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1. 发明申请

US20150294167A1 METHOD AND SYSTEM FOR DETECTING TRAFFIC LIGHTS 有权
标题翻译：检测交通灯的方法和系统
公开(公告)号：US20150294167A1
公开(公告)日：2015-10-15
申请号：US14646337
申请日：2012-11-20
申请人： Yankun ZHANG , Chuyang HONG , Ruyi JIANG , Yun ZHOU , Norman WEYRICH
发明人： Yankun Zhang , Chuyang Hong , Ruyi Jiang , Yun Zhou , Norman Weyrich
IPC分类号： G06K9/00 , G06T7/00 , G06T1/00
CPC分类号： G06K9/00825 , G06K9/4652 , G06T1/0007 , G06T2207/10004 , G06T2207/10024 , G06T2207/30252
摘要： A method for detecting traffic lights is provided. The method includes: obtaining a color image captured by a camera; converting the color image into a first monochrome scale image; converting the first monochrome scale image into a first binary image; identifying a first set of candidate blobs in the first binary image based on at least one predetermined geometric parameter; and determine whether a first region in the color image, which first region corresponds to one of the first set of candidate blobs, is a green traffic light using a green traffic light classifier. The accuracy and efficiency may be improved.
摘要翻译：提供了一种检测交通灯的方法。该方法包括：获得由相机拍摄的彩色图像; 将彩色图像转换成第一单色刻度图像; 将所述第一单色刻度图像转换为第一二进制图像; 基于至少一个预定几何参数来识别所述第一二进制图像中的第一组候选块; 并且确定所述彩色图像中的第一区域是否是使用绿色交通信号灯分类器的绿色交通信号灯，所述第一区域与所述第一组候选斑块中的一个对应。可以提高精度和效率。

2. 发明申请

US20160148063A1 TRAFFIC LIGHT DETECTION 有权
标题翻译：交通灯检测
公开(公告)号：US20160148063A1
公开(公告)日：2016-05-26
申请号：US14901651
申请日：2013-08-20
申请人： Chuyang HONG , Yankun ZHANG , Ruyi JIANG , Yun ZHOU
发明人： Chuyang Hong , Yankun Zhang , Ruyi Jiang , Yun Zhou
IPC分类号： G06K9/00 , G06K9/62 , G06K9/32 , G06T7/40 , G06K9/46
CPC分类号： G06K9/00825 , G06K9/00818 , G06K9/3241 , G06K9/4647 , G06K9/6267 , G06T7/90 , G06T2207/10024 , G06T2207/30252 , G08G1/09623
摘要： A method and a system for traffic light detection are provided. The method may include: obtaining a color image; calculating pixel response values for pixels of the color image, respectively, where each of the pixel response values may be calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying candidate blobs based on the candidate pixels; and verifying whether the candidate blobs are traffic lights. Efficiency and reliability may be improved.
摘要翻译：提供了一种用于交通信号灯检测的方法和系统。该方法可以包括：获得彩色图像; 分别计算彩色图像像素的像素响应值，其中可以使用直接对应像素的R，G和B值来计算每个像素响应值，使得红色红绿灯像素的像素响应值基本上分布在预定范围的第一侧上，绿色交通信号灯像素的像素响应值基本上分布在与第一侧相反的预定范围的第二侧上; 将其像素响应值分布在第一侧或第二侧上的像素识别为候选像素; 基于候选像素识别候选块; 并验证候选人是否是交通信号灯。可以提高效率和可靠性。

