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1. 发明授权

EP3176013B1 PREDICTIVE SUSPENSION CONTROL FOR A VEHICLE USING A STEREO CAMERA SENSOR 有权
公开(公告)号：EP3176013B1
公开(公告)日：2019-07-17
申请号：EP15201963.4
申请日：2015-12-22
申请人： Honda Research Institute Europe GmbH
发明人： Deigmöller, Jörg , Janssen, Herbert , Einecke, Nils , Fuchs, Oliver
IPC分类号： G06K9/00 , H04N13/204 , B60G17/0165 , B60G17/019 , B62J99/00 , B62K25/04

2. 发明授权

EP2620050B1 System, method and apparatus for unsupervised adaptation of the perception of an autonomous mower 有权
标题翻译：系统，方法和一种割草机的无人值守自动知觉的设备匹配
公开(公告)号：EP2620050B1
公开(公告)日：2016-07-27
申请号：EP12152452.4
申请日：2012-01-25
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Franzius, Dr. Mathias
IPC分类号： A01B69/00 , A01D34/00
CPC分类号： A01D34/008 , A01B69/001 , A01D34/00 , A01D34/04

3. 发明公开

EP2701093A1 Sensing system and method for detecting moving objects 有权
标题翻译：扫描系统和方法，用于检测移动物体
公开(公告)号：EP2701093A1
公开(公告)日：2014-02-26
申请号：EP12180995.8
申请日：2012-08-20
申请人： Honda Research Institute Europe GmbH
发明人： Deigmöller, Jörg , Einecke, Nils , Eggert, Julian
IPC分类号： G06K9/00 , G06T7/20
CPC分类号： H04N7/18 , G06K9/00805 , G06T7/215 , G06T2207/10016 , G06T2207/30252 , G06T2207/30261
摘要： The present invention presents a sensing system 1 and a corresponding method for detecting moving objects 11 in the surroundings of a vehicle 10. The sensing system 1 comprises an imaging unit 2 for obtaining an image stream 2a, a computing unit 3 for analyzing the image stream 2a, and a control unit 4 for controlling the vehicle 10 based on the analysis result of the computing unit 3. The sensing system 1 particularly employs a background-model-free estimation. The sensing system 1 is configured to perform a local analysis of two neighboring motion vectors 6, which are computed from points 7a in images 5a, 5b of the image stream 2a, and to determine, whether the points 7a corresponding to these motion vectors 6 belong to a particularly moving object.

4. 发明公开

EP2386998A1 A Two-Stage Correlation Method for Correspondence Search 失效
标题翻译： Zweistufiges Korrelationsverfahren zur Korrespondenzsuche
公开(公告)号：EP2386998A1
公开(公告)日：2011-11-16
申请号：EP10173087.7
申请日：2010-08-17
申请人： Honda Research Institute Europe GmbH
发明人： Eggert, Julian , Einecke, Nils
IPC分类号： G06T7/00 , H04N13/00
CPC分类号： G06T7/204 , G06T7/248 , G06T7/285 , G06T7/593 , G06T2207/10021 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252
摘要： The invention presents a method for comparing the similarity between image patches comprising the steps of receiving form at least two sources at least two image patches, wherein each source supplies an image patch, comparing the received image patches by extracting a number of corresponding subpart pairs from each image patch, calculating a normalized local similarity score between all corresponding subpart pairs, calculating a total matching score by integrating the local similarity scores of all corresponding subpart pairs, and using the total matching score as an indicator for an image patch similarity, determining corresponding similar image patches based on the total matching score.
摘要翻译：本发明提供了一种用于比较图像补丁之间的相似性的方法，包括以下步骤：至少接收两个源至少两个图像补丁的形式，其中每个源提供图像补丁，通过从多个对象的子对计算所有相应的子部分对之间的归一化局部相似性得分，通过对所有对应的子部分对的局部相似性得分进行积分来计算总匹配分数，并使用总匹配分数作为图像分片相似性的指标，确定对应的基于总匹配分数的相似图像补丁。

5. 发明公开

EP4011187A2 CONTROLLING AN AUTONOMOUS WORKING DEVICE BASED ON PHYSICAL INTERACTION 审中-公开
公开(公告)号：EP4011187A2
公开(公告)日：2022-06-15
申请号：EP21212149.5
申请日：2021-12-03
申请人： Honda Research Institute Europe GmbH
发明人： Franzius, Mathias , Einecke, Nils
IPC分类号： A01D34/00
摘要： An autonomous working device comprises at least one sensor configured to generate a sensor signal based on a physical interaction of the autonomous working device with a physical entity, at least one actuator configured to perform a working task, and a controller configured to generate a control signal for controlling the actuator. The controller is configured to evaluate the sensor signal, to determine a pattern of a physical interaction of the autonomous working device with a person and to generate the control signal based on the determined pattern of a physical interaction.

