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1. 发明授权

US09834153B2 Method and system for dynamically calibrating vehicular cameras 有权
公开(公告)号：US09834153B2
公开(公告)日：2017-12-05
申请号：US14113412
申请日：2012-04-25
申请人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
发明人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
IPC分类号： B60R11/04 , G03B43/00 , H04N17/00 , G06T3/40 , G06T7/80
CPC分类号： B60R11/04 , B60R2300/105 , B60R2300/303 , G03B43/00 , G06T3/4038 , G06T7/80 , G06T7/85 , G06T2207/30252 , H04N17/002
摘要： A method of dynamically calibrating a given camera relative to a reference camera of a vehicle includes identifying an overlapping region in an image frame provided by the given camera and an image frame provided by the reference camera and selecting at least a portion of an object in the overlapped region of the reference image frame. Expected pixel positions of the selected object portion in the given image frame is determined based on the location of the selected object portion in the reference image frame, and pixel positions of the selected object portion are located as detected in the given image frame. An alignment of the given camera is determined based on a comparison of the pixel positions of the selected object portion in the given image frame to the expected pixel positions of the selected object portion in the given image frame.

2. 发明申请

US20140043473A1 METHOD AND SYSTEM FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS 有权
标题翻译：用于动态校准车辆摄像机的方法和系统
公开(公告)号：US20140043473A1
公开(公告)日：2014-02-13
申请号：US14113414
申请日：2012-01-20
申请人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
发明人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
IPC分类号： H04N17/00
CPC分类号： G06T7/0018 , B60R1/00 , B60R2300/105 , B60R2300/402 , B60R2300/8086 , B60R2300/8093 , G06T7/80 , G06T2207/30252 , H04N17/00 , H04N17/002
摘要： A method of dynamically ascertaining the alignment of a vehicular camera. The method involves acquiring a sequence of images provided by the camera whilst the vehicle is in motion. For each range of steering angles, the method (i) selects a plurality of feature points in the images, (ii) tracks a motion trajectory for each selected feature point, and (iii) determines a vanishing point in the image plane based on the tracked motion trajectories. The method determines a vanishing line in the image plane based on a locus of these vanishing points and determines the alignment of the camera based on the position of a central vanishing point (corresponding to the zero degree angle) and the vanishing line.
摘要翻译：一种动态地确定车辆照相机对准的方法。该方法涉及在车辆运动时获取由相机提供的图像序列。对于每个转向角度范围，方法（i）选择图像中的多个特征点，（ii）跟踪每个所选特征点的运动轨迹，以及（iii）基于图像平面确定图像平面中的消失点跟踪的运动轨迹。该方法基于这些消失点的轨迹确定图像平面中的消失线，并且基于中心消失点（对应于零角度）和消失线来确定摄像机的对准。

3. 发明授权

US08581983B2 Vehicle interior classification system and method 有权
标题翻译：车辆内部分类系统及方法
公开(公告)号：US08581983B2
公开(公告)日：2013-11-12
申请号：US12529832
申请日：2008-03-07
申请人： Bin Shi , Ghanshyam Rathi , Sharon Zibman , Tom Perovic , Nikhil Gupta , Hilda Faraji , Yong Zhou
发明人： Bin Shi , Ghanshyam Rathi , Sharon Zibman , Tom Perovic , Nikhil Gupta , Hilda Faraji , Yong Zhou
IPC分类号： H04N7/18
CPC分类号： H04N17/002 , B60R1/00 , B60R21/01538 , G06K9/00832 , G06K9/4604 , G06K9/4642 , G06K9/6228 , G06T7/80
摘要： A vehicle interior classification system and method determines a classification relating to the interior of the vehicle, such as the occupancy status of a vehicle seat or the state of alertness of a vehicle driver, from one or more images of an appropriate portion of the interior of the vehicle acquired with an image capture device. The acquired images may be processed to limit the dynamic range of the images to obtain a resultant image that includes one or more regions of interest which are less than the total field of view of the image capture device. The resultant images are processed to extract information about features in the image. The set of coefficients produced with suchprocessing can be reduced to a subset of the total number of coefficients, the members of the subset being selected for their ability to discriminate between the classifications defined for the system.
摘要翻译：车辆内部分类系统和方法从车辆内部的适当部分的一个或多个图像确定与车辆内部相关的分类，例如车辆座椅的占用状态或车辆驾驶员的警觉状态采用图像采集装置获取的车辆。可以处理所获取的图像以限制图像的动态范围，以获得包括一个或多个感兴趣区域的合成图像，其小于图像捕获装置的总视场。处理所得到的图像以提取关于图像中的特征的信息。通过这种处理产生的系数集合可以减少到系数总数的一个子集，该子集的成员被选择用于区分为系统定义的分类的能力。

