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1. 发明公开

EP1687755A2 METHOD AND APPARATUS FOR REFINING TARGET POSITION AND SIZE ESTIMATES USING IMAGE AND DEPTH DATA 审中-公开
标题翻译：用于改善目标的位置和大小的方法和设备估计数。使用的图像和深层数据的
公开(公告)号：EP1687755A2
公开(公告)日：2006-08-09
申请号：EP04822225.1
申请日：2004-07-06
申请人： Sarnoff Corporation , FORD MOTOR COMPANY
发明人： SOUTHALL, John , CAMUS, Theodore , HIRVONEN, David
IPC分类号： G06K9/00
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：一种车辆视觉系统那样使用的深度图，图像强度数据，并且确定矿的目标的尺寸和相对位置的系统的校准参数。初始目标边界信息被投影到所述深度图和到图像强度。甲可视性分析确定性地雷无论靶的背面是视系统的视场内。所以映射图像边界如果在靶的上边界进行分析，以确定矿。然后，将映射的图像边界的垂直图像边缘通过搜索最强的一对垂直的图像边缘的并位于约相同的深度找到。然后，将映射的图像边界的底部被发现（或从校准参数假定的）。然后，目标的位置由技术均发现。所述目标的高度和宽度，然后计算。

2. 发明公开

EP1639516A2 METHOD AND APPARATUS FOR GROUND DETECTION AND REMOVAL IN VISION SYSTEMS 审中-公开
标题翻译：方法和设备地面检测和清除视觉系统
公开(公告)号：EP1639516A2
公开(公告)日：2006-03-29
申请号：EP04777587.9
申请日：2004-07-02
申请人： Sarnoff Corporation , FORD MOTOR COMPANY
发明人： CHANG, Peng , HIRVONEN, David , CAMUS, Theodore
IPC分类号： G06K1/00
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 (410), e.g., a vehicle, that determines the actual ground plane form the map (414), and that corrects the map for differences between the actual ground plane (416) 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.

3. 发明公开

EP1641653A2 METHOD AND APPARATUS FOR PEDESTRIAN DETECTION 审中-公开
标题翻译：方法和装置检测行人
公开(公告)号：EP1641653A2
公开(公告)日：2006-04-05
申请号：EP04777541.6
申请日：2004-07-02
申请人： Sarnoff Corporation , FORD MOTOR COMPANY
发明人： HIRVONEN, David , CAMUS, Theodore
IPC分类号： B60Q1/00 , G08G1/16 , G06K9/00
CPC分类号： G06K9/00369 , G06K9/00201 , G06K9/00805
摘要： A vehicle vision system (102) that identifies pedestrians (103) located proximate a vehicle (100). The system comprises a sensor array (106) produces imagery that is processed to generate disparity images. A depth map can be produced from the disparity images. Either the depth map or the disparity images are processed and compared to pedestrian templates. A pedestrian list is produced from the results of that comparison. The pedestrian list is processed to eliminate false pedestrians as determined by inverse eccentricity. The pedestrians are then tracked, and if a collision is possible, that information is provided to the driver and/or to an automated collision avoidance or damage or injury mitigation system.

4. 发明公开

EP1639519A1 VEHICULAR VISION SYSTEM 审中-公开
标题翻译：视觉系统
公开(公告)号：EP1639519A1
公开(公告)日：2006-03-29
申请号：EP04776578.9
申请日：2004-06-14
申请人： Sarnoff Corporation , FORD MOTOR COMPANY
发明人： MANDELBAUM, Robert , CAMUS, Theodore , HIRVONEN, David , CALL, Billie Joe , HILL, Ian, Gregory , RIEDER, Andre , SOUTHALL, John
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

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