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1. 发明授权

US09576367B2 Object detection method and device 有权
标题翻译：对象检测方法和装置
公开(公告)号：US09576367B2
公开(公告)日：2017-02-21
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： G06K9/00 , 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。

2. 发明授权

US09298990B2 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：US09298990B2
公开(公告)日：2016-03-29
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 , G06K9/52 , G06K9/46 , G06K9/62
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。

3. 发明授权

US09242601B2 Method and device for detecting drivable region of road 有权
标题翻译：用于检测道路可驱动区域的方法和装置
公开(公告)号：US09242601B2
公开(公告)日：2016-01-26
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： G06K9/00 , B60Q9/00 , G06T7/00 , G06K9/46 , B60W40/06
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。

4. 发明授权

US09681047B2 Image feature extraction method and system 有权
公开(公告)号：US09681047B2
公开(公告)日：2017-06-13
申请号：US14814160
申请日：2015-07-30
申请人： Na He , Gang Wang , Zhongchao Shi , Dianchao Liu , Yaojie Lu
发明人： Na He , Gang Wang , Zhongchao Shi , Dianchao Liu , Yaojie Lu
IPC分类号： H04N5/232 , G06K9/46 , H04N5/262
CPC分类号： H04N5/23238 , G06K9/4614 , H04N5/2628
摘要： Disclosed is an image feature extraction method including a step of defining a combination of at least two kinds of solid angles along at least two directions, of an input spherical image; a step of determining respective values of the combination of the at least two kinds of solid angles, so that surface areas of spherical crowns of spherical segments, which are obtained by dividing the spherical image by the respective values of the combination of the at least two kinds solid angles, have a same value; and a step of generating, by utilizing the respective values of the combination of the at least two kinds of solid angles, an image feature template so as to conduct image feature extraction.

5. 发明授权

US09311542B2 Method and apparatus for detecting continuous road partition 有权
标题翻译：连续道路分割检测方法及装置
公开(公告)号：US09311542B2
公开(公告)日：2016-04-12
申请号：US14025008
申请日：2013-09-12
申请人： Dianchao Liu , Yuan Liu , Tong Liu , Zhongchao Shi , Gang Wang
发明人： Dianchao Liu , Yuan Liu , Tong Liu , Zhongchao Shi , Gang Wang
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , G06K9/00208 , G06K9/00791 , G06K9/00805
摘要： A method and an apparatus for detecting a continuous road partition with a height that includes obtaining disparity maps having the continuous road partition, and U-disparity maps corresponding to the disparity maps; obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of first N frames; and detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result.
摘要翻译：一种用于检测具有高度的连续道路分隔的方法和装置，所述高度包括获得具有连续道路分隔的视差图和对应于视差图的U视差图; 从前N帧的U视差图中获取连续道路分区的中间检测结果; 并根据获得的中间检测结果，根据当前帧的U视差图检测连续道路分割。

6. 发明授权

US08660317B2 Object image detection method and object image detection device for detecting an object image from an input image 有权
标题翻译：对象图像检测方法和物体图像检测装置，用于从输入图像检测物体图像
公开(公告)号：US08660317B2
公开(公告)日：2014-02-25
申请号：US12076612
申请日：2008-03-20
申请人： Tao Li , Haike Guan , Gang Wang , Zhongchao Shi , Cheng Du
发明人： Tao Li , Haike Guan , Gang Wang , Zhongchao Shi , Cheng Du
IPC分类号： G06K9/00
CPC分类号： G06K9/3208 , G06K9/00228 , G06K9/4614
摘要： An object image detection device is disclosed that is able to rapidly detect an object image from an input image without a great deal of computation. The object image detection device includes an object image classification unit for determining whether the object images are included in an image having a given orientation, an image orientation detection unit for detecting orientation of the input image, an image rotation unit for rotating the object image classification unit according to the detected orientation of the input image, and a detection unit for detecting the object images from the input image by using the rotated object image classification unit.
摘要翻译：公开了一种能够在没有大量计算的情况下从输入图像快速检测物体图像的物体图像检测装置。对象图像检测装置包括：对象图像分类单元，用于确定对象图像是否包括在具有给定取向的图像中;图像取向检测单元，用于检测输入图像的取向;图像旋转单元，用于旋转对象图像分类根据检测到的输入图像的方向的单位，以及检测单元，用于通过使用旋转的对象图像分类单元从输入图像检测对象图像。

