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1. 发明授权

US08108119B2 Apparatus and method for object detection and tracking and roadway awareness using stereo cameras 有权
标题翻译：使用立体相机的物体检测和跟踪和道路感知的装置和方法
公开(公告)号：US08108119B2
公开(公告)日：2012-01-31
申请号：US11739068
申请日：2007-04-23
申请人： John Benjamin Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Armand Camus , Aveek Kumar Das , John Richard Fields , Gary Alan Greene , Jayakrishnan Eledath
发明人： John Benjamin Southall , Mayank Bansal , Aastha Jain , Manish Kumar , Theodore Armand Camus , Aveek Kumar Das , John Richard Fields , Gary Alan Greene , Jayakrishnan Eledath
IPC分类号： B60T7/12
CPC分类号： G06K9/00825 , B60T7/22 , B60T2201/089 , B60W30/08 , B60W30/095 , B60W30/16 , B60W2420/403 , G06K9/00201 , G06K9/00798 , G06K9/00805 , G06T7/285 , G06T7/593 , G08G1/167
摘要： The present invention provides a collision avoidance apparatus and method employing stereo vision applications for adaptive vehicular control. The stereo vision applications are comprised of a road detection function and a vehicle detection and tracking function. The road detection function makes use of three-dimensional point data, computed from stereo image data, to locate the road surface ahead of a host vehicle. Information gathered by the road detection function is used to guide the vehicle detection and tracking function, which provides lead motion data to a vehicular control system of the collision avoidance apparatus. Similar to the road detection function, stereo image data is used by the vehicle detection and tracking function to determine the depth of image scene features, thereby providing a robust means for identifying potential lead vehicles in a headway direction of the host vehicle.
摘要翻译：本发明提供一种采用立体视觉应用的自适应车辆控制的防撞装置和方法。立体视觉应用包括道路检测功能和车辆检测和跟踪功能。道路检测功能利用从立体图像数据计算的三维点数据来定位主车辆前方的路面。由道路检测功能收集的信息用于引导车辆检测和跟踪功能，该功能将前导运动数据提供给防撞装置的车辆控制系统。与道路检测功能类似，通过车辆检测和跟踪功能使用立体图像数据来确定图像场景特征的深度，从而提供用于识别主车辆的前进方向上的潜在的先导车辆的鲁棒手段。

2. 发明授权

US08385599B2 System and method of detecting objects 有权
标题翻译：检测对象的系统和方法
公开(公告)号：US08385599B2
公开(公告)日：2013-02-26
申请号：US12578440
申请日：2009-10-13
申请人： Theodore Armand Camus , Aparna Taneja , Mayank Bansal , Ankit Kumar , John Benjamin Southall
发明人： Theodore Armand Camus , Aparna Taneja , Mayank Bansal , Ankit Kumar , John Benjamin Southall
IPC分类号： G06K9/00
CPC分类号： G06K9/3233 , G06K9/00201 , G06T7/593 , G06T2207/10012 , G06T2207/30196 , G06T2207/30232
摘要： The present invention is a system and a method of segmenting and detecting objects which can be approximated by planar or nearly planar surfaces in order to detect one or more objects with threats or potential threats. The method includes capturing imagery of the scene proximate a platform, producing a depth map from the imagery and tessellating the depth map into a number of patches. The method also includes classifying the plurality of patches as threat patches and projecting the threat patches into a pre-generated vertical support histogram to facilitate selection of the projected threat patches having a score value within a sufficiency criterion. The method further includes grouping the selected patches having the score value using a plane fit to obtain a region of interest and processing the region of interest to detect said object.
摘要翻译：本发明是一种分割和检测物体的系统和方法，其可由平面或近似平面的表面近似，以便检测具有威胁或潜在威胁的一个或多个物体。该方法包括捕获靠近平台的场景的图像，从图像生成深度图并将深度图细分为多个补丁。该方法还包括将多个补丁分类为威胁补丁并将威胁补丁投影到预先生成的垂直支持直方图中，以便于选择具有在足够准则内的得分值的投影威胁补丁。该方法还包括使用平面拟合来对具有得分值的所选择的片段进行分组以获得感兴趣的区域并且处理感兴趣的区域以检测所述对象。

3. 发明授权

US07403659B2 Method and apparatus for differentiating pedestrians, vehicles, and other objects 有权
标题翻译：用于区分行人，车辆和其他物体的方法和装置
公开(公告)号：US07403659B2
公开(公告)日：2008-07-22
申请号：US10930735
申请日：2004-08-30
申请人： Aveek Kumar Das , Theodore Armand Camus , Peng Chang
发明人： Aveek Kumar Das , Theodore Armand Camus , Peng Chang
IPC分类号： G06K9/62
CPC分类号： G06K9/48 , G06K9/00805 , G06K9/3241
摘要： A method and apparatus for classifying an object in an image is disclosed. Edge energy information and/or intensity variation information is generated for an object in a region of interest of the image. The object occupying the region of interest is classified based on the edge energy information and/or intensity variation information.
摘要翻译：公开了一种用于对图像中的对象进行分类的方法和装置。为图像感兴趣的区域中的对象生成边缘能量信息和/或强度变化信息。基于边缘能量信息和/或强度变化信息对占据感兴趣区域的对象进行分类。

