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1. 发明授权

US08155380B2 Method and apparatus for the recognition of obstacles 有权
标题翻译：识别障碍物的方法和装置
公开(公告)号：US08155380B2
公开(公告)日：2012-04-10
申请号：US12231550
申请日：2008-08-29
申请人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
发明人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： G06T7/20
摘要： A method and apparatus for recognizing obstacles in an environment about a motorized vehicle moving along a roadway is presented. The apparatus includes an optical sensor and a data processing device. A method using the apparatus includes taking images with the optical sensor which contains at least a first and a second image. The first and the second image are each transformed above and below a plane as viewed by the optical sensor to further determine upper and lower difference images by the data processing device. The data processing device further determines whether an obstacle is located in the travel path of the vehicle by evaluation of the lower and upper difference images.
摘要翻译：提出了一种用于识别在沿着道路行驶的机动车辆的环境中的障碍物的方法和装置。该装置包括光学传感器和数据处理装置。使用该装置的方法包括使用至少包含第一和第二图像的光学传感器拍摄图像。第一和第二图像在由光学传感器观察的平面上方和下方变换，以进一步确定数据处理装置的上下差分图像。数据处理装置还通过评估下下差分图像和上差分图像来确定障碍物是否位于车辆的行进路径中。

2. 发明申请

US20090074247A1 Obstacle detection method 审中-公开
标题翻译：障碍物检测方法
公开(公告)号：US20090074247A1
公开(公告)日：2009-03-19
申请号：US12283492
申请日：2008-09-12
申请人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
发明人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
IPC分类号： G06K9/62
CPC分类号： G06T7/20
摘要： A method is provided for the detection of an obstacle in a road, in particular of a pedestrian, in the surroundings in the range of view of an optical sensor attached to a movable carrier such as in particular a vehicle, wherein a first image is taken by means of the optical sensor at a first time and a second image is taken at a later second time, a first transformed image is produced by a transformation of the first taken image from the image plane of the optical sensor into the road plane, a further transformed image is produced from the first transformed image while taking account of the carrier movement in the time period between the first time and the second time, the further transformed image is transformed back from the road plane into the image plane and an image stabilization is carried out based on the image transformed back into the image plane and on the second taken image.
摘要翻译：提供一种用于在附接到诸如特别是车辆的可移动载体的光学传感器的视野范围内的环境中的道路，特别是行人中的障碍物的检测方法，其中采取第一图像通过第一时间的光学传感器和稍后第二次拍摄第二图像，通过将第一拍摄图像从光学传感器的图像平面变换到道路平面中来产生第一变换图像，在第一时间和第二时间之间的时间段中考虑到载波移动，从第一变换图像产生进一步变换的图像，将进一步变换的图像从道路平面转换回到图像平面中，并且图像稳定化基于转换成图像平面和第二次拍摄图像的图像进行。

3. 发明申请

US20090021581A1 Bright spot detection and classification method for a vehicular night-time video imaging system 有权
标题翻译：车载夜视系统的亮点检测和分类方法
公开(公告)号：US20090021581A1
公开(公告)日：2009-01-22
申请号：US11879853
申请日：2007-07-18
申请人： Qin Sun , Manoj Dwivedi , John R. Bailey , Su-Birm Park
发明人： Qin Sun , Manoj Dwivedi , John R. Bailey , Su-Birm Park
IPC分类号： H04N7/18
CPC分类号： G06K9/00825 , G06K9/2054 , G08G1/165 , G08G1/166
摘要： Bright spots imaged by a forward-looking monochrome video camera during night-time operation of a host vehicle are detected and classified to determine the presence of leading and on-coming vehicles. A specified region-of-interest in each image frame is globally scanned to adaptively detect the bright spot contours, and search windows bounding the larger bright spot contours are locally scanned to adaptively detect individual bright spot contours that were fused in the global scan. A sensitive area within the region-of-interest is locally scanned to adaptively detect dim taillights of a leading vehicle, and path prediction of the host vehicle is used for frame-to-frame tracking of detected spots. Detected spots are classified depending on their location and frame-to-frame movement within the region-of-interest and their glare and pairing characteristics.
摘要翻译：检测并分类在主车辆的夜间操作期间由前瞻性单色摄像机拍摄的亮点，以确定前方和后续车辆的存在。对每个图像帧中的特定的感兴趣区域进行全局扫描以自适应地检测亮点轮廓，并且搜索围绕较大亮点轮廓的窗口，以便自动地检测在全局扫描中融合的各个亮斑轮廓。在感兴趣区域内的敏感区域被局部扫描以自适应地检测前方车辆的昏暗尾灯，并且主车辆的路径预测用于检测到的点的帧到帧跟踪。检测到的斑点根据它们在感兴趣区域内的位置和帧间帧移动以及它们的眩光和配对特征进行分类。

