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1. 发明申请

US20070255480A1 APPARATUS AND METHOD FOR OBJECT DETECTION AND TRACKING AND ROADWAY AWARENESS USING STEREO CAMERAS 有权
标题翻译：使用立体相机的对象检测和跟踪和道路意识的装置和方法
公开(公告)号：US20070255480A1
公开(公告)日：2007-11-01
申请号：US11739068
申请日：2007-04-23
申请人： John Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Camus , Aveek Das , John Fields , Gary Greene , Jayakrishnan Eledath
发明人： John Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Camus , Aveek Das , John Fields , Gary Greene , Jayakrishnan Eledath
IPC分类号： B60T7/12 , G08G1/16
CPC分类号： G06K9/00825 , B60T7/22 , B60T2201/089 , B60W30/08 , B60W30/095 , B60W30/16 , B60W2420/403 , G06K9/00201 , G06K9/00798 , G06K9/00805 , G06T7/285 , G06T7/593 , G08G1/167
摘要： The present invention provides a collision avoidance apparatus and method employing stereo vision applications for adaptive vehicular control. The stereo vision applications are comprised of a road detection function and a vehicle detection and tracking function. The road detection function makes use of three-dimensional point data, computed from stereo image data, to locate the road surface ahead of a host vehicle. Information gathered by the road detection function is used to guide the vehicle detection and tracking function, which provides lead motion data to a vehicular control system of the collision avoidance apparatus. Similar to the road detection function, stereo image data is used by the vehicle detection and tracking function to determine the depth of image scene features, thereby providing a robust means for identifying potential lead vehicles in a headway direction of the host vehicle.
摘要翻译：本发明提供一种采用立体视觉应用的自适应车辆控制的防撞装置和方法。立体视觉应用包括道路检测功能和车辆检测和跟踪功能。道路检测功能利用从立体图像数据计算的三维点数据来定位主车辆前方的路面。由道路检测功能收集的信息用于引导车辆检测和跟踪功能，该功能将前导运动数据提供给防撞装置的车辆控制系统。与道路检测功能类似，通过车辆检测和跟踪功能使用立体图像数据来确定图像场景特征的深度，从而提供用于识别主车辆的前进方向上的潜在的先导车辆的鲁棒手段。

2. 发明申请

US20050015201A1 Method and apparatus for detecting obstacles 审中-公开
标题翻译：用于检测障碍物的方法和装置
公开(公告)号：US20050015201A1
公开(公告)日：2005-01-20
申请号：US10621239
申请日：2003-07-16
申请人： John Fields , John Southall
发明人： John Fields , John Southall
IPC分类号： G06K20060101 , G08G1/16
CPC分类号： G08G1/163 , G06K9/00201 , G06K9/00798 , G06K9/4671
摘要： A method and apparatus for detecting obstacles in off-road applications. A stereo camera and specific image-processing techniques enable a vehicle's vision system to identify drivable terrain in front of the vehicle. The method uses non-drivable residuals (NDR), where the NDR is zero for all terrain that can be easily traversed by the vehicle and greater than zero for terrain that may not be traversable by the vehicle. The method utilizes a depth map having a point cloud that represents the depth to objects within the field of view of the stereo cameras. The depth map is tiled such that the point cloud data is represented by an average (smoothed) value. The method scans pixels in the smoothed depth map to find sequences of “good” points that are connected by line segments having an acceptable slope. Points that lie outside of the acceptable slope range will have an NDR that is greater than zero. The vehicle control system can use the NDRs to accurately make decisions as to the trajectory of the vehicle.
摘要翻译：一种用于检测越野应用中的障碍物的方法和装置。立体相机和特定的图像处理技术使得车辆的视觉系统能够识别在车辆前面的可驾驶的地形。该方法使用不可驱动的残差（NDR），其中对于可以容易地被车辆穿过的所有地形，NDR为零，并且对于可能不被车辆行驶的地形大于零。该方法利用具有点云的深度图，该点云代表立体照相机视场内的对象的深度。深度图被平铺，使得点云数据由平均（平滑）值表示。该方法扫描平滑的深度图中的像素，以找到通过具有可接受的斜率的线段连接的“良好”点的序列。位于可接受的斜率范围之外的点将具有大于零的NDR。车辆控制系统可以使用NDR来准确地做出关于车辆轨迹的决定。

3. 发明授权

US08305430B2 System and method for multi-camera visual odometry 有权
标题翻译：多摄像机视觉测距的系统和方法
公开(公告)号：US08305430B2
公开(公告)日：2012-11-06
申请号：US11532897
申请日：2006-09-18
申请人： Taragay Oskiper , John Fields , Rakesh Kumar
发明人： Taragay Oskiper , John Fields , Rakesh Kumar
IPC分类号： H04N13/00
CPC分类号： H04N5/232
摘要： A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
摘要翻译：提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。摄像机相对于彼此的相对姿态和配置被认为是已知的，并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。摄像机可以针对不同的应用被布置成不同的配置，并且适合于安装在车辆或经历一般运动的人身上。结合视觉测距法的实现提供了完整的并行架构，从而可以在多CPU系统上实现实时处理。

4. 发明申请

US20060012424A1 Methods and apparatus for variable harmonic distortion 失效
公开(公告)号：US20060012424A1
公开(公告)日：2006-01-19
申请号：US10894205
申请日：2004-07-19
申请人： Hartley Peavey , John Fields
发明人： Hartley Peavey , John Fields
IPC分类号： H03F3/26
CPC分类号： H03F1/327 , H03F3/22 , H03F3/26 , H03F3/265 , H03F3/28
摘要： Methods and apparatus for producing first and second drive signals from an input signal such that each drive signal is about 180 degrees out of phase with respect to the other; variably altering at least one of the first and second drive signals such that their respective magnitudes may be unbalanced to a varying degree; and producing an output signal from the first and second drive signals such that it includes harmonic distortion when the first and second drive signals are unbalanced.

5. 发明申请

US20070115352A1 SYSTEM AND METHOD FOR MULTI-CAMERA VISUAL ODOMETRY 有权
标题翻译：用于多摄像机视觉数据的系统和方法
公开(公告)号：US20070115352A1
公开(公告)日：2007-05-24
申请号：US11532897
申请日：2006-09-18
申请人： Taragay Oskiper , John Fields , Rakesh Kumar
发明人： Taragay Oskiper , John Fields , Rakesh Kumar
IPC分类号： H04N13/00 , H04N13/02
CPC分类号： H04N5/232
摘要： A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
摘要翻译：提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。摄像机相对于彼此的相对姿态和配置被认为是已知的，并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。摄像机可以针对不同的应用被布置成不同的配置，并且适合于安装在车辆或经历一般运动的人身上。结合视觉测距法的实现提供了完整的并行架构，从而可以在多CPU系统上实现实时处理。

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