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51. 发明申请

US20060245653A1 Method and apparatus for detecting edges of an object 有权
标题翻译：用于检测物体边缘的方法和装置
公开(公告)号：US20060245653A1
公开(公告)日：2006-11-02
申请号：US11374732
申请日：2006-03-14
申请人： Theodore Camus , David Hirvonen
发明人： Theodore Camus , David Hirvonen
IPC分类号： G06K9/48
CPC分类号： G06K9/3241 , G06K9/00805 , G06K2209/23
摘要： The present invention provides a system and method for detecting edges of an object in a pre-crash sensing environment. The method includes extracting vertical edges from peaks in an array of column sums of absolute values of normalized horizontal derivates computed in the intensity image. The pixels with corresponding range image depths proximate the estimated object's closest surface contribute the column sums. The search is conducted for all likely combinations of left/right edge pairs preferably within a pre-determined horizontal range about the object's detected center. The left/right edge pairs that delimit a width within the pre-determined range of possible widths for the object are selected. Alternatively, an additional search is performed on each pair of edges to support any angular or inward slant on the edges of the object.
摘要翻译：本发明提供一种用于在预碰撞感测环境中检测物体的边缘的系统和方法。该方法包括从在强度图像中计算的归一化水平导数的绝对值的列和的数组中的峰中提取垂直边缘。具有邻近估计对象最近表面的对应范围图像深度的像素贡献列和。对于左/右边缘对的所有可能的组合优选地在关于对象检测到的中心的预定水平范围内进行搜索。选择在对象的可能宽度的预定范围内界定宽度的左/右边缘对。或者，对每对边缘执行附加搜索以支持物体边缘上的任何角度或向内倾斜。

52. 发明申请

US20060212215A1 System to determine distance to a lead vehicle 有权
标题翻译：确定与引导车辆的距离的系统
公开(公告)号：US20060212215A1
公开(公告)日：2006-09-21
申请号：US11080234
申请日：2005-03-15
申请人： Anatoli Koulinitch
发明人： Anatoli Koulinitch
IPC分类号： G01C21/00
CPC分类号： G06T7/564 , G01S11/12 , G06K2209/23 , G06T2207/20016 , G06T2207/30261
摘要： A system implemented in a vehicle to detect a lead vehicle includes a camera which captures an image of the rear of the lead vehicle and an image processing system that receives image data from the camera. The image processing system is implemented with an algorithm that includes a preprocessing layer, an image segmentation layer, and a detection layer to analyze the image data to determine the relative distance between the vehicle and the lead vehicle.
摘要翻译：在车辆中实现的用于检测引导车辆的系统包括拍摄引导车辆的后部的图像的相机和从相机接收图像数据的图像处理系统。图像处理系统通过包括预处理层，图像分割层和检测层的算法来实现，以分析图像数据以确定车辆与引导车辆之间的相对距离。

53. 发明申请

US20060182313A1 System and method for range measurement of a preceding vehicle 失效
公开(公告)号：US20060182313A1
公开(公告)日：2006-08-17
申请号：US11049502
申请日：2005-02-02
申请人： Shunji Miyahara
发明人： Shunji Miyahara
IPC分类号： G06K9/00 , B60Q1/00 , H04N7/18 , G08G1/054
CPC分类号： G06K9/00805 , G01C3/22 , G06K9/3241 , G06K2209/23 , G06T7/70
摘要： A system for determining range and lateral position of a vehicle is provided. The system includes a camera and a processor. The camera is configured to view a region of interest including the vehicle and generate an electrical image of the region. The processor is in electrical communication with the camera to receive the electrical image. The processor analyzes the image by identifying a series of windows within the image each window corresponds to features of the vehicle at a different target range. For example, from the perspective of the camera the vehicle will appear larger when it is closer to the camera than if it is further away from the camera. Accordingly, each window is sized proportional to the vehicle as it would appear at each target range. The processor evaluates characteristics in the electrical image within each window to identify the vehicle. A score is determined indicating the likelihood that certain characteristics of the electrical image actually correspond to the vehicle and also that the vehicle is at target range for that window.

