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1. 发明授权

US06704621B1 System and method for estimating ego-motion of a moving vehicle using successive images recorded along the vehicle's path of motion 有权
标题翻译：用于使用沿着车辆的运动路径记录的连续图像来估计移动车辆的自身运动的系统和方法
公开(公告)号：US06704621B1
公开(公告)日：2004-03-09
申请号：US09723754
申请日：2000-11-26
申请人： Gideon P. Stein , Ofer Mano
发明人： Gideon P. Stein , Ofer Mano
IPC分类号： G06F700
CPC分类号： G01S11/12 , G01S5/163
摘要： An ego-motion determination system is disclosed for generating an estimate as to the ego-motion of a vehicle moving along a roadway. The ego-motion determination system includes an image information receiver and a processor. The image information receiver is configured to receive image information relating to a series of at least two images recorded as the vehicle moves along a roadway. The processor is configured to process the image information received by the image receiver to generate an ego-motion estimate of the vehicle, including the translation of the vehicle in the forward direction and the rotation of the vehicle around a vertical axis as between, for example, successive images.
摘要翻译：公开了一种自动运动确定系统，用于产生关于沿着道路行驶的车辆的自我运动的估计。自主运动确定系统包括图像信息接收器和处理器。图像信息接收器被配置为接收与车辆沿着道路移动而记录的一系列至少两个图像相关的图像信息。处理器被配置为处理由图像接收器接收的图像信息以产生车辆的自我运动估计，包括车辆在向前方向上的平移以及车辆围绕垂直轴的旋转，例如在，连续的图像。

2. 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。

3. 发明授权

US08082101B2 Collision warning system 有权
标题翻译：碰撞警告系统
公开(公告)号：US08082101B2
公开(公告)日：2011-12-20
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。

4. 发明申请

US20120056735A1 COLLISION WARNING SYSTEM 有权
标题翻译：碰撞警告系统
公开(公告)号：US20120056735A1
公开(公告)日：2012-03-08
申请号：US13297907
申请日：2011-11-16
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： B60Q1/00 , G06F17/00
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。

5. 发明授权

US07566851B2 Headlight, taillight and streetlight detection 有权
标题翻译：大灯，尾灯和路灯检测
公开(公告)号：US07566851B2
公开(公告)日：2009-07-28
申请号：US11689523
申请日：2007-03-22
申请人： Gideon P. Stein , Ofer Hadassi , Noam Ben Haim , Uri Wolfovitz
发明人： Gideon P. Stein , Ofer Hadassi , Noam Ben Haim , Uri Wolfovitz
IPC分类号： H01L27/00 , B60Q1/02
CPC分类号： G06K9/00825 , B60Q1/143 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , B60Q2300/45 , G06K9/00818 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A method in a computerized system including an image sensor mounted in a moving vehicle. The image sensor captures image frames consecutively in real time. In one of the image flames, a spot is detected of measurable brightness; the spot is matched in subsequent image frames. The image frames are available for sharing between the computerized system and another vehicle control system. The spot and the corresponding spot are images of the same object. The object is typically one or more of headlights from an oncoming vehicle, taillights of a leading vehicle, streetlights, street signs and/or traffic signs. Data is acquired from the spot and from the corresponding spot. By processing the data, the object (or spot) is classified. producing an object classification. The vehicle control system controls preferably headlights of the moving vehicle based on the object classification. The other vehicle control system using the image frames is one or more of: lane departure warning system, collision warning system and/or ego-motion estimation system.
摘要翻译：一种包括安装在移动车辆中的图像传感器的计算机化系统中的方法。图像传感器实时捕获图像帧。在其中一个图像火焰中，检测到可测量亮度的斑点; 该点在随后的图像帧中匹配。图像帧可用于计算机化系统与另一车辆控制系统之间的共享。斑点和相应的斑点是同一物体的图像。该物体通常是一个或多个来自迎面而来的车辆的前灯，领先车辆的尾灯，路灯，路牌和/或交通标志。数据是从现场和相应的地点获取的。通过处理数据，对象（或点）进行分类。产生一个对象分类。基于对象分类，车辆控制系统优选地控制移动车辆的前灯。使用图像帧的其他车辆控制系统是车道偏离警告系统，碰撞警告系统和/或自主运动估计系统中的一个或多个。