4. 发明申请

US20090129632A1 Method of object detection 有权
标题翻译：物体检测方法
公开(公告)号：US20090129632A1
公开(公告)日：2009-05-21
申请号：US12231299
申请日：2008-08-29
申请人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
发明人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00369 , G06T7/73 , G06T2207/30196
摘要： A method is set forth for the detection of an object, in particular in a road, in particular of a pedestrian, in the surroundings in the range of view of an optical sensor attached to a carrier such as in particular a vehicle, wherein, from the range of view of the optical sensor, a relevant spatial region disposed below the horizon is determined, a gray scale image is produced by means of the optical sensor which includes a relevant image region corresponding to the relevant spatial region, and a search for a possible object is only made in this relevant image region corresponding to the relevant spatial region disposed below the horizon for the detection of the object.
摘要翻译：本发明提供了一种用于检测物体，特别是在道路中，特别是在行驶中在附近在诸如特定车辆的载体的光学传感器的视野范围内的行人中的检测方法，其中，从确定光学传感器的视野范围，设置在水平线下方的相关空间区域，通过光学传感器产生灰度图像，该光学传感器包括对应于相关空间区域的相关图像区域，以及搜索可能的对象仅在与设置在水平线下方的相关空间区域相对应的该相关图像区域中进行以检测对象。

5. 发明申请

US20090080702A1 Method for the recognition of obstacles 有权
标题翻译：识别障碍物的方法
公开(公告)号：US20090080702A1
公开(公告)日：2009-03-26
申请号：US12231550
申请日：2008-08-29
申请人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
发明人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： G06T7/20
摘要： A method is provided for the recognition of an obstacle, in particular a pedestrian, located in the travel path of a movable carrier such as in particular a motor vehicle, in the environment in the range of view of an optical sensor attached to the movable carrier, wherein a first image is taken by means of the optical sensor at a first time and a second image is taken at a later second time, wherein a first transformed lower part image is generated by a projection of an image section of the first taken image lying below the horizon from the image plane of the optical sensor into the ground plane, wherein a first transformed upper part image is generated by a projection of an image section of the first taken image lying above the horizon from the image plane of the optical sensor into a virtual plane parallel to the ground plane, wherein a second transformed lower part image is generated by a projection of an image section of the second taken image lying below the horizon from the image plane of the optical sensor into the ground plane, wherein a second transformed upper part image is generated by a projection of an image section of the second taken image lying above the horizon from the image plane of the optical sensor into a virtual plane parallel to the ground plane, wherein a lower difference part image is determined from the first and second transformed lower part images, an upper difference part image is determined from the first and second upper part images and it is determined by evaluation of the lower difference part image and of the upper difference part image whether an obstacle is located in the travel path of the movable carrier.
摘要翻译：提供了一种方法，用于识别位于可移动支架（例如机动车辆）的行进路径中的障碍物，特别是行人，该环境中的光学传感器附接到可移动支架的视野范围内其中，第一次通过光学传感器拍摄第一图像，并且在稍后的第二时间拍摄第二图像，其中通过第一拍摄图像的图像部分的投影来生成第一变换的下部图像位于地平线以下，从光学传感器的图像平面到接地平面中，其中通过从光学传感器的图像平面在水平线上方的第一拍摄图像的图像部分的投影产生第一变换的上部图像进入平行于接地平面的虚拟平面中，其中通过投影距离图像的地平线下方的第二拍摄图像的图像来生成第二变换下部图像 e平面，其中通过将位于水平线上方的第二拍摄图像的图像部分从光学传感器的图像平面投影到与虚拟平面平行的虚拟平面中来生成第二变换的上部图像接地平面，其中从第一和第二变换下部图像确定较低的差异部分图像，从第一和第二上部图像确定上部差异部分图像，并且通过评估较低的差异部分图像和的上部差分部分图像中的障碍物是否位于可动载体的行进路径中。

