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1. 发明申请

US20050232463A1 Method and apparatus for detecting a presence prior to collision 审中-公开
标题翻译：用于在碰撞之前检测存在的方法和装置
公开(公告)号：US20050232463A1
公开(公告)日：2005-10-20
申请号：US11070356
申请日：2005-03-02
申请人： David Hirvonen , Theodore Camus , John Southall , Robert Mandelbaum
发明人： David Hirvonen , Theodore Camus , John Southall , Robert Mandelbaum
IPC分类号： B60Q1/00 , B62J3/00 , B62J6/00 , G06K9/00 , G06K9/32 , G06K9/54 , G06K9/60 , G06K9/62
CPC分类号： G06K9/3241 , G06K9/00805
摘要： A method and apparatus for detecting a target in an image is disclosed. A plurality of depth images is provided. A plurality of target templates is compared to at least one of the plurality of depth images. A scores image is generated based on the plurality of target templates and the at least one depth image.
摘要翻译：公开了一种用于检测图像中的目标的方法和装置。提供多个深度图像。将多个目标模板与多个深度图像中的至少一个进行比较。基于多个目标模板和至少一个深度图像生成分数图像。

2. 发明申请

US20080159620A1 Vehicular Vision System 有权
标题翻译：车辆视觉系统
公开(公告)号：US20080159620A1
公开(公告)日：2008-07-03
申请号：US11837114
申请日：2007-08-10
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , Andre Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , Andre Rieder , John Benjamin Southall
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

3. 发明授权

US07974442B2 Vehicular vision system 有权
标题翻译：车辆视觉系统
公开(公告)号：US07974442B2
公开(公告)日：2011-07-05
申请号：US11837114
申请日：2007-08-10
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

4. 发明授权

US07263209B2 Vehicular vision system 有权
标题翻译：车辆视觉系统
公开(公告)号：US07263209B2
公开(公告)日：2007-08-28
申请号：US10461699
申请日：2003-06-13
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

5. 发明授权

US06396961B1 Method and apparatus for fixating a camera on a target point using image alignment 有权
标题翻译：使用图像对准将相机固定在目标点上的方法和装置
公开(公告)号：US06396961B1
公开(公告)日：2002-05-28
申请号：US09143910
申请日：1998-08-31
申请人： Lambert Ernest Wixson , Robert Mandelbaum , Michael Wade Hansen , Jayakrishnan Eledath , Deepam Mishra
发明人： Lambert Ernest Wixson , Robert Mandelbaum , Michael Wade Hansen , Jayakrishnan Eledath , Deepam Mishra
IPC分类号： G06K932
CPC分类号： H04N5/23264 , G06T7/70 , G06T7/80 , H04N5/23248 , H04N5/23254 , H04N5/23287
摘要： A method for fixating a camera, mounted on a motorized mount, on a target point. The method includes receiving a plurality of images representative of a scene; selecting, within the plurality of images, a first display reference image containing the target point at a first coordinate location; estimating, in a current image within the plurality of images, a transformation that maps the current image to the first display reference image; estimating a second coordinate location of the target point in the current image using the transformation; computing an image slip between the target point in the current image and the target point in the first display reference image; converting the image slip into an angular correction for fixating the camera; modifying the angular correction by using closed-loop control with the motorized mount; and warping the current image using the transformation to align the current image with the first display reference image. This warping step provides a stable view of the scene even in the presence of camera movements that cannot be eliminated using mechanical stabilization, and in the presence of motor control lags and oscillations due to measurement and actuator latencies.
摘要翻译：一种将安装在电动安装座上的相机固定在目标点上的方法。该方法包括：接收表示场景的多个图像; 在所述多个图像内选择包含所述目标点在第一坐标位置处的第一显示参考图像; 在所述多个图像中的当前图像中估计将所述当前图像映射到所述第一显示参考图像的变换; 使用变换来估计当前图像中的目标点的第二坐标位置; 计算当前图像中的目标点与第一显示参考图像中的目标点之间的图像滑动; 将图像转换成角度校正以固定相机; 通过使用电动安装座的闭环控制修改角度校正; 并使用变换对当前图像进行翘曲，以使当前图像与第一显示参考图像对准。这种翘曲步骤即使在存在无法通过机械稳定化以及由于测量和执行器延迟引起的电机控制滞后和振荡的情况下存在不能消除的相机运动的情况下，也能够提供场景的稳定视图。

6. 发明授权

US06307959B1 Method and apparatus for estimating scene structure and ego-motion from multiple images of a scene using correlation 有权
标题翻译：用于使用相关性来估计来自场景的多个图像的场景结构和自身运动的方法和装置
公开(公告)号：US06307959B1
公开(公告)日：2001-10-23
申请号：US09616005
申请日：2000-07-13
申请人： Robert Mandelbaum , Garbis Salgian , Harpreet Singh Sawhney
发明人： Robert Mandelbaum , Garbis Salgian , Harpreet Singh Sawhney
IPC分类号： G06T1700
CPC分类号： G06T7/207 , G06T7/55
摘要： A system that estimates both the ego-motion of a camera through a scene and the structure of the scene by analyzing a batch of images of the scene obtained by the camera employs a correlation-based, iterative, multi-resolution algorithm. The system defines a global ego-motion constraint to refine estimates of inter-frame camera rotation and translation. It also uses local window-based correlation to refine the current estimate of scene structure. The batch of images is divided into a reference image and a group of inspection images. Each inspection image in the batch of images is aligned to the reference image by a warping transformation. The correlation is determined by analyzing respective Gaussian/Laplacian decompositions of the reference image and warped inspection images. The ego-motion constraint includes both rotation and translation parameters. These parameters are determined by globally correlating surfaces in the respective inspection images to the reference image. Scene structure is determined on a pixel-by-pixel basis by correlating multiple pixels in a support region among all of the images. The correlation surfaces are modeled as quadratic or other parametric surfaces to allow easy recognition and rejection of outliers and to simplify computation of incremental refinements for ego-motion and structure. The system can employ information from other sensors to provide an initial estimate of ego-motion and/or scene structure. The system operates using images captured by either single-camera rigs or multiple-camera rigs.
摘要翻译：通过分析由相机获得的场景的一批图像来估计相机通过场景的自我运动和场景的结构的系统采用基于相关性的迭代多分辨率算法。系统定义了一个全局自我运动约束，以改进帧间相机旋转和平移的估计。它还使用局部基于窗口的相关来改进场景结构的当前估计。一批图像被分为参考图像和一组检查图像。批次图像中的每个检查图像通过翘曲变换与参考图像对齐。通过分析参考图像和翘曲检查图像的各自的高斯/拉普拉斯分解来确定相关性。自我运动约束包括旋转和平移参数。这些参数通过将各检查图像中的表面全局相关到参考图像来确定。通过将所有图像中的支持区域中的多个像素相关联，逐像素地确定场景结构。相关表面被建模为二次或其他参数曲面，以便容易地识别和排除异常值，并简化对自身运动和结构的增量细化的计算。系统可以使用来自其他传感器的信息来提供自我运动和/或场景结构的初始估计。该系统使用由单摄像机钻机或多摄像机钻机捕获的图像进行操作。

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