6. 发明授权

US08164628B2 Estimating distance to an object using a sequence of images recorded by a monocular camera 有权
标题翻译：使用由单目相机记录的图像序列来估计到物体的距离
公开(公告)号：US08164628B2
公开(公告)日：2012-04-24
申请号：US11554048
申请日：2006-10-30
申请人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
发明人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
IPC分类号： H04N7/18
CPC分类号： G06T7/0061 , B60R11/04 , B60R2001/1253 , B60R2300/105 , B60R2300/802 , B60R2300/8093 , G01B11/026 , G01B11/14 , G01C3/00 , G01C3/22 , G01C22/00 , G01S11/12 , G01S17/93 , G06K9/00805 , G06T7/55 , G06T2207/10016 , G06T2207/20024 , G06T2207/30196 , G06T2207/30252 , G06T2207/30256 , G06T2207/30261
摘要： In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g. a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.
摘要翻译：在包括安装在移动车辆中的相机的计算机化系统中。摄像机连续拍摄包括摄像机视场内的物体的图像的实时图像帧。确定来自移动车辆的物体的范围。尺寸，例如在两个或多个图像帧的各个图像中测量宽度，从而产生尺寸的测量。处理测量值以产生平滑的尺寸测量。随后在一个或多个后续帧中测量尺寸。基于平滑的测量和随后的测量，实时地计算从车辆到物体的范围。该处理优选地包括使用卡尔曼滤波器递归地计算平滑维数。

7. 发明申请

US20120002053A1 DETECTING AND RECOGNIZING TRAFFIC SIGNS 有权
标题翻译：检测和识别交通标志
公开(公告)号：US20120002053A1
公开(公告)日：2012-01-05
申请号：US13235602
申请日：2011-09-19
申请人： Gideon P. Stein , Ori Shachar , Yoav Taieb , Uri Wolfovitz
发明人： Gideon P. Stein , Ori Shachar , Yoav Taieb , Uri Wolfovitz
IPC分类号： H04N7/18
CPC分类号： G08G1/0967 , G06K9/00818 , G08G1/096783
摘要： A computerized system mountable on a moving vehicle. The computerized system includes a camera. The camera captures in real time image frames of the environment in the field of view of the camera and transfers the image frames to an image processor. The image processor is programmed for performing traffic sign recognition and for performing another driver assistance function. Information is exchanged between the traffic sign recognition and the other driver assistance function.
摘要翻译：安装在移动车辆上的计算机化系统。计算机化系统包括摄像机。相机在相机视野的实时图像帧中拍摄环境，并将图像帧传输到图像处理器。图像处理器被编程用于执行交通标志识别和用于执行另一个驾驶员辅助功能。在交通标志识别和其他驾驶员辅助功能之间交换信息。

8. 发明申请

US20070154068A1 Estimating Distance To An Object Using A Sequence Of Images Recorded By A Monocular Camera 有权
标题翻译：使用单眼相机记录的图像序列来估计到对象的距离
公开(公告)号：US20070154068A1
公开(公告)日：2007-07-05
申请号：US11554048
申请日：2006-10-30
申请人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
发明人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
IPC分类号： G06K9/00 , H04N7/18 , B60Q1/00
CPC分类号： G06T7/0061 , B60R11/04 , B60R2001/1253 , B60R2300/105 , B60R2300/802 , B60R2300/8093 , G01B11/026 , G01B11/14 , G01C3/00 , G01C3/22 , G01C22/00 , G01S11/12 , G01S17/93 , G06K9/00805 , G06T7/55 , G06T2207/10016 , G06T2207/20024 , G06T2207/30196 , G06T2207/30252 , G06T2207/30256 , G06T2207/30261
摘要： In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g. a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.
摘要翻译：在包括安装在移动车辆中的相机的计算机化系统中。摄像机连续拍摄包括摄像机视场内的物体的图像的实时图像帧。确定来自移动车辆的物体的范围。尺寸，例如在两个或多个图像帧的各个图像中测量宽度，从而产生尺寸的测量。处理测量值以产生平滑的尺寸测量。随后在一个或多个后续帧中测量尺寸。基于平滑的测量和随后的测量，实时地计算从车辆到物体的范围。该处理优选地包括使用卡尔曼滤波器递归地计算平滑维数。

