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1. 发明授权

US08463039B2 Method and device for partitioning barrier 有权
标题翻译：分隔屏障的方法和装置
公开(公告)号：US08463039B2
公开(公告)日：2013-06-11
申请号：US13133068
申请日：2009-04-30
申请人： Wei Liu , Yingying Zhang , Bobo Duan , Huai Yuan
发明人： Wei Liu , Yingying Zhang , Bobo Duan , Huai Yuan
IPC分类号： G06K9/34
CPC分类号： G06K9/00805 , G06T7/13 , G06T7/70 , G06T2207/20021 , G06T2207/30261
摘要： A barrier partitioning method and device are used for partitioning a barrier area from an image. The method includes: performing edge detecting and partitioning blocks to the image to obtain multiple edge image blocks; performing beeline detection to each edge image block to obtain beelines respectively; for each beeline, determining the line direction of the beeline corresponding to a standard road plane, and determining the edge image block to be a barrier block according to the line direction; forming all the determined barrier blocks to be a barrier area according to a connection principle.
摘要翻译：屏障划分方法和装置用于从图像分割屏障区域。该方法包括：对图像执行边缘检测和划分块以获得多个边缘图像块; 对每个边缘图像块执行线性检测以分别获得目标; 对于每个直线，确定对应于标准道路平面的直线的线方向，并根据线方向将边缘图像块确定为障碍块; 根据连接原理将所有确定的阻挡块形成为阻挡区域。

2. 发明申请

US20110235913A1 METHOD AND DEVICE FOR PARTITIONING BARRIER 有权
标题翻译：用于分隔障碍物的方法和装置
公开(公告)号：US20110235913A1
公开(公告)日：2011-09-29
申请号：US13133068
申请日：2009-04-30
申请人： Wei Liu , Yingying Zhang , Bobo Duan , Huai Yuan
发明人： Wei Liu , Yingying Zhang , Bobo Duan , Huai Yuan
IPC分类号： G06K9/34
CPC分类号： G06K9/00805 , G06T7/13 , G06T7/70 , G06T2207/20021 , G06T2207/30261
摘要： A barrier partitioning method and device are used for partitioning a barrier area from an image. The method includes: performing edge detecting and partitioning blocks to the image to obtain multiple edge image blocks; performing beeline detection to each edge image block to obtain beelines respectively; for each beeline, determining the line direction of the beeline corresponding to a standard road plane, and determining the edge image block to be a barrier block according to the line direction; forming all the determined barrier blocks to be a barrier area according to a connection principle.
摘要翻译：屏障划分方法和装置用于从图像分割屏障区域。该方法包括：对图像执行边缘检测和划分块以获得多个边缘图像块; 对每个边缘图像块执行线性检测以分别获得目标; 对于每个直线，确定对应于标准道路平面的直线的线方向，并根据线方向将边缘图像块确定为障碍块; 根据连接原理将所有确定的阻挡块形成为阻挡区域。

3. 发明申请

US20110262009A1 METHOD AND APPARATUS FOR IDENTIFYING OBSTACLE IN IMAGE 有权
标题翻译：用于识别图像中的障碍物的方法和装置
公开(公告)号：US20110262009A1
公开(公告)日：2011-10-27
申请号：US13133546
申请日：2009-04-30
申请人： Bobo Duan , Wei Liu , Huai Yuan
发明人： Bobo Duan , Wei Liu , Huai Yuan
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： A method for identifying barriers in images is disclosed. In the method, images of a current frame and N frame which is nearest to the current frame are obtained, the obtained images of the frames are divided in the same way, and the image of each frame obtains a plurality of divided block regions; the motion barrier confidence of each block region corresponding to the current frame and the N frame which is nearest to the current frame is calculated; whether each block region in the image of the current frame is decided successively according to the motion barrier confidence of each block region corresponding to the current frame and the N frame which is nearest to the current frame; the barriers in the images are determined according to each block region.
摘要翻译：公开了一种用于识别图像中的障碍物的方法。在该方法中，获得与当前帧最近的当前帧和N帧的图像，以相同的方式划分所获得的帧的图像，并且每帧的图像获得多个分割块区域; 计算对应于当前帧的每个块区域和最接近当前帧的N帧的运动屏障置信度; 根据与当前帧对应的每个块区域的运动屏障置信度和最接近当前帧的N帧，连续确定当前帧图像中的每个块区域; 根据每个块区域确定图像中的屏障。

