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1. 发明公开

EP2828825A1 PROCÉDÉ DE DÉTERMINATION D'UN PLAN DU SOL À PARTIR D'UNE IMAGE DE PROFONDEUR 有权
标题翻译： VERFAHREN ZUR BESTIMMUNG EINER GRUNDEBENE AUS EINEM TIEFENBILD
公开(公告)号：EP2828825A1
公开(公告)日：2015-01-28
申请号：EP13709900.8
申请日：2013-03-15
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： ALLEZARD, Nicolas , HERVIEU, Alexandre , LUCAT, Laurent
IPC分类号： G06T7/00
CPC分类号： G06T7/0051 , G06K9/00201 , G06T7/50 , G06T7/75 , G06T2207/10021 , G06T2207/10028 , G06T2207/30252
摘要： The invention relates to the field of image processing applied to the detection of targets and, more precisely, to the field of the estimation of the ground plane in images. It relates to a method of determining a triplet of parameters defining a ground plane on the basis of a depth image. The method of determining the ground plane comprises in particular a step of determining several triplets of parameters each defining a ground plane, a step of spatial filtering of the parameters and a step of temporal filtering of the parameters. According to the invention, the temporal filtering of the parameters is dependent on an indicator R
3d representative of the quality of the data of the depth image which are available for the determination of the ground plane. The temporal filtering of the parameters may also be dependent on an indicator R
pl representative of the quality of the ground plane determined after spatial filtering. Likewise, the spatial filtering may also be parameterized as a function of the indicators R
3d and R
pl . Globally, the invention implements the idea according to which the more the plane estimated for a depth image makes it possible to "explain" the points of this image, the more accurately the planes of the subsequent images may be determined. In particular, for the spatial filtering, this involves a ground plane search in a more limited space and, for the temporal filtering, a less significant consideration of the ground planes estimated previously.
摘要翻译：确定基于深度图像定义接地平面的参数的三元组的方法包括确定参数的多个三元组，各自定义接地平面，参数的空间滤波以及参数的时间滤波。时间滤波取决于可用于确定地平面的深度图像数据的质量指标。时间滤波取决于空间滤波后确定的接地平面的质量指标。类似地，空间滤波可以被参数化为两个指标的函数。在全球范围内，深度图像的估计平面越多，可以“解释”该图像中的点，确定后续图像的平面越准确。对于空间滤波，在更有限的空间中搜索接地平面，并且对于时间滤波，先前估计的接地平面被认为是较小的程度。

2. 发明公开

EP2556467A1 PROCEDE DE DETECTION DE CIBLES DANS DES IMAGES STEREOSCOPIQUES 审中-公开
标题翻译：方法靶的用于立体图像的检测
公开(公告)号：EP2556467A1
公开(公告)日：2013-02-13
申请号：EP11713292.8
申请日：2011-04-11
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： ALLEZARD, Nicolas , BAYOUDH, Sabri , SAYD, Patrick , LUCAT, Laurent
IPC分类号： G06K9/32 , G06K9/20 , G06K9/00
CPC分类号： G06K9/6227 , G06K9/00798 , G06K9/00805 , G06K9/209
摘要： The present invention relates to a method for detecting a target present in at least two images of a single scene recorded by separate cameras. The method comprises a preliminary step of learning targets under setup conditions. The method also includes a simultaneous step of, under operating conditions, classifying objects present in the images, the target being considered detected once the object is classified as being one of the targets learned during the learning step. The classification step includes a step of adapting at least one of the images to the setup conditions under which the learning step took place. The invention can be used for monitoring, assistance and security using stereoscopic images.

3. 发明公开

EP3198523A1 PROCEDE ET SYSTEME DE DETECTION D'EVENEMENTS DE NATURE CONNUE 审中-公开
公开(公告)号：EP3198523A1
公开(公告)日：2017-08-02
申请号：EP15767185.0
申请日：2015-09-24
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： CHAN-HON-TONG, Adrien , LUCAT, Laurent
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/00221 , G06K9/00302 , G06K9/00335 , G06K9/00362 , G06K9/00711
摘要： The invention relates to a method for detecting events in a signal received on a detection sensor (22) connected to a processor (20) comprising at least the following steps, given {E
e }
e=1..Ne natural events, a voting field D consisting of I subfields D
i ={ [d
i , d
i+1 [ } where i=1...I and a dictionary of micro-events {m
i }
i=1..M : initializing, at an identical value, a table S containing score values, S[e][p], where p is a space or time position index (p ∈ D); detecting one or more micro-events m
n (n=1..N), located at t
n (n=1..N), (20), corresponding to the quantification of a local observation O
n in the signal; for each micro-event m
n located at t
n , for each event type "e", and for each subfield D
i , updating the table S[e][t
n + p] by adding a constant value for all the locations p ∈ D
i , (31); and determining a set of events associated with an observation in the signal from table S, (32) and detecting the likeliest event associated with an observation of the signal.
摘要翻译：本发明涉及一种用于检测在连接到处理器（20）的检测传感器（22）上接收到的信号中的事件的方法，该方法包括至少以下步骤，给定{Ee} = 1..Ne自然事件，投票场 D由I个子域组成Di = {[di，di + 1]}其中i = 1 ... I和一个微事件字典{mi} i = 1..M：以相同的值初始化一个表 S包含分数值S [e] [p]，其中p是空间或时间位置索引（p∈D）; 检测位于tn（n = 1..N），（20）处的一个或多个微事件mn（n = 1..N），对应于信号中的局部观察On的量化; 对于位于tn的每个微事件mn，针对每个事件类型“e”，并且对于每个子字段Di，通过为所有位置p∈Di添加常数值来更新表S [e] [tn + p] 31）; 以及确定与来自表S（32）的信号中的观察值相关联的一组事件并检测与信号观察相关联的最可能事件。

4. 发明授权

EP2828825B1 PROCÉDÉ DE DÉTERMINATION D'UN PLAN DU SOL À PARTIR D'UNE IMAGE DE PROFONDEUR 有权
标题翻译：一种用于确定深层意象的基本水平
公开(公告)号：EP2828825B1
公开(公告)日：2016-04-27
申请号：EP13709900.8
申请日：2013-03-15
申请人： Commissariat à l'Énergie Atomique et aux Énergies Alternatives
发明人： ALLEZARD, Nicolas , HERVIEU, Alexandre , LUCAT, Laurent
IPC分类号： G06T7/00
CPC分类号： G06T7/0051 , G06K9/00201 , G06T7/50 , G06T7/75 , G06T2207/10021 , G06T2207/10028 , G06T2207/30252

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