9. 发明授权

US07113867B1 System and method for detecting obstacles to vehicle motion and determining time to contact therewith using sequences of images 有权
标题翻译：用于检测车辆运动障碍物的系统和方法，并使用图像序列确定与之接触的时间
公开(公告)号：US07113867B1
公开(公告)日：2006-09-26
申请号：US09723755
申请日：2000-11-26
申请人： Gideon P. Stein
发明人： Gideon P. Stein
IPC分类号： G06F17/10
CPC分类号： G06T7/20 , G06K9/00805
摘要： A time-to-contact estimate determination system is disclosed for generating an estimate as to the time-to-contact of a vehicle moving along a roadway with an obstacle. The time-to-contact estimate determination system comprises an image receiver and a processor. The image receiver is configured to receive image information relating to a series of at least two images recorded as the vehicle moves along a roadway. The processor is configured to process the image information received by the image receiver to generate a time-to-contact estimate of the vehicle with the obstacle.
摘要翻译：公开了一种用于产生关于沿着具有障碍物的道路行驶的车辆的接触时间的估计的时间 - 接触估计确定系统。时间接触估计确定系统包括图像接收器和处理器。图像接收器被配置为接收与车辆沿着道路移动而记录的一系列至少两个图像相关的图像信息。处理器被配置为处理由图像接收器接收的图像信息以产生具有障碍物的车辆的时间接触估计。

10. 发明授权

US09183447B1 Object detection using candidate object alignment 有权
标题翻译：使用候选对象对齐的对象检测
公开(公告)号：US09183447B1
公开(公告)日：2015-11-10
申请号：US13493136
申请日：2012-06-11
申请人： Yoram Gdalyahu , Harel Livyatan , Oded Schwarz , Yoav Taieb , Gideon P. Stein , Kfir Viente
发明人： Yoram Gdalyahu , Harel Livyatan , Oded Schwarz , Yoav Taieb , Gideon P. Stein , Kfir Viente
IPC分类号： G06K9/62 , G06K9/00
CPC分类号： G06K9/00805 , G06K9/00369 , G06K9/00791 , G06K9/00818 , G06K9/00825 , G06K9/3241 , G06K9/6255 , G06T7/003 , G06T7/0081 , G06T2207/20081 , G06T2207/30196 , G06T2207/30236 , G06T2207/30261 , G06T2210/21
摘要： Classification of an object in the field of view of a camera. A processor is configured to capture multiple image frames from the camera. A candidate image is detected in the image frames. Alignment of the candidate image is determined relative to at least one previously known training image by inputting the candidate image into a trained alignment classifier and outputting one or more alignment variables therefrom associated with the candidate image. The candidate image and the alignment variable(s) are input into a trained object classifier. The object is classified responsive to the alignment variable(s).
摘要翻译：摄像机视野中物体的分类。处理器被配置为从相机捕获多个图像帧。在图像帧中检测候选图像。通过将候选图像输入训练对齐分类器并输出与候选图像相关联的一个或多个对准变量，来相对于至少一个先前已知的训练图像来确定候选图像的对准。候选图像和对准变量被输入到训练对象分类器中。响应于对准变量对象进行分类。

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