4. 发明授权

US08406474B2 Method and apparatus for identifying obstacle in image 有权
标题翻译：用于识别图像中的障碍物的方法和装置
公开(公告)号：US08406474B2
公开(公告)日：2013-03-26
申请号：US13133546
申请日：2009-04-30
申请人： Bobo Duan , Wei Liu , Huai Yuan
发明人： Bobo Duan , Wei Liu , Huai Yuan
IPC分类号： G06K9/00 , H04N5/225
CPC分类号： G06K9/00805
摘要： A method for identifying barriers in images is disclosed. In the method, images of a current frame and N frame which is nearest to the current frame are obtained, the obtained images of the frames are divided in the same way, and the image of each frame obtains a plurality of divided block regions; the motion barrier confidence of each block region corresponding to the current frame and the N frame which is nearest to the current frame is calculated; whether each block region in the image of the current frame is decided successively according to the motion barrier confidence of each block region corresponding to the current frame and the N frame which is nearest to the current frame; the barriers in the images are determined according to each block region.
摘要翻译：公开了一种用于识别图像中的障碍物的方法。在该方法中，获得与当前帧最近的当前帧和N帧的图像，以相同的方式划分所获得的帧的图像，并且每帧的图像获得多个分割块区域; 计算对应于当前帧的每个块区域和最接近当前帧的N帧的运动屏障置信度; 根据与当前帧对应的每个块区域的运动屏障置信度和最接近当前帧的N帧，连续确定当前帧图像中的每个块区域; 根据每个块区域确定图像中的屏障。

5. 发明授权

US08041115B2 Method and apparatus for determining a classification boundary for an object classifier 失效
标题翻译：用于确定对象分类器的分类边界的方法和装置
公开(公告)号：US08041115B2
公开(公告)日：2011-10-18
申请号：US11940063
申请日：2007-11-14
申请人： Wei Liu , Huai Yuan
发明人： Wei Liu , Huai Yuan
IPC分类号： G06K9/00 , G06K9/62 , G06K9/34 , G06K9/46 , G06K9/66 , G06K9/48
CPC分类号： G06K9/6269 , G06K2209/23
摘要： In a method and apparatus for determining a classification boundary between an object, such as a vehicle, and a background, using an object classifier, a trained classifier is configured to classify and recognize each of a plurality of object images and a plurality of background images. Next, a confidence probability density distribution function is calculated for the vehicle and the background using the determined confidence values for the vehicle images and background images. Once the probability density distribution functions for the vehicle and the background are calculated, the classification boundary between the vehicle and the background is determined using the probability density distribution functions for the vehicle or the background, or both, and a predefined model that is appropriate.
摘要翻译：在用于确定诸如车辆的对象与背景之间的分类边界的方法和装置中，使用对象分类器，训练分类器被配置为对多个对象图像和多个背景图像中的每一个进行分类和识别。接下来，使用所确定的车辆图像和背景图像的置信度，针对车辆和背景来计算置信概率密度分布函数。一旦计算了车辆和背景的概率密度分布函数，则使用车辆或背景或两者的概率密度分布函数以及适当的预定义模型来确定车辆与背景之间的分类边界。