6. 发明申请

US20060088188A1 Method for the detection of an obstacle 审中-公开
标题翻译：检测障碍物的方法
公开(公告)号：US20060088188A1
公开(公告)日：2006-04-27
申请号：US11247031
申请日：2005-10-10
申请人： Alexander Ioffe , Su-Birm Park , Guanglin Ma
发明人： Alexander Ioffe , Su-Birm Park , Guanglin Ma
IPC分类号： G06K9/00 , H04N7/18 , B60Q1/00
CPC分类号： G06K9/00369 , G06T7/254 , G06T7/70 , G08G1/16 , G08G1/166
摘要： The invention concerns a method for the detection of an obstacle located in a path of a motor vehicle, in particular a person, in which by means of a camera a first image and, with a time interval from the latter, a second image of the environment of the vehicle located in the direction of travel, are recorded, a first transformed image is generated by projection of the first recorded image out of the camera image plane into the plane of the ground, and a second transformed image is generated by projection of the second recorded image out of the camera image plane into the plane of the ground, a differential image is determined from the first and second transformed images, and by evaluation of the differential image it is determined whether an obstacle is located in the path of the vehicle.
摘要翻译：本发明涉及一种用于检测位于机动车辆，特别是人的路径中的障碍物的方法，其中借助于照相机，第一图像和从后者的时间间隔中的第二图像记录位于行进方向的车辆的环境，通过将相机图像平面中的第一记录图像投影到地面中而产生第一变换图像，并且通过投影生成第二变换图像摄像机图像平面中的第二记录图像进入地平面，从第一和第二变换图像确定差分图像，并且通过评估差分图像，确定障碍物是否位于车辆。

7. 发明授权

US08199198B2 Bright spot detection and classification method for a vehicular night-time video imaging system 有权
标题翻译：车载夜视系统的亮点检测和分类方法
公开(公告)号：US08199198B2
公开(公告)日：2012-06-12
申请号：US11879853
申请日：2007-07-18
申请人： Qin Sun , Manoj Dwivedi , John R. Bailey , Su-Birm Park
发明人： Qin Sun , Manoj Dwivedi , John R. Bailey , Su-Birm Park
IPC分类号： H04N7/18
CPC分类号： G06K9/00825 , G06K9/2054 , G08G1/165 , G08G1/166
摘要： Bright spots imaged by a forward-looking monochrome video camera during night-time operation of a host vehicle are detected and classified to determine the presence of leading and on-coming vehicles. A specified region-of-interest in each image frame is globally scanned to adaptively detect the bright spot contours, and search windows bounding the larger bright spot contours are locally scanned to adaptively detect individual bright spot contours that were fused in the global scan. A sensitive area within the region-of-interest is locally scanned to adaptively detect dim taillights of a leading vehicle, and path prediction of the host vehicle is used for frame-to-frame tracking of detected spots. Detected spots are classified depending on their location and frame-to-frame movement within the region-of-interest and their glare and pairing characteristics.
摘要翻译：检测并分类在主车辆的夜间操作期间由前瞻性单色摄像机拍摄的亮点，以确定前方和后续车辆的存在。对每个图像帧中的特定的感兴趣区域进行全局扫描以自适应地检测亮点轮廓，并且搜索围绕较大亮点轮廓的窗口，以便自动地检测在全局扫描中融合的各个亮斑轮廓。在感兴趣区域内的敏感区域被局部扫描以自适应地检测前方车辆的昏暗尾灯，并且主车辆的路径预测用于检测到的点的帧到帧跟踪。检测到的斑点根据它们在感兴趣区域内的位置和帧间帧移动以及它们的眩光和配对特征进行分类。