4. 发明授权

US09357208B2 Method and system for dynamically calibrating vehicular cameras 有权
标题翻译：动态校准车载摄像机的方法和系统
公开(公告)号：US09357208B2
公开(公告)日：2016-05-31
申请号：US14113414
申请日：2012-01-20
申请人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
发明人： Nikhil Gupta , Hilda Faraji , Daan He , Ghanshyam Rathi
IPC分类号： H04N7/18 , H04N17/00 , G06T7/00
CPC分类号： G06T7/0018 , B60R1/00 , B60R2300/105 , B60R2300/402 , B60R2300/8086 , B60R2300/8093 , G06T7/80 , G06T2207/30252 , H04N17/00 , H04N17/002
摘要： A method of dynamically ascertaining the alignment of a vehicular camera. The method involves acquiring a sequence of images provided by the camera whilst the vehicle is in motion. For each range of steering angles, the method (i) selects a plurality of feature points in the images, (ii) tracks a motion trajectory for each selected feature point, and (iii) determines a vanishing point in the image plane based on the tracked motion trajectories. The method determines a vanishing line in the image plane based on a locus of these vanishing points and determines the alignment of the camera based on the position of a central vanishing point (corresponding to the zero degree angle) and the vanishing line.
摘要翻译：一种动态地确定车辆照相机对准的方法。该方法涉及在车辆运动时获取由相机提供的图像序列。对于每个转向角度范围，方法（i）选择图像中的多个特征点，（ii）跟踪每个所选特征点的运动轨迹，以及（iii）基于图像平面确定图像平面中的消失点跟踪的运动轨迹。该方法基于这些消失点的轨迹确定图像平面中的消失线，并且基于中心消失点（对应于零角度）和消失线来确定摄像机的对准。

5. 发明申请

US20100060736A1 Vehicle Interior Classification System And Method 有权
标题翻译：车辆内部分类系统与方法
公开(公告)号：US20100060736A1
公开(公告)日：2010-03-11
申请号：US12529832
申请日：2008-03-07
申请人： Bin Shi , Ghanshyam Rathi , Sharon Zibman , Tom Perovic , Nikhil Gupta , Hilda Faraji , Yong Zhou
发明人： Bin Shi , Ghanshyam Rathi , Sharon Zibman , Tom Perovic , Nikhil Gupta , Hilda Faraji , Yong Zhou
IPC分类号： H04N7/18 , G06K9/46
CPC分类号： H04N17/002 , B60R1/00 , B60R21/01538 , G06K9/00832 , G06K9/4604 , G06K9/4642 , G06K9/6228 , G06T7/80
摘要： A vehicle interior classification system and method in accordance with the present invention determines a classification relating to the interior of the vehicle, such as the occupancy status of a vehicle seat or the state of alertness of a vehicle driver, from one or more images of an appropriate portion of the interior of the vehicle acquired with an image capture device. The acquired images are preferably processed to limit the dynamic range of the images to obtain a resultant image which can comprise one or more regions of interest which are less than the total field of view of the image capture device. The resultant images are processed to extract information about features in the image and, in one embodiment, this processing is achieved with a two-dimensional complex discrete wavelet transform which produces a set of coefficients corresponding to the presence and/or location of the features in the resultant image. The set of coefficients produced with such a transform is potentially quite large and can be reduced, through described techniques, to a subset of the total number of coefficients, the members of the subset being selected for their ability to discriminate between the classifications defined for the system. By selecting a subset of the possible coefficients, computational requirements are reduced, as are hardware requirements in the system, such as memory. The selected set of coefficients (whether comprising all of the coefficients or a subset thereof) are provided to a classifier which processes the coefficients with a set of calibration vectors, that were determined when the system was calibrated, to determine the most probable classification for the portion of the vehicle interior.
摘要翻译：根据本发明的车辆内部分类系统和方法从一个或多个图像的一个或多个图像确定关于车辆内部的分类，例如车辆座椅的占用状态或车辆驾驶员的警觉状态用图像捕获装置获取的车辆内部的适当部分。所获取的图像优选地被处理以限制图像的动态范围，以获得可以包括小于图像捕获装置的总视场的一个或多个感兴趣区域的合成图像。处理所得到的图像以提取关于图像中的特征的信息，并且在一个实施例中，该处理通过二维复数离散小波变换来实现，该二维复数离散小波变换产生对应于特征的存在和/或位置的一组系数得到的图像。通过这种变换产生的系数集合潜在地相当大，并且可以通过描述的技术将其减少到系数的总数的一个子集，该子集的成员被选择为能够区分为系统。通过选择可能的系数的子集，减少计算需求，以及系统中的硬件要求，如存储器。所选择的一组系数（无论是包括所有系数还是其子集）被提供给分类器，该分类器使用在校准系统时确定的一组校准向量来处理系数，以确定系统的最可能分类部分车辆内部。

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