7. 发明申请

US20110221933A1 BACKLIGHT DETECTION DEVICE AND BACKLIGHT DETECTION METHOD 审中-公开
标题翻译：背光检测装置和背光检测方法
公开(公告)号：US20110221933A1
公开(公告)日：2011-09-15
申请号：US12986456
申请日：2011-01-07
申请人： Xun Yuan , Zhongchao Shi , Cheng Zhong , Tong Liu , Gang Wang
发明人： Xun Yuan , Zhongchao Shi , Cheng Zhong , Tong Liu , Gang Wang
IPC分类号： H04N9/68
CPC分类号： H04N5/2351 , G06K9/00234 , G06K9/4661 , G06T7/0002 , G06T7/194 , G06T2207/10024 , G06T2207/30168 , G06T2207/30201 , H04N5/23219
摘要： Disclosed are a backlight detection device and a backlight detection method. The device comprises a pixel value acquiring unit used to acquire a pixel value of each of pixels in an image; a focal position determination unit used to determine a focal position in the image; a subject area determination unit used to determine, based on the pixel values of the pixels in the image, a subject area starting from the focal position by using an area growth processing so as to divide the image into the subject area and a background area; a brightness difference calculation unit used to calculate a brightness difference between the subject area and the background area; and a backlight determination unit used to determine, based on the brightness difference, whether the image is in the backlight state so that the image in the backlight state can be detected.
摘要翻译：公开了一种背光检测装置和背光检测方法。该装置包括用于获取图像中的每个像素的像素值的像素值获取单元; 焦点位置确定单元，用于确定图像中的焦点位置; 主题区域确定单元，用于基于图像中的像素的像素值，通过使用区域增长处理从焦点位置开始的对象区域，以将图像划分为对象区域和背景区域; 用于计算被摄体区域和背景区域之间的亮度差的亮度差计算单元; 以及背光判定单元，用于基于亮度差来确定图像是否处于背光状态，从而可以检测到背光状态下的图像。

8. 发明申请

US20110194779A1 APPARATUS AND METHOD FOR DETECTING MULTI-VIEW SPECIFIC OBJECT 审中-公开
标题翻译：用于检测多视图特定对象的装置和方法
公开(公告)号：US20110194779A1
公开(公告)日：2011-08-11
申请号：US12968603
申请日：2010-12-15
申请人： Cheng ZHONG , Zhongchao Shi , Xun Yuan , Tong Liu , Tao Li , Gang Wang
发明人： Cheng ZHONG , Zhongchao Shi , Xun Yuan , Tong Liu , Tao Li , Gang Wang
IPC分类号： G06K9/68
CPC分类号： G06K9/00288 , G06K9/6203
摘要： Disclosed are an apparatus and a method for determining a multi-view specific object. The apparatus comprises an input device for inputting image data; and cascade classifiers formed of stage classifiers corresponding to a same detection angle, the stage classifiers corresponding to different features. Each cascade classifier is for calculating a degree of confidence of the image data of a specific object corresponding to the detection angle based on the aspect of the corresponding feature, and determining whether the image data belongs to the specific object based on the degree of confidence. A self-adaptive posture prediction device is disposed between two stage classifiers in each cascade classifier, and is used to determine whether the image data enters the cascade classifiers corresponding to the detection angles and located after the self-adaptive posture prediction device.
摘要翻译：公开了一种用于确定多视图特定对象的装置和方法。该装置包括用于输入图像数据的输入装置; 并且级联分类器由阶段分类器形成，对应于相同的检测角度，阶段分类器对应于不同的特征。每个级联分类器用于基于相应特征的方面来计算与检测角度对应的特定对象的图像数据的置信度，并且基于置信度来确定图像数据是否属于特定对象。自适应姿势预测装置设置在每个级联分类器中的两级分类器之间，并且用于确定图像数据是否进入与检测角度相对应并位于自适应姿势预测装置之后的级联分类器。

