and causing a vehicle to brake based on the detection. In one implementation, an object detecting and braking system for a vehicle includes at least one image capture device configured to acquire a plurality of images of an area including an object in front of the vehicle. The system includes at least one processing device programmed to perform a first image analysis to determine a first estimated time-to-collision of the vehicle with the object, and to perform a second image analysis to determine a second estimated time-to-collision of the vehicle with the object. The processing device is also programmed to calculate a difference between the first estimated time-to-collision and the second estimated time-to-collision, to determine that the difference does not exceed a predetermined threshold, and to cause the vehicle to brake based on the determination that the difference does not exceed the predetermined threshold.

3. 发明授权

US09096167B2 Collision warning system 有权
标题翻译：碰撞警告系统
公开(公告)号：US09096167B2
公开(公告)日：2015-08-04
申请号：US14261100
申请日：2014-04-24
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G06K9/00 , B60Q9/00 , G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

4. 发明申请

US20130308828A1 Collision Warning System 有权
公开(公告)号：US20130308828A1
公开(公告)日：2013-11-21
申请号：US13874041
申请日：2013-04-30
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

5. 发明申请

US20090143986A1 Collision Warning System 有权
标题翻译：碰撞警告系统
公开(公告)号：US20090143986A1
公开(公告)日：2009-06-04
申请号：US10599667
申请日：2005-01-19
申请人： Gideon P. Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon P. Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

6. 发明申请

US20140236471A1 COLLISION WARNING SYSTEM 有权
标题翻译：碰撞警告系统
公开(公告)号：US20140236471A1
公开(公告)日：2014-08-21
申请号：US14261100
申请日：2014-04-24
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16 , B60Q9/00
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

7. 发明申请

US20150234045A1 NAVIGATION BASED ON RADAR-CUED VISUAL IMAGING 有权
标题翻译：基于雷达视觉成像的导航
公开(公告)号：US20150234045A1
公开(公告)日：2015-08-20
申请号：US14627178
申请日：2015-02-20
申请人： Kevin Rosenblum , Erez Dagan
发明人： Kevin Rosenblum , Erez Dagan
IPC分类号： G01S13/93
CPC分类号： G01S13/931 , G01S13/426 , G01S13/86 , G01S13/867 , G01S13/87 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G01S2013/9382 , G06K9/00791 , G06T7/00 , G06T7/215 , G06T2207/30261
摘要： A navigation system for a vehicle may include at least one image capture device configured to acquire a plurality of images of an environment of a vehicle and a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object. The system may also include at least one processing device programmed to: receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; use range information determined based on the output of the radar sensor together with the indicators of optical flow determined for each of the plurality of image segments in the first image and the corresponding image segments in the second image to calculate for each of a plurality of imaged regions at least one value indicative of a focus of expansion; identify a target object region, including at least a subset of the plurality of imaged regions that share a substantially similar focus of expansion; and cause a system response based on the identified target object region.
摘要翻译：用于车辆的导航系统可以包括至少一个图像捕获装置，其被配置为获取车辆环境的多个图像和雷达传感器，以检测车辆环境中的物体，并且提供和输出包括指示的范围信息在车辆和物体之间的范围或范围速率中的至少一个。所述系统还可以包括至少一个处理装置，其被编程为：从所述至少一个图像捕获装置接收所述多个图像; 接收雷达传感器的输出; 从所述多个图像中的多个图像中的多个图像片段中的每一个以及所述多个图像中的来自所述多个图像的对应图像片段确定光学流量的指示符; 基于雷达传感器的输出确定的使用范围信息以及为第一图像中的多个图像段中的每一个确定的光流指示符和第二图像中的相应图像段，计算多个成像区域至少有一个值表示扩张的重点; 识别目标对象区域，包括共享基本相似的扩展焦点的多个成像区域的至少一个子集; 并基于所识别的目标对象区域引起系统响应。

8. 发明授权

US08861792B2 Collison warning system 有权
标题翻译：碰撞警告系统
公开(公告)号：US08861792B2
公开(公告)日：2014-10-14
申请号：US14090110
申请日：2013-11-26
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G06K9/00 , G08G1/16 , B60Q9/00
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

9. 发明申请

US20140156140A1 Collision Warning System 有权
标题翻译：碰撞警告系统
公开(公告)号：US20140156140A1
公开(公告)日：2014-06-05
申请号：US14090671
申请日：2013-11-26
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16 , G06K9/00
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

10. 发明申请

US20140093132A1 Collison Warning System 有权
公开(公告)号：US20140093132A1
公开(公告)日：2014-04-03
申请号：US14090110
申请日：2013-11-26
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G06K9/00 , B60Q9/00 , G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

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