会员体验
专利管家(专利管理)
工作空间(专利管理)
风险监控(情报监控)
数据分析(专利分析)
侵权分析(诉讼无效)
联系我们
交流群
官方交流:
QQ群: 891211   
微信请扫码    >>>
现在联系顾问~
热词
    • 2. 发明申请
    • Method and System for Visual Collision Detection and Estimation
    • 视觉碰撞检测与估计方法与系统
    • US20100305857A1
    • 2010-12-02
    • US12776202
    • 2010-05-07
    • Jeffrey ByrneRaman K. Mehra
    • Jeffrey ByrneRaman K. Mehra
    • G08G1/16G06K9/00
    • G06T7/73G06T2207/30248
    • Collision detection and estimation from a monocular visual sensor is an important enabling technology for safe navigation of small or micro air vehicles in near earth flight. In this paper, we introduce a new approach called expansion segmentation, which simultaneously detects “collision danger regions” of significant positive divergence in inertial aided video, and estimates maximum likelihood time to collision (TTC) in a correspondenceless framework within the danger regions. This approach was motivated from a literature review which showed that existing approaches make strong assumptions about scene structure or camera motion, or pose collision detection without determining obstacle boundaries, both of which limit the operational envelope of a deployable system. Expansion segmentation is based on a new formulation of 6-DOF inertial aided TTC estimation, and a new derivation of a first order TTC uncertainty model due to subpixel quantization error and epipolar geometry uncertainty. Proof of concept results are shown in a custom designed urban flight simulator and on operational flight data from a small air vehicle.
    • 来自单目视觉传感器的碰撞检测和估计是近地飞行中小型或微型飞行器的安全导航的重要使能技术。 在本文中,我们引入了一种称为扩展分段的新方法,其同时检测惯性辅助视频中的显着正偏差的“碰撞危险区域”,并估计危险区域内的无关框架中的最大碰撞时间(TTC)。 这种方法是从文献综述中得出的,这表明现有方法对场景结构或摄像机运动做出了强烈的假设,或者在不确定障碍物边界的情况下进行碰撞检测,这两者都限制了可部署系统的运行范围。 扩展分割基于6自由度惯性辅助TTC估计的新公式,以及由于子像素量化误差和对极几何不确定性引起的一阶TTC不确定性模型的新推导。 概念证明结果显示在定制设计的城市飞行模拟器和来自小型飞行器的操作飞行数据上。