8. 发明授权

US08116524B2 Method of object detection 有权
标题翻译：物体检测方法
公开(公告)号：US08116524B2
公开(公告)日：2012-02-14
申请号：US12231299
申请日：2008-08-29
申请人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
发明人： Guanglin Ma , Ing Su-Birm Park , Alexander Ioffe
IPC分类号： G06K9/00 , H04N5/225 , G08G1/01
CPC分类号： G06K9/00805 , G06K9/00369 , G06T7/73 , G06T2207/30196
摘要： A method is set forth for the detection of an object, in particular in a road, in particular of a pedestrian, in the surroundings in the range of view of an optical sensor attached to a carrier such as in particular a vehicle, wherein, from the range of view of the optical sensor, a relevant spatial region disposed below the horizon is determined, a gray scale image is produced by means of the optical sensor which includes a relevant image region corresponding to the relevant spatial region, and a search for a possible object is only made in this relevant image region corresponding to the relevant spatial region disposed below the horizon for the detection of the object.
摘要翻译：本发明提供了一种用于检测物体，特别是在道路中，特别是在行驶中在附近在诸如特定车辆的载体的光学传感器的视野范围内的行人中的检测方法，其中，从确定光学传感器的视野范围，设置在水平线下方的相关空间区域，通过光学传感器产生灰度图像，该光学传感器包括对应于相关空间区域的相关图像区域，以及搜索可能的对象仅在与设置在水平线下方的相关空间区域相对应的该相关图像区域中进行以检测对象。

9. 发明授权

US07710249B2 Method of controlling a driver assistance system and an associated apparatus 有权
标题翻译：控制驾驶员辅助系统和相关装置的方法
公开(公告)号：US07710249B2
公开(公告)日：2010-05-04
申请号：US11496803
申请日：2006-08-01
申请人： Su-Birm Park
发明人： Su-Birm Park
IPC分类号： B60Q1/00
CPC分类号： G08B21/06
摘要： The present invention relates to a method of controlling a driver assistance system which can identify a danger situation with reference to a comparison of measured data with predetermined limit values and which can output a warning signal when it has identified a danger situation of this type. An additional control module is provided which determines an activity state of the driver in dependence on at least one input value which permits a conclusion on actions carried out by a driver and can suppress the outputting of the warning signal in dependence on this activity state.
摘要翻译：驾驶员辅助系统的控制方法技术领域本发明涉及一种驾驶员辅助系统的控制方法，所述驾驶员辅助系统能够根据测量数据与预定极限值的比较来识别危险情况，并且当识别出这种类型的危险情况时，可以输出警告信号。提供了附加的控制模块，其根据至少一个输入值确定驾驶员的活动状态，该输入值允许对驾驶员执行的动作的结论，并且可以根据该活动状态抑制警告信号的输出。

10. 发明申请

US20090128629A1 OPTICAL MODULE FOR AN ASSISTANCE SYSTEM 审中-公开
标题翻译：用于辅助系统的光学模块
公开(公告)号：US20090128629A1
公开(公告)日：2009-05-21
申请号：US12273578
申请日：2008-11-19
申请人： Peter Egbert , Steffen Goermer , Ing Su-Birm Park
发明人： Peter Egbert , Steffen Goermer , Ing Su-Birm Park
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/108 , B60S1/0844 , G03B13/32 , G03B17/12 , G03B19/023 , G06K9/00791
摘要： The invention concerns an optical module for an assistance system covering an ambient region of a vehicle, having a camera arranged in the region of an inner side of a pane of glass, in particular a windscreen, of the vehicle and directed into the ambient region of the vehicle, with an objective through which a distant region can be imaged in sharp focus on a first section of a sensor surface of the camera, and having an optical assembly which is arranged in the field of vision of the camera and by which a close region covering a detection region of the pane can be imaged in sharp focus on a second section of the sensor surface of the camera. The invention further concerns a method for controlling a wiping interval of a windscreen wiper, in particular of a motor vehicle, by means of such an optical module.
摘要翻译：本发明涉及一种用于辅助系统的光学模块，该辅助系统覆盖车辆的环境区域，其具有布置在车辆玻璃板的内侧区域（特别是挡风玻璃）的区域中并被引导到车辆的周围区域该车辆具有目标，远程区域可以在相机的传感器表面的第一部分上以尖锐的焦点成像，并且具有布置在照相机的视野中的光学组件，并且通过该物镜覆盖窗格的检测区域的区域可以以锐利的焦点成像在相机的传感器表面的第二部分上。本发明还涉及通过这种光学模块来控制风挡玻璃刮水器，特别是机动车辆的擦拭间隔的方法。

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