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11. 发明授权

US10402664B2 Processing apparatus, processing system, processing program, and processing method 有权
公开(公告)号：US10402664B2
公开(公告)日：2019-09-03
申请号：US15311946
申请日：2015-05-19
申请人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
发明人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
IPC分类号： H04N7/18 , G06K9/00 , G08G1/16 , G06T7/285 , G06T7/194 , G06T7/73 , G06K9/52 , G06K9/62
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.

12. 发明申请

US20170177955A1 IMAGE PROCESSING DEVICE, DEVICE CONTROL SYSTEM, AND COMPUTER-READABLE STORAGE MEDIUM 审中-公开
公开(公告)号：US20170177955A1
公开(公告)日：2017-06-22
申请号：US15115832
申请日：2015-02-05
申请人： Soichiro YOKOTA , Yaojie LU , Tomoko ISHIGAKI
发明人： Soichiro YOKOTA , Yaojie LU , Tomoko ISHIGAKI
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： G06K9/00805 , B60W30/08 , G01S13/931 , G06K9/00791 , G06K9/00825 , G06K9/3241 , G06K2009/3291
摘要： An image processing device includes a range image acquiring unit configured to acquire a range image; a situation recognizer configured to recognize an external situation indicating a situation of an imaging area corresponding to the range image; and a target recognizer configured to recognize a recognition target from the range image by a recognition method based on a recognition result of the situation recognizer.

13. 发明申请

US20160019683A1 OBJECT DETECTION METHOD AND DEVICE 有权
标题翻译：对象检测方法和设备
公开(公告)号：US20160019683A1
公开(公告)日：2016-01-21
申请号：US14797667
申请日：2015-07-13
申请人： Ganmei YOU , Yuan LIU , Zhongchao SHI , Yaojie LU , Gang WANG
发明人： Ganmei YOU , Yuan LIU , Zhongchao SHI , Yaojie LU , Gang WANG
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/30261
摘要： Disclosed is an object detection method used to detect an object in an image pair corresponding to a current frame. The image pair includes an original image of the current frame and a disparity map of the same current frame. The original image of the current frame includes at least one of a grayscale image and a color image of the current frame. The object detection method comprises steps of obtaining a first detection object detected in the disparity map of the current frame; acquiring an original detection object detected in the original image of the current frame; correcting, based on the original detection object, the first detection object so as to obtain a second detection object; and outputting the second detection object.
摘要翻译：公开了一种用于检测对应于当前帧的图像对中的对象的对象检测方法。图像对包括当前帧的原始图像和相同当前帧的视差图。当前帧的原始图像包括灰度图像和当前帧的彩色图像中的至少一个。对象检测方法包括以下步骤：获得在当前帧的视差图中检测到的第一检测对象; 获取在当前帧的原始图像中检测到的原始检测对象; 基于原始检测对象来校正第一检测对象，以获得第二检测对象; 并输出第二检测对象。

14. 发明申请

US20140086477A1 METHOD AND DEVICE FOR DETECTING DRIVABLE REGION OF ROAD 有权
标题翻译：用于检测道路驱动区域的方法和装置
公开(公告)号：US20140086477A1
公开(公告)日：2014-03-27
申请号：US14034689
申请日：2013-09-24
申请人： Ganmei YOU , Yaojie LU , Zhongchao SHI , Gang WANG
发明人： Ganmei YOU , Yaojie LU , Zhongchao SHI , Gang WANG
IPC分类号： B60Q9/00 , G06T7/00
CPC分类号： B60Q9/008 , B60W40/06 , B60W2420/42 , G06K9/00 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06K9/4647 , G06T7/50
摘要： A method and a device are disclosed for detecting a drivable region of a road, the method comprising the steps of: deriving a disparity map from a gray-scale map including the road and detecting the road from the disparity map; removing a part with a height above the road greater than a predetermined height threshold from the disparity map so as to generate a sub-disparity map; converting the sub-disparity map into a U-disparity map; detecting the drivable region from the U-disparity map; and converting the drivable region detected from the U-disparity map into the drivable region within the gray-scale map.
摘要翻译：公开了一种用于检测道路的可驱动区域的方法和装置，所述方法包括以下步骤：从包括所述道路的灰度图并从所述视差图检测道路导出视差图; 从视差图中移除高于道路高度的部分大于预定高度阈值，以便生成子视差图; 将子视差图转换为U-视差图; 从U-视差图检测可驱动区域; 以及将从U视差图检测到的可驱动区域转换为灰度图内的可驱动区域。