4. 发明授权

US07263209B2 Vehicular vision system 有权
标题翻译：车辆视觉系统
公开(公告)号：US07263209B2
公开(公告)日：2007-08-28
申请号：US10461699
申请日：2003-06-13
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

5. 发明授权

US07974442B2 Vehicular vision system 有权
标题翻译：车辆视觉系统
公开(公告)号：US07974442B2
公开(公告)日：2011-07-05
申请号：US11837114
申请日：2007-08-10
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , André Rieder , John Benjamin Southall
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

6. 发明申请

US20080159620A1 Vehicular Vision System 有权
标题翻译：车辆视觉系统
公开(公告)号：US20080159620A1
公开(公告)日：2008-07-03
申请号：US11837114
申请日：2007-08-10
申请人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , Andre Rieder , John Benjamin Southall
发明人： Theodore Armand Camus , David Hirvonen , Robert Mandelbaum , Billie Joe Call , Ian Gregory Hill , Andre Rieder , John Benjamin Southall
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00201 , G06K9/3241 , G06T7/593 , G06T2207/20064 , G06T2207/30252
摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.
摘要翻译：用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。通过将预渲染的模板与深度图图像进行匹配来制作目标列表。系统处理目标列表以产生目标大小和分类估计。然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。该信息可以以多种方式使用。例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

7. 发明授权

US07321669B2 Method and apparatus for refining target position and size estimates using image and depth data 有权
标题翻译：使用图像和深度数据来提炼目标位置和尺寸估计的方法和装置
公开(公告)号：US07321669B2
公开(公告)日：2008-01-22
申请号：US10617231
申请日：2003-07-10
申请人： John Benjamin Southall , David Hirvonen , Theodore Armand Camus
发明人： John Benjamin Southall , David Hirvonen , Theodore Armand Camus
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06T7/55
摘要： A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.
摘要翻译：一种车辆视觉系统，其使用深度图，图像强度数据和系统校准参数来确定目标的尺寸和相对位置。初始目标边界信息被投影到深度图和图像强度上。可视性分析确定目标的后部是否在系统的视野内。如果是，则分析映射的图像边界以确定目标的上边界。然后，通过搜索位于大约相同深度的最强的一对垂直图像边缘来找到映射图像边界的垂直图像边缘。然后，找到映射图像边界的底部（或从校准参数假设）。然后，通过平均技术找到目标的位置。然后计算目标的高度和宽度。

8. 发明授权

US07466860B2 Method and apparatus for classifying an object 有权
标题翻译：分类物体的方法和装置
公开(公告)号：US07466860B2
公开(公告)日：2008-12-16
申请号：US11213660
申请日：2005-08-26
申请人： Peng Chang , Theodore Armand Camus
发明人： Peng Chang , Theodore Armand Camus
IPC分类号： G06K9/62
CPC分类号： G06K9/00369 , G06K9/00805 , G06K9/6292
摘要： A method and apparatus for classifying an object in an image is disclosed. A plurality of sub-classifiers is provided. An object is classified using input from each of the plurality of sub-classifiers.
摘要翻译：公开了一种用于对图像中的对象进行分类的方法和装置。提供了多个子分类器。使用来自多个子分类器中的每一个的输入对对象进行分类。

9. 发明授权

US07068815B2 Method and apparatus for ground detection and removal in vision systems 有权
公开(公告)号：US07068815B2
公开(公告)日：2006-06-27
申请号：US10813768
申请日：2004-03-31
申请人： Peng Chang , David Hirvonen , Theodore Armand Camus
发明人： Peng Chang , David Hirvonen , Theodore Armand Camus
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06K9/00805 , G06K9/3241
摘要： A vision system that forms a map of a scene proximate a platform, e.g., a vehicle, that determines the actual ground plane form the map, and that corrects the map for differences between the actual ground plane and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.

10. 发明授权

US07672514B2 Method and apparatus for differentiating pedestrians, vehicles, and other objects 有权
标题翻译：用于区分行人，车辆和其他物体的方法和装置
公开(公告)号：US07672514B2
公开(公告)日：2010-03-02
申请号：US11070613
申请日：2005-03-02
申请人： Peng Chang , Theodore Armand Camus
发明人： Peng Chang , Theodore Armand Camus
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06K9/4642 , G06T7/11 , G06T2207/10016 , G06T2207/30261
摘要： A method and apparatus for classifying an object in an image is disclosed. Edges of an object are detected within a region of interest. Edge analysis is performed on a plurality of sub-regions within the region of interest to generate an edge score. The object is classified based on the edge score.
摘要翻译：公开了一种用于对图像中的对象进行分类的方法和装置。在感兴趣的区域内检测物体的边缘。对感兴趣区域内的多个子区域执行边缘分析以生成边缘分数。该对象根据边缘分数进行分类。

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