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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

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。

4. 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。

5. 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。

6. 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。

7. 发明申请

US20110307176A1 VEHICLE HANDLING ASSISTANT APPARATUS 有权
标题翻译：车辆处理辅助装置
公开(公告)号：US20110307176A1
公开(公告)日：2011-12-15
申请号：US13202817
申请日：2010-03-24
申请人： Chong Sun , Guanglin Ma , Ran Li
发明人： Chong Sun , Guanglin Ma , Ran Li
IPC分类号： G08G1/16
CPC分类号： G08G1/168 , G06K9/00 , G06K9/00805 , G08G1/165
摘要： A vehicle handling assistant apparatus is discloses, the vehicle handling assistant apparatus utilizes an environment acquisition means to acquire an environment signal and utilizes an environment presentation means to present the environment signal. The vehicle handling assistant apparatus also utilizes an obstacle detection means to detect an obstacle from the environment signal acquired by the environment acquisition means and output an obstacle signal. The obstacle detection means may be implemented by an infrared sensor, a radar sensor, an ultrasonic sensor or a camera. An obstacle region generation means generates an obstacle region signal from the environment signal based on the obstacle signal generated by the obstacle detection means. The obstacle region signal includes information about a position of the foot point line and a width of the obstacle region. An environment signal adjustment means adjusts the environment signal presented by the environment presentation means based on the obstacle region signal.
摘要翻译：车辆处理辅助装置公开了一种车辆处理辅助装置，利用环境获取装置取得环境信号，利用环境呈现装置呈现环境信号。车辆处理辅助装置还利用障碍物检测装置从环境获取装置获取的环境信号中检测障碍物并输出障碍物信号。障碍物检测装置可以由红外传感器，雷达传感器，超声波传感器或照相机来实现。障碍物区域产生装置基于由障碍物检测装置产生的障碍物信号从环境信号产生障碍物区域信号。障碍物区域信号包括关于脚点线的位置和障碍物区域的宽度的信息。环境信号调整装置根据障碍物区域信号调整由环境呈现装置呈现的环境信号。

8. 发明授权

US08836538B2 Parking guidance system 有权
标题翻译：停车指导系统
公开(公告)号：US08836538B2
公开(公告)日：2014-09-16
申请号：US12887872
申请日：2010-09-22
申请人： Guanglin Ma , Chong Sun , Ran Li
发明人： Guanglin Ma , Chong Sun , Ran Li
IPC分类号： B60Q1/48 , G08G1/14 , B62D15/02 , B60R1/00
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/806
摘要： The present application discloses a parking guidance system. The parking guidance system is mounted on a vehicle and includes a camera, a display device with a display correction system, a parking mode selection apparatus, a parking area selection apparatus, a first turning guidance apparatus, and a second turning guidance apparatus. The camera is mounted at the rear of the vehicle to capture the image showing environment behind the vehicle. The display device with a display correction system is coupled to the camera and is configured to display an image corrected by the display correction system. The parking mode selection apparatus is coupled to the display device. The parking mode selection apparatus displays a predicted parking area on the display device. The parking area selection apparatus is coupled to the display device. The parking area selection apparatus displays a parking guidance area on the display device. The first turning guidance apparatus is coupled to the display device. The first turning guidance apparatus displays an arc on the display device. The second turning guidance apparatus is coupled to the display device. The second turning guidance apparatus displays on the display device a parking track with distance indication.
摘要翻译：本申请公开了一种停车引导系统。停车引导系统安装在车辆上，并且包括照相机，具有显示校正系统的显示装置，停车模式选择装置，停车区域选择装置，第一转向引导装置和第二转向引导装置。摄像机安装在车辆的后部，以捕获显示车辆后方环境的图像。具有显示校正系统的显示装置被耦合到相机，并被配置为显示由显示校正系统校正的图像。停车模式选择装置耦合到显示装置。停车模式选择装置在显示装置上显示预测停车区域。停车区域选择装置耦合到显示装置。停车区域选择装置在显示装置上显示停车引导区域。第一转向引导装置耦合到显示装置。第一转向引导装置在显示装置上显示电弧。第二转向引导装置耦合到显示装置。第二转向引导装置在显示装置上显示具有距离指示的停车轨迹。

9. 发明授权

US08660737B2 Vehicle handling assistant apparatus 有权
标题翻译：车辆处理辅助装置
公开(公告)号：US08660737B2
公开(公告)日：2014-02-25
申请号：US13202817
申请日：2010-03-24
申请人： Chong Sun , Guanglin Ma , Ran Li
发明人： Chong Sun , Guanglin Ma , Ran Li
IPC分类号： G08G1/16
CPC分类号： G08G1/168 , G06K9/00 , G06K9/00805 , G08G1/165
摘要： A vehicle handling assistant apparatus is discloses, the vehicle handling assistant apparatus utilizes an environment acquisition means to acquire an environment signal and utilizes an environment presentation means to present the environment signal. The vehicle handling assistant apparatus also utilizes an obstacle detection means to detect an obstacle from the environment signal acquired by the environment acquisition means and output an obstacle signal. The obstacle detection means may be implemented by an infrared sensor, a radar sensor, an ultrasonic sensor or a camera. An obstacle region generation means generates an obstacle region signal from the environment signal based on the obstacle signal generated by the obstacle detection means. The obstacle region signal includes information about a position of the foot point line and a width of the obstacle region. An environment signal adjustment means adjusts the environment signal presented by the environment presentation means based on the obstacle region signal.
摘要翻译：车辆处理辅助装置公开了一种车辆处理辅助装置，利用环境获取装置取得环境信号，利用环境呈现装置呈现环境信号。车辆处理辅助装置还利用障碍物检测装置从环境获取装置获取的环境信号中检测障碍物并输出障碍物信号。障碍物检测装置可以由红外传感器，雷达传感器，超声波传感器或照相机来实现。障碍物区域产生装置基于由障碍物检测装置产生的障碍物信号从环境信号产生障碍物区域信号。障碍物区域信号包括关于脚点线的位置和障碍物区域的宽度的信息。环境信号调整装置根据障碍物区域信号调整由环境呈现装置呈现的环境信号。

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