15. 发明授权

US09679205B2 Method and system for displaying stereo image by cascade structure and analyzing target in image 有权
公开(公告)号：US09679205B2
公开(公告)日：2017-06-13
申请号：US14731577
申请日：2015-06-05
申请人： Chao Chen , Yaojie Lu , Zhongchao Shi , Dianchao Liu
发明人： Chao Chen , Yaojie Lu , Zhongchao Shi , Dianchao Liu
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00805 , G06K2209/21 , G06T7/0042
摘要： A method and a system for analyzing a target in a stereo image by displaying the stereo image using a cascade structure are disclosed. The method includes for the input stereo image, generating, based on a first relevant feature, rule or model of the stereo image, at least a first first-level structure map, each of the first first-level structure maps being generated based on an individual tolerance level of the first relevant feature, rule or model, and each of the first first-level structure maps including the target at an individual first division level; and at least partly integrating the first first-level structure maps and analyzing the target in the stereo image, to obtain a structure map of a first-level target analysis result including the target.

16. 发明授权

US09373043B2 Method and apparatus for detecting road partition 有权
标题翻译：用于检测道路分隔的方法和装置
公开(公告)号：US09373043B2
公开(公告)日：2016-06-21
申请号：US13708013
申请日：2012-12-07
申请人： Yaojie Lu , Ganmei You , Jichuan Zheng
发明人： Yaojie Lu , Ganmei You , Jichuan Zheng
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： A method and an apparatus are used for detecting a road partition, the method comprising: a step of obtaining a disparity top view having a road area; and a step of detecting parallel lines as the road partitions from the disparity top view.
摘要翻译：一种用于检测道路分隔的方法和装置，所述方法包括：获得具有道路面积的视差俯视图的步骤; 以及从视差俯视图检测平行线作为道路分隔的步骤。

17. 发明申请

US20150169956A1 OBJECT TRACKING METHOD AND DEVICE 有权
标题翻译：对象跟踪方法和设备
公开(公告)号：US20150169956A1
公开(公告)日：2015-06-18
申请号：US14568223
申请日：2014-12-12
申请人： Ganmei YOU , Yaojie LU , Zhongchao SHI , Chao CHEN , Gang WANG
发明人： Ganmei YOU , Yaojie LU , Zhongchao SHI , Chao CHEN , Gang WANG
IPC分类号： G06K9/00 , G06K9/46 , G06K9/62 , G06K9/52
CPC分类号： G06K9/00624 , G06K9/00805 , G06K9/4604 , G06K9/52 , G06K9/6215 , G06T7/246 , G06T2207/10021 , G06T2207/10028 , G06T2207/20068 , G06T2207/20076 , G06T2207/30252
摘要： Disclosed is an object tracking method. The method includes steps of obtaining a first boundary region of a waiting-for-recognition object in the disparity map related to the current frame; calculating a probability of each valid pixel in the first boundary region so as to get a pixel probability map of the waiting-for-recognition object; obtaining historic tracking data of each tracked object, which includes identifier information of the tracked object and a pixel probability map related to each of one or more prior frame related disparity maps prior to the disparity map related to the current frame; determining identifier information of the waiting-for-recognition object, and updating the pixel probability map of the waiting-for-recognition object; and updating, based on the updated pixel probability map of the waiting-for-recognition object, the first boundary region of the waiting-for-recognition object, so as to get a second boundary region of the waiting-for-recognition object.
摘要翻译：公开了一种物体跟踪方法。该方法包括以下步骤：获得与当前帧相关的视差图中等待识别对象的第一边界区域; 计算第一边界区域中的每个有效像素的概率，以获得等待识别对象的像素概率图; 获得每个跟踪对象的历史跟踪数据，其包括跟踪对象的标识符信息和与在与当前帧相关的视差图之前的一个或多个先前帧相关视差图中的每一个相关的像素概率图; 确定等待识别对象的标识符信息，以及更新等待识别对象的像素概率图; 以及基于等待识别对象的更新的像素概率图来更新等待识别对象的第一边界区域，以获得等待识别对象的第二边界区域。