54. 发明申请

US20060177100A1 System and method for detecting features from images of vehicles 失效
公开(公告)号：US20060177100A1
公开(公告)日：2006-08-10
申请号：US11313599
申请日：2005-12-21
申请人： Ying Zhu , Binglong Xie , Visvanathan Ramesh , Martin Pellkofer , Thorsten Kohler
发明人： Ying Zhu , Binglong Xie , Visvanathan Ramesh , Martin Pellkofer , Thorsten Kohler
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06K9/4609 , G06K2209/23
摘要： A method of detecting a feature of a vehicle in an image of a vehicle includes providing a digitized image of a vehicle, providing a first filter mask over a first subdomain of the image, where the filter mask is placed to detect a feature in the image, calculating a function of a gradient of the image inside the first masked subdomain, and detecting the presence or absence of a vehicle feature within the first masked subdomain based on the value of the gradient function.

55. 发明申请

US20060165277A1 Method and apparatus for unsupervised learning of discriminative edge measures for vehicle matching between non-overlapping cameras 有权
标题翻译：用于非重叠摄像机之间的车辆匹配的鉴别边缘测量的无监督学习的方法和装置
公开(公告)号：US20060165277A1
公开(公告)日：2006-07-27
申请号：US11295143
申请日：2005-12-05
申请人： Ying Shan , Rakesh Kumar , Harpreet Sawhney
发明人： Ying Shan , Rakesh Kumar , Harpreet Sawhney
IPC分类号： G06K9/62 , G06K9/00
CPC分类号： G06K9/6293 , G06K9/00785 , G06K9/3241 , G06K2209/23 , G06T7/33
摘要： A method and apparatus for unsupervised learning of measures for matching objects between images from at least two non-overlapping cameras is disclosed The method includes collecting at least one two pairs of feature maps, where the at least one two pairs of feature maps are derived from features of objects captured in the images. The method further includes computing, as a function of at least one two pairs of feature maps, at least one first and second match measures, wherein the first match measure is of a same class and the second match measure is of a different class.
摘要翻译：公开了一种用于无人监督学习用于在来自至少两个非重叠相机的图像之间匹配对象的措施的方法和装置。该方法包括收集至少一对两对特征图，其中至少一对两对特征图从在图像中捕获的对象的特征。所述方法还包括根据至少一对两对特征图来计算至少一个第一和第二匹配度量，其中所述第一匹配度量具有相同类别，并且所述第二匹配度量是不同类别的。

56. 发明申请

US20050267657A1 Method for vehicle classification 审中-公开
标题翻译：车辆分类方法
公开(公告)号：US20050267657A1
公开(公告)日：2005-12-01
申请号：US11120651
申请日：2005-05-02
申请人： Prashant Devdhar
发明人： Prashant Devdhar
IPC分类号： G06F17/00
CPC分类号： G06K9/00208 , G06K9/0063 , G06K2209/23
摘要： A technique for vehicle classification and identification from images successively narrows the classification of a vehicle down to vehicle make, model, and other specific characteristics. This process uses location, size, color, shape, and other image characteristics that help differentiate vehicles from other kinds of objects in an image. A broad categorization of the target vehicle is performed by classifying the vehicle according to a predetermined set of general vehicle types. A short list is then created of potential matching vehicle makes and models within the broad category that have the best chance of matching the target vehicle. Specific visible points on the target vehicle are identified and then a wire-frame matching with pre-recorded wire-frame models of the short listed vehicles is performed to produce a set of selected vehicle makes and models.
摘要翻译：从图像中进行车辆分类和识别的技术连续地将车辆的分类缩小到车辆制造，车型和其他特定特征。该过程使用位置，大小，颜色，形状和其他图像特征，帮助区分车辆与图像中的其他物体。通过根据预定的一般车辆类型集合对车辆进行目标车辆的广泛分类。然后，创建一个潜在的匹配车辆制造商和广泛类别中具有匹配目标车辆的最佳机会的型号的简短列表。识别目标车辆上的特定可见点，然后执行与短列车辆的预先记录的线框模型的线框匹配以产生一组选定的车辆制造和模型。

57. 发明授权

US06963661B1 Obstacle detection system and method therefor 有权
公开(公告)号：US06963661B1
公开(公告)日：2005-11-08
申请号：US09659815
申请日：2000-09-11
申请人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
发明人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
IPC分类号： B60R1/00 , G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.