6. 发明申请

US20090154808A1 METHOD AND APPARATUS FOR SEGMENTING AN OBJECT REGION OF INTEREST FROM AN IMAGE 有权
标题翻译：用于从图像中分配对象区域的方法和装置
公开(公告)号：US20090154808A1
公开(公告)日：2009-06-18
申请号：US12331160
申请日：2008-12-09
申请人： Feng Gao , Na Zhou , Wei Liu , Huai Yuan
发明人： Feng Gao , Na Zhou , Wei Liu , Huai Yuan
IPC分类号： G06K9/34
CPC分类号： G06K9/3241 , G06K9/00791 , G06K2209/23 , G06T7/12 , G06T2207/30248
摘要： A method for segmenting an object region of interest from an image includes detecting each corner in a captured image; acquiring edges of the object from the captured image based on the detected corners; clustering the detected corners based on corners on the acquired edges; and segmenting the image region in the captured image formed by the clustered corners as a region of interest that likely includes the object. With this method and apparatus for the method, an object region of interest may be segmented from an image without utilizing features such as an object shadow and edges.
摘要翻译：从图像中分割目标区域的方法包括：检测拍摄图像中的每个角; 基于检测到的拐角从捕获的图像获取对象的边缘; 基于所获取的边缘上的角聚类检测到的角; 并且将由聚集角形成的拍摄图像中的图像区域分割为可能包括对象的感兴趣区域。利用该方法和该方法的装置，可以从图像中分割关注的对象区域，而不利用诸如对象阴影和边缘的特征。

7. 发明申请

US20090169105A1 VEHICLE HEADLIGHT DETECTING METHOD AND APPARATUS, AND REGION-OF-INTEREST SEGMENTING METHOD AND APPARATUS 有权
标题翻译：车辆头灯检测方法和装置，以及利益分配方法和装置
公开(公告)号：US20090169105A1
公开(公告)日：2009-07-02
申请号：US12341193
申请日：2008-12-22
申请人： Chunyan Song , Wei Liu , Huai Yuan
发明人： Chunyan Song , Wei Liu , Huai Yuan
IPC分类号： G06K9/34 , G06K9/46
CPC分类号： G06K9/3233 , G06K9/00785 , G06K9/00825
摘要： A method and apparatus for detecting vehicle headlights and a region-of-interest (ROI) segmenting method and apparatus are disclosed. The ROI segmenting method includes: performing an edge extracting operation on a captured image to obtain edges of the captured image; selecting edges meeting predetermined criteria from the obtained edges, the predetermined criteria being the similarity between the region surrounded by the selected edges and the pattern formed by a vehicle headlight in physical reality at a position of the selected edges; determining the region surrounded by the selected edges within the captured image as a vehicle headlight pattern; and segmenting the ROI which potentially includes the vehicle pattern from the captured image based on the determined vehicle headlight pattern. With such a method and apparatus, the ROI of a vehicle may be acquired from the image without using the vehicle's bottom shadow.
摘要翻译：公开了一种用于检测车辆前灯和感兴趣区域（ROI）分割方法和装置的方法和装置。 ROI分割方法包括：对拍摄图像执行边缘提取操作以获得拍摄图像的边缘; 从所获得的边缘选择满足预定标准的边缘，所述预定标准是在所选边缘的位置处的物理现实中由所选边缘包围的区域与由车辆前灯形成的图案之间的相似度; 确定由拍摄图像内的所选边缘包围的区域作为车辆头灯图案; 以及基于所确定的车辆头灯图案，从捕获的图像分割潜在地包括车辆图案的ROI。利用这种方法和装置，可以从图像中获取车辆的ROI，而不使用车辆的底部阴影。

8. 发明授权

US08290265B2 Method and apparatus for segmenting an object region of interest from an image 有权
标题翻译：用于从图像中分割目标区域的方法和装置
公开(公告)号：US08290265B2
公开(公告)日：2012-10-16
申请号：US12331160
申请日：2008-12-09
申请人： Feng Gao , Na Zhou , Wei Liu , Huai Yuan
发明人： Feng Gao , Na Zhou , Wei Liu , Huai Yuan
IPC分类号： G06K9/34 , G06K9/62 , G06K9/00
CPC分类号： G06K9/3241 , G06K9/00791 , G06K2209/23 , G06T7/12 , G06T2207/30248
摘要： A method for segmenting an object region of interest from an image includes detecting each corner in a captured image; acquiring edges of the object from the captured image based on the detected corners; clustering the detected corners based on corners on the acquired edges; and segmenting the image region in the captured image formed by the clustered corners as a region of interest that likely includes the object. With this method and apparatus for the method, an object region of interest may be segmented from an image without utilizing features such as an object shadow and edges.
摘要翻译：从图像中分割目标区域的方法包括：检测拍摄图像中的每个角; 基于检测到的拐角从捕获的图像获取对象的边缘; 基于所获取的边缘上的角聚类检测到的角; 并且将由聚集角形成的拍摄图像中的图像区域分割为可能包括对象的感兴趣区域。利用该方法和该方法的装置，可以从图像中分割关注的对象区域，而不利用诸如对象阴影和边缘的特征。