18. 发明授权

US08923605B2 Method and system for detecting object on a road 有权
标题翻译：道路上物体检测方法及系统
公开(公告)号：US08923605B2
公开(公告)日：2014-12-30
申请号：US13673199
申请日：2012-11-09
申请人： Ganmei You , Yaojie Lu , Jichuan Zheng
发明人： Ganmei You , Yaojie Lu , Jichuan Zheng
IPC分类号： G06K9/00 , H04N7/18 , H04N13/02
CPC分类号： H04N7/18 , G06K9/00208 , G06K9/00798 , G06K9/00805 , G06T7/75 , G06T2207/10028 , G06T2207/30261 , H04N13/204
摘要： Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.
摘要翻译：公开了一种用于在道路上检测物体的方法和系统。该方法包括同时捕获两个深度图，然后计算视差图的步骤; 基于视差图，通过采用V视差算法获得V视差图像的步骤; 检测V型视差图像中的斜线，然后去除与斜线对应的视差图中的点，以获得不包括道路的子视差图; 检测V-视差图像中的多个垂直线的步骤，然后对于每个垂直线，提取与该副视差图相对应的该垂直线的点作为对应于该垂直线的对象子视差图 ; 以及将彼此靠近的对象子视差映射的任何两个矩形区域合并成矩形对象区域的步骤。

19. 发明申请

US20130128001A1 METHOD AND SYSTEM FOR DETECTING OBJECT ON A ROAD 有权
标题翻译：检测道路对象的方法和系统
公开(公告)号：US20130128001A1
公开(公告)日：2013-05-23
申请号：US13673199
申请日：2012-11-09
申请人： Ganmei YOU , Yaojie LU , Jichuan ZHENG
发明人： Ganmei YOU , Yaojie LU , Jichuan ZHENG
IPC分类号： H04N7/18 , H04N13/02
CPC分类号： H04N7/18 , G06K9/00208 , G06K9/00798 , G06K9/00805 , G06T7/75 , G06T2207/10028 , G06T2207/30261 , H04N13/204
摘要： Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.
摘要翻译：公开了一种用于在道路上检测物体的方法和系统。该方法包括同时捕获两个深度图，然后计算视差图的步骤; 基于视差图，通过采用V视差算法获得V视差图像的步骤; 检测V型视差图像中的斜线，然后去除与斜线对应的视差图中的点，以获得不包括道路的子视差图; 检测V-视差图像中的多个垂直线的步骤，然后对于每个垂直线，提取与该副视差图相对应的该垂直线的点作为对应于该垂直线的对象子视差图 ; 以及将彼此靠近的对象子视差映射的任何两个矩形区域合并成矩形对象区域的步骤。

20. 发明申请

US20110131236A1 SPEECH RETRIEVAL APPARATUS AND SPEECH RETRIEVAL METHOD 有权
标题翻译：语音检索装置和语音检索方法
公开(公告)号：US20110131236A1
公开(公告)日：2011-06-02
申请号：US12910148
申请日：2010-10-22
申请人： Yueyan YIN , Yaojie Lu , Dafei Shi , Jichuan Zheng , Lijun Zhao
发明人： Yueyan YIN , Yaojie Lu , Dafei Shi , Jichuan Zheng , Lijun Zhao
IPC分类号： G06F17/30
CPC分类号： G10L25/48 , G06F17/30746 , G06F17/30749 , G10H2240/131
摘要： Disclosed are a speech retrieval apparatus and a speech retrieval method for searching, in an audio file database, for one or more target audio files by using one or more input search terms. The speech retrieval apparatus comprises a related document obtaining unit configured to search, in a related document database where documents related to audio files in the audio file database are stored, for one or more related documents by using the search terms; a correspondence audio file obtaining unit configured to search, in the audio file database, for one or more correspondence audio files corresponding to the obtained related documents; and a speech-to-speech search unit configured to search, in the audio file database, for the target audio files by using the obtained correspondence audio files.
摘要翻译：公开了一种用于在音频文件数据库中通过使用一个或多个输入搜索项来搜索一个或多个目标音频文件的语音检索装置和语音检索方法。语音检索装置包括：相关文档获取单元，被配置为在相关文档数据库中搜索与音频文件数据库中的音频文件相关的文档，通过使用搜索词来搜索一个或多个相关文档; 对应音频文件获取单元，被配置为在音频文件数据库中搜索与所获得的相关文档相对应的一个或多个对应音频文件; 以及语音到语音搜索单元，被配置为通过使用所获得的对应音频文件在音频文件数据库中搜索目标音频文件。

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