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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

US20050013465A1 Method and apparatus for refining target position and size estimates using image and depth data 有权
标题翻译：使用图像和深度数据来提炼目标位置和尺寸估计的方法和装置
公开(公告)号：US20050013465A1
公开(公告)日：2005-01-20
申请号：US10617231
申请日：2003-07-10
申请人： John Southall , David Hirvonen , Theodore Camus
发明人： John Southall , David Hirvonen , Theodore Camus
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00624 , G06T7/55
摘要： A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.
摘要翻译：一种车辆视觉系统，其使用深度图，图像强度数据和系统校准参数来确定目标的尺寸和相对位置。初始目标边界信息被投影到深度图和图像强度上。可视性分析确定目标的后部是否在系统的视野内。如果是，则分析映射的图像边界以确定目标的上边界。然后，通过搜索位于大约相同深度的最强的一对垂直图像边缘来找到映射图像边界的垂直图像边缘。然后，找到映射图像边界的底部（或从校准参数假设）。然后，通过平均技术找到目标的位置。然后计算目标的高度和宽度。

3. 发明申请

US20060210117A1 Method and apparatus for ground detection and removal in vision systems 有权
标题翻译：视觉系统中地面检测和去除的方法和装置
公开(公告)号：US20060210117A1
公开(公告)日：2006-09-21
申请号：US11429865
申请日：2006-05-08
申请人： Peng Chang , David Hirvonen , Theodore Camus
发明人： Peng Chang , David Hirvonen , Theodore Camus
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06K9/00805 , G06K9/3241
摘要： A vision system that forms a map of a scene proximate a platform, e.g., a vehicle, that determines the actual ground plane form the map, and that corrects the map for differences between the actual ground plane and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.
摘要翻译：形成靠近平台（例如，车辆）的场景的映射的视觉系统，其确定实际的接地平面形成地图，并且校正地图以了解实际接地平面与假定的接地平面之间的差异。视觉系统可以从地图中去除实际的地平面，以防止误报。视觉系统可以进一步识别和分类对象，如果适当，采取回避行动。

4. 发明授权

US07697786B2 Method and apparatus for detecting edges of an object 有权
标题翻译：用于检测物体边缘的方法和装置
公开(公告)号：US07697786B2
公开(公告)日：2010-04-13
申请号：US11374732
申请日：2006-03-14
申请人： Theodore Camus , David Hirvonen
发明人： Theodore Camus , David Hirvonen
IPC分类号： G06K9/36 , G06K9/00 , G06K9/34 , G06K9/66 , G06K9/46
CPC分类号： G06K9/3241 , G06K9/00805 , G06K2209/23
摘要： The present invention provides a system and method for detecting edges of an object in a pre-crash sensing environment. The method includes extracting vertical edges from peaks in an array of column sums of absolute values of normalized horizontal derivates computed in the intensity image. The pixels with corresponding range image depths proximate the estimated object's closest surface contribute the column sums. The search is conducted for all likely combinations of left/right edge pairs preferably within a pre-determined horizontal range about the object's detected center. The left/right edge pairs that delimit a width within the pre-determined range of possible widths for the object are selected. Alternatively, an additional search is performed on each pair of edges to support any angular or inward slant on the edges of the object.
摘要翻译：本发明提供一种用于在预碰撞感测环境中检测物体的边缘的系统和方法。该方法包括从在强度图像中计算的归一化水平导数的绝对值的列和的数组中的峰中提取垂直边缘。具有邻近估计对象最近表面的对应范围图像深度的像素贡献列和。对于左/右边缘对的所有可能的组合优选地在关于对象检测到的中心的预定水平范围内进行搜索。选择在对象的可能宽度的预定范围内界定宽度的左/右边缘对。或者，对每对边缘执行附加搜索以支持物体边缘上的任何角度或向内倾斜。