3. 发明授权

US09953229B2 Traffic light detection 有权
公开(公告)号：US09953229B2
公开(公告)日：2018-04-24
申请号：US14901651
申请日：2013-08-20
申请人： Chuyang Hong , Yankun Zhang , Ruyi Jiang , Yun Zhou
发明人： Chuyang Hong , Yankun Zhang , Ruyi Jiang , Yun Zhou
IPC分类号： G06K9/00 , G06K9/62 , G06K9/46 , G06K9/32 , G08G1/0962 , G06T7/90
CPC分类号： G06K9/00825 , G06K9/00818 , G06K9/3241 , G06K9/4647 , G06K9/6267 , G06T7/90 , G06T2207/10024 , G06T2207/30252 , G08G1/09623
摘要： A method and a system for traffic light detection are provided. The method may include: obtaining a color image; calculating pixel response values for pixels of the color image, respectively, where each of the pixel response values may be calculated using R, G, and B values of a corresponding pixel directly, such that pixel response values of red traffic light pixels are substantially distributed on a first side of a predetermined range and pixel response values of green traffic light pixels are substantially distributed on a second side of the predetermined range which is opposite to the first side; identifying pixels whose pixel response values are distributed on the first side or the second side as candidate pixels; identifying candidate blobs based on the candidate pixels; and verifying whether the candidate blobs are traffic lights. Efficiency and reliability may be improved.

4. 发明授权

US09798936B2 System and method for detecting obstacles using a single camera 有权
公开(公告)号：US09798936B2
公开(公告)日：2017-10-24
申请号：US14391937
申请日：2012-07-31
申请人： Ruyi Jiang , Yankun Zhang , Chuyang Hong , Norman Weyrich
发明人： Ruyi Jiang , Yankun Zhang , Chuyang Hong , Norman Weyrich
IPC分类号： G06K9/00 , B60Q9/00 , G08G1/16 , G06T5/00 , G06T7/13
CPC分类号： G06K9/00805 , B60Q9/005 , G06K9/00812 , G06T5/006 , G06T7/13 , G06T2207/10016 , G06T2207/10024 , G06T2207/30261 , G08G1/168
摘要： The present application provides an obstacle detection system and method thereof. The obstacle detection method comprises: obtaining a first image captured by a camera at a first time point; identifying a vertical edge candidate in the first image, and measuring a first length of the vertical edge candidate based on the first image; obtaining a second image captured by the camera at a second time point; measuring a second length of the vertical edge candidate based on the second image; calculating a difference between the first length and the second length; and comparing the difference with a predetermined length difference threshold, if the difference is greater than the length difference threshold, outputting a message that an obstacle is found.

5. 发明申请

US20150332089A1 SYSTEM AND METHOD FOR DETECTING PEDESTRIANS USING A SINGLE NORMAL CAMERA 审中-公开
标题翻译：使用单一正常摄像机检测白菜的系统和方法
公开(公告)号：US20150332089A1
公开(公告)日：2015-11-19
申请号：US14648893
申请日：2012-12-03
申请人： Yankun ZHANG , Chuyang HONG , Ruyi JIANG , Yun ZHOU , Norman WEYRICH , Harman International Industries, Incorporated
发明人： Yankun Zhang , Chuyang Hong , Ruyi Jiang , Yun Zhou , Norman Weyrich
IPC分类号： G06K9/00 , H04N5/232 , G06T5/00 , H04N5/357 , G06T3/00 , G06K9/52
CPC分类号： G06K9/00369 , G06K9/00805 , G06K9/52 , G06K2009/363 , G06T3/00 , G06T5/006 , G06T7/60 , G06T2207/30196 , G06T2207/30252 , H04N5/23293 , H04N5/357
摘要： The present application provides pedestrian detection system and method. A pedestrian detection method includes: obtaining an image captured by a camera; identifying a pedestrian candidate in the image; transforming the image into a top view image; calculating the actual height of the pedestrian candidate based on the top view image and extrinsic parameters of the camera; and determining whether the pedestrian candidate is a true positive by determining whether the actual height of the pedestrian candidate is within a predetermined pedestrian height range. The system and method of the present application have lower cost and higher accuracy compared with conventional technologies.
摘要翻译：本申请提供了行人检测系统和方法。行人检测方法包括：获取由照相机拍摄的图像; 识别图像中的行人候选人; 将图像转换为顶视图; 基于相机的顶视图和外在参数计算行人候选人的实际高度; 以及通过确定所述行人候选人的实际高度是否在预定的行人高度范围内来确定行人候选人是否为真正。与常规技术相比，本申请的系统和方法具有较低的成本和更高的精度。

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