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1. 发明公开

EP3293668A1 A VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE 有权转让
标题翻译：一种用于机动车辆的视觉系统和方法
公开(公告)号：EP3293668A1
公开(公告)日：2018-03-14
申请号：EP16188484.6
申请日：2016-09-13
申请人： Autoliv Development AB
发明人： Medley, Fredrik
IPC分类号： G06K9/00
CPC分类号： G06K9/00791 , G06K9/00805
摘要： A vision system for detecting free space in front of a motor vehicle comprises a mono imaging apparatus (11) adapted to capture images (30) from the surrounding of a motor vehicle, and an electronic processing device (14) adapted to perform image processing of images (30) captured by said mono imaging apparatus (11) in order to detect objects in the surrounding of a motor vehicle. The electronic processing device (14) is adapted to calculate a horizontal component of the optical flow (31), and to determine transitions (33, 35) between regions of essentially constant horizontal optical flow and regions of essentially non-constant horizontal optical flow.
摘要翻译：一种用于检测机动车辆前方的自由空间的视觉系统，包括：适于从机动车辆的周围捕捉图像（30）的单成像设备（11）;以及电子处理设备（14），适于执行由所述单成像设备（11）捕获的图像（30），以便检测机动车辆周围的物体。电子处理装置（14）适于计算光流（31）的水平分量，并且确定基本上恒定的水平光流的区域与基本上不恒定的水平光流的区域之间的过渡（33,35）。

2. 发明公开

EP3340173A1 VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE 有权转让
公开(公告)号：EP3340173A1
公开(公告)日：2018-06-27
申请号：EP16206316.8
申请日：2016-12-22
申请人： Autoliv Development AB
发明人： Lorentzon, Mattis , Medley, Fredrik
IPC分类号： G06T7/593 , G06T7/246 , G08G1/16
CPC分类号： G06T7/246 , B60W30/09 , G06T7/593 , G06T2207/10012 , G06T2207/10016 , G06T2207/30252 , G08G1/166
摘要： A vision system (10) for a motor vehicle comprises an imaging apparatus (11) adapted to capture images from a surrounding of the motor vehicle, a correlation search engine (17) adapted to perform a horizontal correlation search between images captured by said imaging apparatus (11), and a processing device (14) adapted to perform image processing of images captured by said imaging apparatus (11). The vision system is adapted to perform time sharing of said of said correlation search engine (17) between said horizontal correlation search and calculation of a one-dimensional optical flow of captured images in a vertical direction.

3. 发明公开

EP3306521A1 STEREO VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE 有权转让
标题翻译：用于机动车辆的立体视觉系统和方法
公开(公告)号：EP3306521A1
公开(公告)日：2018-04-11
申请号：EP16192827.0
申请日：2016-10-07
申请人： Autoliv Development AB
发明人： Medley, Fredrik
IPC分类号： G06K9/00
CPC分类号： G06K9/00791 , G06K9/2018
摘要： A vision system (10) for a motor vehicle comprises a stereo imaging apparatus (11) adapted to capture images from the surrounding of the motor vehicle and a processing device (14) adapted to perform image processing on images capture by said imaging apparatus (11) and to control a driver assistance device (18) depending on the result of said image processing. The processing device (14) is adapted to calculate a disparity gradient k in a vertical direction for at least part of captured images, and to determine and/or remove artefacts in said images on the basis of said vertical disparity gradient k.
摘要翻译：一种用于机动车辆的视觉系统（10）包括适于从机动车辆的周围捕捉图像的立体成像装置（11）和适于对由所述成像装置（11）捕获的图像执行图像处理的处理装置（14））并且根据所述图像处理的结果来控制驾驶员辅助装置（18）。处理装置（14）适用于针对至少一部分所捕获的图像计算垂直方向上的视差梯度k，并且基于所述垂直视差梯度k来确定和/或去除所述图像中的伪影。

4. 发明公开

EP3252712A1 VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE 有权转让
标题翻译：用于机动车辆的视觉系统和方法
公开(公告)号：EP3252712A1
公开(公告)日：2017-12-06
申请号：EP16172442.2
申请日：2016-06-01
申请人： Autoliv Development AB
发明人： Medley, Fredrik , Lindgren, Leif , Knutsson, Per
IPC分类号： G06T7/00
CPC分类号： G06T7/85 , G06T2207/10021 , G06T2207/30244 , G06T2207/30261
摘要： A vision system (10) for a motor vehicle comprises a stereo imaging apparatus (11) with imaging devices (12) adapted to capture images from a surrounding of the motor vehicle, and a processing device (14) adapted to process images captured by said imaging devices (12) and to detect objects, and track detected objects over several time frames, in the captured images. The processing device (14) is adapted to obtain an estimated value for the intrinsic yaw error of the imaging devices (12) by solving a set of equations, belonging to one particular detected object (30), using a non-linear equation solver method, where each equation corresponds to one time frame and relates a frame time, a disparity value of the particular detected object, an intrinsic yaw error and a kinematic variable of the ego vehicle.
摘要翻译：一种用于机动车辆的视觉系统（10）包括具有适于从机动车辆的周围捕获图像的成像装置（12）的立体成像装置（11）以及适于处理由所述机器人捕获的图像的处理装置（14）成像设备（12）并且在捕获的图像中检测对象并且在多个时间帧内跟踪检测到的对象。处理装置（14）适于通过使用非线性方程求解器方法求解属于一个特定检测对象（30）的一组方程来获得成像装置（12）的固有偏航误差的估计值，其中每个方程对应于一个时间帧并且涉及帧时间，特定检测对象的视差值，自身车辆的固有偏航误差和运动学变量。

5. 发明公开

EP3312797A1 VISION SYSTEM AND METHOD FOR A MOTOR VEHICLE 无效转让
标题翻译：用于机动车辆的视觉系统和方法
公开(公告)号：EP3312797A1
公开(公告)日：2018-04-25
申请号：EP16194275.0
申请日：2016-10-18
申请人： Autoliv Development AB
发明人： Medley, Fredrik
IPC分类号： G06T3/00 , G06T7/55
CPC分类号： G06T3/0068 , G06T7/55 , G06T2207/10012 , G06T2207/10016 , G06T2207/20068 , G06T2207/20228 , G06T2207/30252
摘要： A vision system (10) for a motor vehicle comprises an imaging apparatus (11) adapted to capture images from a surrounding of the motor vehicle, and a processing unit (30) adapted to perform image processing of images captured by said imaging apparatus (11). The processing unit (30) is adapted to perform a polar transformation which aligns the epipolar lines to horizontal lines in the captured images, and to perform a structure-from-motion calculation on said transformed images.
摘要翻译：一种用于机动车辆的视觉系统（10），包括适于从机动车辆的周围捕获图像的成像装置（11）和适于对由所述成像装置（11）捕获的图像执行图像处理的处理单元（30））。处理单元（30）适于执行极线变换，所述极变换将所述极线与所捕捉的图像中的水平线对齐，并且对所述变换的图像执行运动结构计算。

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