5. 发明申请

US20050270286A1 Method and apparatus for classifying an object 有权
标题翻译：分类物体的方法和装置
公开(公告)号：US20050270286A1
公开(公告)日：2005-12-08
申请号：US11070566
申请日：2005-03-02
申请人： David Hirvonen , Theodore Camus
发明人： David Hirvonen , Theodore Camus
IPC分类号： G06K9/00 , G06K9/32 , G06K9/62 , G06T15/00 , G06T15/40
CPC分类号： G06K9/00214 , G06K9/3241
摘要： A method and apparatus for classifying an object in an image is disclosed. A depth image is provided. At least one area of the depth image unsatisfactory for object identification are identified. A plurality of two-dimensional projections of surface normals in the depth image is determined without considering the unsatisfactory at least one area. One or more objects are classified based on the plurality of two-dimensional projections of surface normals.
摘要翻译：公开了一种用于对图像中的对象进行分类的方法和装置。提供深度图像。识别对物体识别不满足深度图像的至少一个区域。确定深度图像中的表面法线的多个二维投影，而不考虑不满意的至少一个区域。基于表面法线的多个二维投影来分类一个或多个物体。

6. 发明申请

US20070247517A1 Method and apparatus for producing a fused image 审中-公开
标题翻译：用于产生融合图像的方法和装置
公开(公告)号：US20070247517A1
公开(公告)日：2007-10-25
申请号：US11209969
申请日：2005-08-23
申请人： Chao Zhang , John Southall , Theodore Camus
发明人： Chao Zhang , John Southall , Theodore Camus
IPC分类号： H04N9/64
CPC分类号： H04N5/332 , G06K9/2018 , G06T3/0081 , G06T3/4061 , G06T7/30 , G06T7/55 , G06T7/593 , H04N5/2226 , H04N5/33 , H04N13/239
摘要： A method and apparatus for producing a fused image is described. In one embodiment, a first image at a first wavelength and a second image at a second wavelength are generated. Next, range information is generated and subsequently used to warp the first image in a manner that correlates to the second image. In turn, the warped first image is fused with the second image to produce the fused image.
摘要翻译：描述了用于产生融合图像的方法和装置。在一个实施例中，产生第一波长的第一图像和第二波长处的第二图像。接下来，生成范围信息并随后用于以与第二图像相关的方式扭曲第一图像。反过来，翘曲的第一图像与第二图像融合以产生融合图像。

7. 发明申请

US20060245653A1 Method and apparatus for detecting edges of an object 有权
标题翻译：用于检测物体边缘的方法和装置
公开(公告)号：US20060245653A1
公开(公告)日：2006-11-02
申请号：US11374732
申请日：2006-03-14
申请人： Theodore Camus , David Hirvonen
发明人： Theodore Camus , David Hirvonen
IPC分类号： G06K9/48
CPC分类号： G06K9/3241 , G06K9/00805 , G06K2209/23
摘要： The present invention provides a system and method for detecting edges of an object in a pre-crash sensing environment. The method includes extracting vertical edges from peaks in an array of column sums of absolute values of normalized horizontal derivates computed in the intensity image. The pixels with corresponding range image depths proximate the estimated object's closest surface contribute the column sums. The search is conducted for all likely combinations of left/right edge pairs preferably within a pre-determined horizontal range about the object's detected center. The left/right edge pairs that delimit a width within the pre-determined range of possible widths for the object are selected. Alternatively, an additional search is performed on each pair of edges to support any angular or inward slant on the edges of the object.
摘要翻译：本发明提供一种用于在预碰撞感测环境中检测物体的边缘的系统和方法。该方法包括从在强度图像中计算的归一化水平导数的绝对值的列和的数组中的峰中提取垂直边缘。具有邻近估计对象最近表面的对应范围图像深度的像素贡献列和。对于左/右边缘对的所有可能的组合优选地在关于对象检测到的中心的预定水平范围内进行搜索。选择在对象的可能宽度的预定范围内界定宽度的左/右边缘对。或者，对每对边缘执行附加搜索以支持物体边缘上的任何角度或向内倾斜。

