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    • 1. 发明申请
    • Method and apparatus for detecting obstacles
    • 用于检测障碍物的方法和装置
    • US20050015201A1
    • 2005-01-20
    • US10621239
    • 2003-07-16
    • John FieldsJohn Southall
    • John FieldsJohn Southall
    • G06K20060101G08G1/16
    • G08G1/163G06K9/00201G06K9/00798G06K9/4671
    • A method and apparatus for detecting obstacles in off-road applications. A stereo camera and specific image-processing techniques enable a vehicle's vision system to identify drivable terrain in front of the vehicle. The method uses non-drivable residuals (NDR), where the NDR is zero for all terrain that can be easily traversed by the vehicle and greater than zero for terrain that may not be traversable by the vehicle. The method utilizes a depth map having a point cloud that represents the depth to objects within the field of view of the stereo cameras. The depth map is tiled such that the point cloud data is represented by an average (smoothed) value. The method scans pixels in the smoothed depth map to find sequences of “good” points that are connected by line segments having an acceptable slope. Points that lie outside of the acceptable slope range will have an NDR that is greater than zero. The vehicle control system can use the NDRs to accurately make decisions as to the trajectory of the vehicle.
    • 一种用于检测越野应用中的障碍物的方法和装置。 立体相机和特定的图像处理技术使得车辆的视觉系统能够识别在车辆前面的可驾驶的地形。 该方法使用不可驱动的残差(NDR),其中对于可以容易地被车辆穿过的所有地形,NDR为零,并且对于可能不被车辆行驶的地形大于零。 该方法利用具有点云的深度图,该点云代表立体照相机视场内的对象的深度。 深度图被平铺,使得点云数据由平均(平滑)值表示。 该方法扫描平滑的深度图中的像素,以找到通过具有可接受的斜率的线段连接的“良好”点的序列。 位于可接受的斜率范围之外的点将具有大于零的NDR。 车辆控制系统可以使用NDR来准确地做出关于车辆轨迹的决定。
    • 3. 发明授权
    • System and method for multi-camera visual odometry
    • 多摄像机视觉测距的系统和方法
    • US08305430B2
    • 2012-11-06
    • US11532897
    • 2006-09-18
    • Taragay OskiperJohn FieldsRakesh Kumar
    • Taragay OskiperJohn FieldsRakesh Kumar
    • H04N13/00
    • H04N5/232
    • A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
    • 提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。 在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。 摄像机相对于彼此的相对姿态和配置被认为是已知的,并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。 摄像机可以针对不同的应用被布置成不同的配置,并且适合于安装在车辆或经历一般运动的人身上。 结合视觉测距法的实现提供了完整的并行架构,从而可以在多CPU系统上实现实时处理。
    • 5. 发明申请
    • SYSTEM AND METHOD FOR MULTI-CAMERA VISUAL ODOMETRY
    • 用于多摄像机视觉数据的系统和方法
    • US20070115352A1
    • 2007-05-24
    • US11532897
    • 2006-09-18
    • Taragay OskiperJohn FieldsRakesh Kumar
    • Taragay OskiperJohn FieldsRakesh Kumar
    • H04N13/00H04N13/02
    • H04N5/232
    • A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
    • 提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。 在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。 摄像机相对于彼此的相对姿态和配置被认为是已知的,并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。 摄像机可以针对不同的应用被布置成不同的配置,并且适合于安装在车辆或经历一般运动的人身上。 结合视觉测距法的实现提供了完整的并行架构,从而可以在多CPU系统上实现实时处理。