9. 发明授权

US08155381B2 Vehicle headlight detecting method and apparatus, and region-of-interest segmenting method and apparatus 有权
标题翻译：车头灯检测方法和装置，以及利益分割方法和装置
公开(公告)号：US08155381B2
公开(公告)日：2012-04-10
申请号：US12341193
申请日：2008-12-22
申请人： Chunyan Song , Wei Liu , Huai Yuan
发明人： Chunyan Song , Wei Liu , Huai Yuan
IPC分类号： G06K9/00
CPC分类号： G06K9/3233 , G06K9/00785 , G06K9/00825
摘要： A method and apparatus for detecting vehicle headlights and a region-of-interest (ROI) segmenting method and apparatus are disclosed. The ROI segmenting method includes: performing an edge extracting operation on a captured image to obtain edges of the captured image; selecting edges meeting predetermined criteria from the obtained edges, the predetermined criteria being the similarity between the region surrounded by the selected edges and the pattern formed by a vehicle headlight in physical reality at a position of the selected edges; determining the region surrounded by the selected edges within the captured image as a vehicle headlight pattern; and segmenting the ROI which potentially includes the vehicle pattern from the captured image based on the determined vehicle headlight pattern. With such a method and apparatus, the ROI of a vehicle may be acquired from the image without using the vehicle's bottom shadow.
摘要翻译：公开了一种用于检测车辆前灯和感兴趣区域（ROI）分割方法和装置的方法和装置。 ROI分割方法包括：对拍摄图像执行边缘提取操作以获得拍摄图像的边缘; 从所获得的边缘选择满足预定标准的边缘，所述预定标准是在所选边缘的位置处的物理现实中由所选边缘包围的区域与由车辆前灯形成的图案之间的相似度; 确定由拍摄图像内的所选边缘包围的区域作为车辆头灯图案; 以及基于所确定的车辆头灯图案，从捕获的图像分割潜在地包括车辆图案的ROI。利用这种方法和装置，可以从图像中获取车辆的ROI，而不使用车辆的底部阴影。

10. 发明申请

US20080118161A1 METHOD AND APPARATUS FOR DETERMINING A CLASSIFICATION BOUNDARY FOR AN OBJECT CLASSIFIER 失效
标题翻译：用于确定对象分类器的分类边界的方法和装置
公开(公告)号：US20080118161A1
公开(公告)日：2008-05-22
申请号：US11940063
申请日：2007-11-14
申请人： Wei Liu , Huai Yuan
发明人： Wei Liu , Huai Yuan
IPC分类号： G06K9/62
CPC分类号： G06K9/6269 , G06K2209/23
摘要： The invention relates to a method and apparatus for determining a classification boundary between an object, such as a vehicle, and a background, using an object classifier. In an embodiment of the invention, a trained classifier is configured to classify and recognize each a plurality of object images and a plurality of background images. Next, a confidence probability density distribution function is calculated for the vehicle and the background using the determined confidence values for the vehicle images and background images. Once the probability density distribution functions for the vehicle and the background are calculated, the classification boundary between the vehicle and the background is determined using the probability density distribution functions for the vehicle or the background, or both, and a predefined model that is appropriate for the application.
摘要翻译：本发明涉及一种使用对象分类器确定诸如车辆的对象与背景之间的分类边界的方法和装置。在本发明的实施例中，经过训练的分类器被配置为对多个对象图像和多个背景图像进行分类和识别。接下来，使用所确定的车辆图像和背景图像的置信度，针对车辆和背景来计算置信概率密度分布函数。一旦计算了车辆和背景的概率密度分布函数，则使用车辆或背景的概率密度分布函数或两者来确定车辆与背景之间的分类边界，以及适用于应用程序。

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