6. 发明授权

EP2899692B1 Method, system, imaging device, movable device and program product for detecting static elements in video and image sources 有权
公开(公告)号：EP2899692B1
公开(公告)日：2019-09-04
申请号：EP14152834.9
申请日：2014-01-28
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Deigmöller, Jörg
IPC分类号： G06T7/269 , G06T7/215

7. 发明授权

EP2894532B1 Sensor cleaning system for an autonomous robot device, base station and corresponding method 有权
公开(公告)号：EP2894532B1
公开(公告)日：2018-12-26
申请号：EP14150735.0
申请日：2014-01-10
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Franzius, Mathias , Sendhoff, Bernhard
IPC分类号： G05D1/02
CPC分类号： G05D1/0225 , A01D34/008 , B08B1/002 , B08B1/006 , B08B3/02 , G05D2201/0215 , Y10S901/01 , Y10S901/30 , Y10S901/46
摘要： The inventive system comprises an autonomous robot device, a base station and a method operating the same. The autonomous robot device includes a sensor means, e.g. an optical sensor, and a propulsion means. The base station includes a cleaning means specifically adapted for cleaning the sensor means of the autonomous robot device. In a preferred embodiment the propulsion means of the autonomous robot device is configured to move the autonomous robot device in a manner suitable to generate a relative movement of the autonomous robot device with respect to the passive cleaning means arranged at the stationary base station to effect the cleaning of the sensor means of the autonomous robot device.

8. 发明公开

EP3381257A1 METHOD FOR GENERATING A REPRESENTATION OF A WORKING AREA OF AN AUTONOMOUS LAWN MOWER AND AUTONOMOUS LAWN MOWER SYSTEM 有权
公开(公告)号：EP3381257A1
公开(公告)日：2018-10-03
申请号：EP17163251.6
申请日：2017-03-28
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils , Rebhan, Sven , Franzius, Mathias , Deigmöller, Jörg Klaus , MURO, Keiji
IPC分类号： A01D34/00
CPC分类号： G05D1/0274 , A01D34/008 , A01D2101/00 , G05D1/0088 , G05D1/0219 , G05D1/0257 , G05D2201/0208
摘要： The invention regards a method for generating a representation of a working area of an autonomous lawn mower and a system including an autonomous lawn mower with at least one movement sensor, a base station and a boundary wire forming a closed loop and being connected with the base station. The autonomous lawn mower and the base station are capable to interact with each other such that the autonomous lawn mower can determine whether it is in its home position. The home position is a predetermined position that is always taken when the mower returns to the base station, for example for charging or pausing. The autonomous lawn mower further comprises a memory, for storing measured values from its at least one movement sensor. In its processor, a trajectory is generated based on the measured values, wherein the processor is further configured to calculate a total error between the position and orientation according to the calculated trajectory and the home position after reaching the home position again. This total position error and total orientation error is then used to correct the position and corresponding orientations of the calculated trajectory.

9. 发明授权

EP2386998B1 A Two-Stage Correlation Method for Correspondence Search 失效
公开(公告)号：EP2386998B1
公开(公告)日：2018-07-11
申请号：EP10173087.7
申请日：2010-08-17
申请人： Honda Research Institute Europe GmbH
发明人： Eggert, Julian , Einecke, Nils
IPC分类号： G06T7/00 , H04N13/00
CPC分类号： G06T7/593 , G06T7/248 , G06T7/285 , G06T2207/10021 , G06T2207/10024 , G06T2207/20021 , G06T2207/30252
摘要： The invention presents a method for comparing the similarity between image patches comprising the steps of receiving form at least two sources at least two image patches, wherein each source supplies an image patch, comparing the received image patches by extracting a number of corresponding subpart pairs from each image patch, calculating a normalized local similarity score between all corresponding subpart pairs, calculating a total matching score by integrating the local similarity scores of all corresponding subpart pairs, and using the total matching score as an indicator for an image patch similarity, determining corresponding similar image patches based on the total matching score.

10. 发明公开

EP2894601A1 Method for analyzing related images, image processing system, vehicle comprising such system and computer program product 有权
标题翻译：一种用于相关图像，图像处理系统，具有这样的系统和计算机程序产品的车辆的分析处理
公开(公告)号：EP2894601A1
公开(公告)日：2015-07-15
申请号：EP14150740.0
申请日：2014-01-10
申请人： Honda Research Institute Europe GmbH
发明人： Einecke, Nils
IPC分类号： G06T7/00 , G06K9/62 , G06K9/00
CPC分类号： G06T7/32 , G06K9/00791 , G06K9/6202 , G06T7/579 , G06T7/593 , G06T2207/10028 , G06T2207/20076 , G06T2207/30252 , G06T2207/30256
摘要： The invention relates to a method for analyzing related images corresponding system and vehicle including such system as well as a computer program product for executing the method which comprises the steps of:
- obtaining at least a first and a second image
- defining a pixel patch in the first image for which a correlation shall be calculated
- calculating matching cost values between each pixel of the pixel patch in the first image and its corresponding pixel in each of a plurality of pixel patches in the second image, wherein the pixel patches in the second image differ in position in the second image and include the pixel patch with a target position
- aggregating the matching cost values of those corresponding pixels of all patches in the second image which match best to generate an aggregation window associated with the target position and
- producing a signal including information on the target position.
摘要翻译：本发明涉及一种用于分析相应的系统和车辆，包括搜索系统相关的图像，以及一种计算机程序产品，用于执行包括以下步骤的方法： - 获得至少第一和第二图像--defining中的像素补丁所述第一图像中的像素的贴剂和在每个第二图像中的像素的补丁的多个其对应像素的每个像素之间计算匹配的成本值，在第二worin像素补丁 - 针对其相关应计算所述第一图像在第二图像中的位置的图像的差分，并包括与目标位置的像素补丁 - 聚合所述第二图像中的所有补丁匹配哪个最好在与目标位置和相关联的聚集窗口产生的那些对应的像素的匹配成本值 - 生产的信号在包括所述目标位置的信息。

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