9. 发明授权

US08655060B2 Night-scene light source detecting device and night-scene light source detecting method 有权
标题翻译：夜景光源检测装置和夜景光源检测方法
公开(公告)号：US08655060B2
公开(公告)日：2014-02-18
申请号：US13333492
申请日：2011-12-21
申请人： Xun Yuan , Zhongchao Shi , Cheng Zhong , Tong Liu , Gang Wang
发明人： Xun Yuan , Zhongchao Shi , Cheng Zhong , Tong Liu , Gang Wang
IPC分类号： G06K9/00
CPC分类号： G06K9/00684 , H04N5/23222 , H04N5/2351 , H04N9/735
摘要： A night-scene light source detecting device includes a pixel value obtaining unit configured to obtain a pixel value of each pixel in an input image; a night-scene-feature extraction unit provided for extracting a zone area of a mean corrected-brightness value and a high corrected-brightness value of the input image as two night-scene features based on the pixel value of each pixel in the input image; a night-scene image detection unit provided for determining whether the input image is a night-scene image or not based on the two night-scene features; a specific color detection unit provided for detecting whether each pixel belongs to specific color or not; and a night-scene light source determining unit provided for determining whether the night-scene image is picked up under irradiation by the specific light sources in a night scene or not based on the result of the specific color detection.
摘要翻译：夜景光源检测装置包括：像素值获取单元，被配置为获得输入图像中的每个像素的像素值; 夜景特征提取单元，用于基于输入图像中的每个像素的像素值，将输入图像的平均校正亮度值和高校正亮度值的区域区域提取为两个夜景特征 ; 夜景图像检测单元，用于基于所述两个夜景特征来确定所述输入图像是否为夜景图像; 用于检测每个像素是否属于特定颜色的特定颜色检测单元; 以及夜景光源确定单元，用于基于特定颜色检测的结果来确定是否在夜景中通过特定光源在特定光源的照射下拾取夜景场景图像。

10. 发明授权

US08254643B2 Image processing method and device for object recognition 有权
标题翻译：图像处理方法和物体识别装置
公开(公告)号：US08254643B2
公开(公告)日：2012-08-28
申请号：US12076676
申请日：2008-03-21
申请人： Zhongchao Shi , Haike Guan , Gang Wang , Tao Li , Cheng Du
发明人： Zhongchao Shi , Haike Guan , Gang Wang , Tao Li , Cheng Du
IPC分类号： G06K9/00
CPC分类号： G06K9/6857 , G06K9/00228 , G06K9/00248 , G06K9/2054 , G06K9/4642
摘要： An object image detection device is disclosed that is able to rapidly detect an object image from an input image. The object image detection device includes an image block generation unit to generate plural image blocks from the input image for detecting the object images, an image classification unit to determine whether each of the image blocks includes one or more of the object images by using one or more features of the object images, and acquire the image blocks including the object images to be object image candidates; and a detection unit to sequentially detect the object images from the object image candidates. The image classification unit acquires the object image candidates based on a relative positional relationship between the image blocks and already-acquired object image candidates.
摘要翻译：公开了一种能够从输入图像快速检测物体图像的物体图像检测装置。对象图像检测装置包括：图像块生成单元，用于从用于检测对象图像的输入图像生成多个图像块;图像分类单元，用于通过使用一个或多个图像块来确定每个图像块是否包括一个或多个对象图像; 获取对象图像的更多特征，并且获取包括作为对象图像候选的对象图像的图像块; 以及检测单元，用于从所述对象图像候选中顺序地检测所述对象图像。图像分类单元基于图像块和已经获取的对象图像候选之间的相对位置关系来获取对象图像候选。

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