8. 发明申请

US20070255480A1 APPARATUS AND METHOD FOR OBJECT DETECTION AND TRACKING AND ROADWAY AWARENESS USING STEREO CAMERAS 有权
标题翻译：使用立体相机的对象检测和跟踪和道路意识的装置和方法
公开(公告)号：US20070255480A1
公开(公告)日：2007-11-01
申请号：US11739068
申请日：2007-04-23
申请人： John Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Camus , Aveek Das , John Fields , Gary Greene , Jayakrishnan Eledath
发明人： John Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Camus , Aveek Das , John Fields , Gary Greene , Jayakrishnan Eledath
IPC分类号： B60T7/12 , G08G1/16
CPC分类号： G06K9/00825 , B60T7/22 , B60T2201/089 , B60W30/08 , B60W30/095 , B60W30/16 , B60W2420/403 , G06K9/00201 , G06K9/00798 , G06K9/00805 , G06T7/285 , G06T7/593 , G08G1/167
摘要： The present invention provides a collision avoidance apparatus and method employing stereo vision applications for adaptive vehicular control. The stereo vision applications are comprised of a road detection function and a vehicle detection and tracking function. The road detection function makes use of three-dimensional point data, computed from stereo image data, to locate the road surface ahead of a host vehicle. Information gathered by the road detection function is used to guide the vehicle detection and tracking function, which provides lead motion data to a vehicular control system of the collision avoidance apparatus. Similar to the road detection function, stereo image data is used by the vehicle detection and tracking function to determine the depth of image scene features, thereby providing a robust means for identifying potential lead vehicles in a headway direction of the host vehicle.
摘要翻译：本发明提供一种采用立体视觉应用的自适应车辆控制的防撞装置和方法。立体视觉应用包括道路检测功能和车辆检测和跟踪功能。道路检测功能利用从立体图像数据计算的三维点数据来定位主车辆前方的路面。由道路检测功能收集的信息用于引导车辆检测和跟踪功能，该功能将前导运动数据提供给防撞装置的车辆控制系统。与道路检测功能类似，通过车辆检测和跟踪功能使用立体图像数据来确定图像场景特征的深度，从而提供用于识别主车辆的前进方向上的潜在的先导车辆的鲁棒手段。

9. 发明申请

US20050232491A1 Method and apparatus for differentiating pedestrians, vehicles, and other objects 有权
标题翻译：用于区分行人，车辆和其他物体的方法和装置
公开(公告)号：US20050232491A1
公开(公告)日：2005-10-20
申请号：US11070613
申请日：2005-03-02
申请人： Peng Chang , Theodore Camus
发明人： Peng Chang , Theodore Camus
IPC分类号： G06K9/00 , G06K9/32 , G06K9/46 , G06K9/48 , G06K9/62 , G06T5/00
CPC分类号： G06K9/00362 , G06K9/4642 , G06T7/11 , G06T2207/10016 , G06T2207/30261
摘要： A method and apparatus for classifying an object in an image is disclosed. Edges of an object are detected within a region of interest. Edge analysis is performed on a plurality of sub-regions within the region of interest to generate an edge score. The object is classified based on the edge score.
摘要翻译：公开了一种用于对图像中的对象进行分类的方法和装置。在感兴趣的区域内检测物体的边缘。对感兴趣区域内的多个子区域执行边缘分析以生成边缘分数。该对象根据边缘分数进行分类。

10. 发明申请

US20050131646A1 Method and apparatus for object tracking prior to imminent collision detection 有权
标题翻译：在紧急碰撞检测之前进行物体跟踪的方法和装置
公开(公告)号：US20050131646A1
公开(公告)日：2005-06-16
申请号：US11013087
申请日：2004-12-15
申请人： Theodore Camus
发明人： Theodore Camus
IPC分类号： B60R21/01 , B60R21/0134 , G01S3/786 , G01S13/93 , G05D1/00 , G06F17/10 , G06K9/00
CPC分类号： B60R21/013 , B60R21/0134 , G01S3/7864 , G06K9/00201 , G06K9/00805
摘要： A method and apparatus for performing collision detection is described. An object is detected within a first operational range of an object tracker. A classification of the object is determined using the object tracker. The object tracker tracks the object. The object is detected within a second operational range of a collision detector. A safety measure is activated based on the classification using the collision detector.
摘要翻译：描述用于执行冲突检测的方法和装置。在对象跟踪器的第一操作范围内检测对象。使用对象跟踪器确定对象的分类。对象跟踪器跟踪对象。在碰撞检测器的第二操作范围内检测物体。基于使用碰撞检测器的分类激活安全措施。

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