58. 发明申请

US20050102070A1 Vehicle image processing device 失效
标题翻译：车辆图像处理装置
公开(公告)号：US20050102070A1
公开(公告)日：2005-05-12
申请号：US10981709
申请日：2004-11-05
申请人： Taku Takahama , Takeshi Kimura
发明人： Taku Takahama , Takeshi Kimura
IPC分类号： G06T1/00 , G01C21/26 , G06F17/00 , G06T7/00 , G06T7/60 , G08G1/16
CPC分类号： G01C21/26 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/70
摘要： A vehicle image processing device is configured and arranged to capture an image of an area in front of a host vehicle in which the vehicle image processing device is installed and process only a small portion of the captured image to determine if an actual preceding vehicle is present in front of the host vehicle based on behavior information of the host vehicle. Based on the behavior information of the vehicle, the vehicle image processing device estimates a potential preceding vehicle position in front of the host vehicle. Then, based on the predicted potential preceding vehicle position, the vehicle image processing device sets an image processing region of the image captured. The vehicle image processing device then processes the image within only the image processing region top detect if an actual preceding vehicle is present in front of the host vehicle.
摘要翻译：车辆图像处理装置被配置和布置成捕获其中安装有车辆图像处理装置的主车辆前方的区域的图像，并且仅处理所捕获图像的一小部分，以确定是否存在实际的前方车辆基于主车辆的行为信息在主车辆前方。基于车辆的行为信息，车辆图像处理装置估计本车辆前方的潜在的前方车辆位置。然后，车辆图像处理装置基于车辆前方预测的位置，设定拍摄图像的图像处理区域。然后，车辆图像处理装置仅在图像处理区域顶部处理图像，检测在主车辆前方是否存在实际的前方车辆。

59. 发明授权

US06711280B2 Method and apparatus for intelligent ranging via image subtraction 失效
标题翻译：通过图像减法进行智能测距的方法和装置
公开(公告)号：US06711280B2
公开(公告)日：2004-03-23
申请号：US09866072
申请日：2001-05-25
申请人： Oscar M. Stafsudd , Ioannis Kanellakopoulos , Phyllis R. Nelson , Nicholas Bambos
发明人： Oscar M. Stafsudd , Ioannis Kanellakopoulos , Phyllis R. Nelson , Nicholas Bambos
IPC分类号： G06R900
CPC分类号： G06K9/3241 , G06K2209/23 , G06T7/586
摘要： A method and system for ranging an object are disclosed. The method includes illuminating a field of view potentially including the object, synchronously receiving reflected signals from the field of view with and without illumination, capturing first and second images within an array, and generating a subtraction image using the images. One image is captured in the array while the other image is in the array. The first and second images include reflected signals from the field of view with and without illumination, respectively. The array includes first and second groups of lines that are unmasked and masked, respectively. In one exposure, the first group of lines is loaded with the first or second image. The image in the first group of lines is shifted into the second group. In another exposure, the first group of lines is loaded with the other image, which is shifted into the second group.
摘要翻译：公开了一种测距对象的方法和系统。该方法包括照亮潜在地包括对象的视场，在有和没有照明的情况下同步地接收来自视场的反射信号，捕获阵列内的第一和第二图像，以及使用该图像生成减影图像。一个图像被捕获在阵列中，而另一个图像在数组中。第一和第二图像分别包括来自具有和不具有照明的视场的反射信号。该阵列分别包括未屏蔽和屏蔽的第一组和第二组线。在一次曝光中，第一组线条被装入第一或第二图像。第一组线中的图像被移入第二组。在另一曝光中，第一组线被加载另一个图像，该图像被移入第二组。

60. 发明授权

US06631316B2 Image processing system to control vehicle headlamps or other vehicle equipment 有权
公开(公告)号：US06631316B2
公开(公告)日：2003-10-07
申请号：US09799310
申请日：2001-03-05
申请人： Joseph S. Stam , Mark W. Pierce , Harold C. Ockerse
发明人： Joseph S. Stam , Mark W. Pierce , Harold C. Ockerse
IPC分类号： G06F700
CPC分类号： H04N5/335 , B60Q1/1423 , B60Q2300/41 , B60Q2300/42 , B60S1/0822 , B60S1/0844 , B60S1/087 , B60S1/0885 , B60W30/09 , B60W2550/12 , G06K9/00825 , G06K9/00973 , G06K9/2027 , G06K2209/23
摘要： An imaging system of the invention includes an image array sensor including a plurality of pixels. Each of the pixels generate a signal indicative of the amount of light received on the pixel. The imaging system further includes an analog to digital converter for quantizing the signals from the pixels into a digital value. The system further includes a memory including a plurality of allocated storage locations for storing the digital values from the analog to digital converter. The number of allocated storage locations in the memory is less than the number of pixels in the image array sensor. According to another embodiment, an imaging device includes an image sensor having a plurality pixels arranged in an array; and a multi-layer interference filter disposed over said pixel array, said multi-layer interference filter being patterned so as to provide filters of different colors to neighboring pixels or groups of pixels.

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