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1. 发明申请

US20130308828A1 Collision Warning System 有权
公开(公告)号：US20130308828A1
公开(公告)日：2013-11-21
申请号：US13874041
申请日：2013-04-30
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.

2. 发明申请

US20090143986A1 Collision Warning System 有权
标题翻译：碰撞警告系统
公开(公告)号：US20090143986A1
公开(公告)日：2009-06-04
申请号：US10599667
申请日：2005-01-19
申请人： Gideon P. Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon P. Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G08G1/16
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

3. 发明申请

US20070221822A1 Headlight, Taillight And Streetlight Detection 有权
标题翻译：大灯，尾灯和路灯检测
公开(公告)号：US20070221822A1
公开(公告)日：2007-09-27
申请号：US11689523
申请日：2007-03-22
申请人： Gideon P. Stein , Ofer Hadassi , Noam Ben Haim , Uri Wolfovitz
发明人： Gideon P. Stein , Ofer Hadassi , Noam Ben Haim , Uri Wolfovitz
IPC分类号： G01J1/32
CPC分类号： G06K9/00825 , B60Q1/143 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , B60Q2300/45 , G06K9/00818 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A method in a computerized system including an image sensor mounted in a moving vehicle. The image sensor captures image frames consecutively in real time. In one of the image flames, a spot is detected of measurable brightness; the spot is matched in subsequent image frames. The image frames are available for sharing between the computerized system and another vehicle control system. The spot and the corresponding spot are images of the same object. The object is typically one or more of headlights from an oncoming vehicle, taillights of a leading vehicle, streetlights, street signs and/or traffic signs. Data is acquired from the spot and from the corresponding spot. By processing the data, the object (or spot) is classified. producing an object classification. The vehicle control system controls preferably headlights of the moving vehicle based on the object classification. The other vehicle control system using the image frames is one or more of: lane departure warning system, collision warning system and/or ego-motion estimation system.
摘要翻译：一种包括安装在移动车辆中的图像传感器的计算机化系统中的方法。图像传感器实时捕获图像帧。在其中一个图像火焰中，检测到可测量亮度的斑点; 该点在随后的图像帧中匹配。图像帧可用于计算机化系统与另一车辆控制系统之间的共享。斑点和相应的斑点是同一物体的图像。该物体通常是一个或多个来自迎面而来的车辆的前灯，领先车辆的尾灯，路灯，路牌和/或交通标志。数据是从现场和相应的地点获取的。通过处理数据，对象（或点）进行分类。产生一个对象分类。基于对象分类，车辆控制系统优选地控制移动车辆的前灯。使用图像帧的其他车辆控制系统是车道偏离警告系统，碰撞警告系统和/或自主运动估计系统中的一个或多个。

4. 发明申请

US20070115357A1 SYSTEMS AND METHODS FOR DETECTING OBSTRUCTIONS IN A CAMERA FIELD OF VIEW 有权
标题翻译：用于检测摄像机中的障碍的系统和方法
公开(公告)号：US20070115357A1
公开(公告)日：2007-05-24
申请号：US11562998
申请日：2006-11-23
申请人： Gideon Stein , Ofer Hadassi
发明人： Gideon Stein , Ofer Hadassi
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60Q1/0023 , B60Q1/1423 , B60Q1/20 , B60Q2300/146 , B60Q2300/312 , B60Q2300/314 , B60R11/04 , B60R2300/30 , B60R2300/8053 , B60R2300/8093 , B60S1/023 , B60S1/04 , B60S1/0822 , B60S1/0844 , G06K9/00791 , H04N7/181
摘要： A system mounted on a vehicle for detecting an obstruction on a surface of a window of the vehicle, a primary camera is mounted inside the vehicle behind the window. The primary camera is configured to acquire images of the environment through the window. A secondary camera is focused on an external surface of the window, and operates to image the obstruction. A portion of the window, i.e. window region is subtended respectively by the field of view of the primary camera and the field of view of the secondary camera. A processor processes respective sequences of image data from both the primary camera and the secondary camera.
摘要翻译：一种安装在车辆上用于检测车辆窗户表面上的障碍物的系统，在车辆后方的车辆后方安装有主摄像机。主摄像机配置为通过窗口获取环境的图像。次要照相机聚焦在窗户的外表面上，并操作成对障碍物进行成像。窗口的一部分，即窗口区域分别由主摄像机的视场和次相机的视场对准。处理器处理来自主摄像机和辅助摄像机的图像数据的各个序列。

5. 发明授权

US08861792B2 Collison warning system 有权
标题翻译：碰撞警告系统
公开(公告)号：US08861792B2
公开(公告)日：2014-10-14
申请号：US14090110
申请日：2013-11-26
申请人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
发明人： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
IPC分类号： G06K9/00 , G08G1/16 , B60Q9/00
CPC分类号： G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
摘要： A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
摘要翻译：一种用于估计具有物体的车辆的碰撞时间（TTC）的方法，包括：获取所述物体的多个图像; 以及根据响应车辆和物体之间的相对速度和相对加速度的图像确定TTC。

6. 发明申请

US20140198184A1 STEREO ASSIST WITH ROLLING SHUTTERS 有权
标题翻译：立体声助手与滚动快门
公开(公告)号：US20140198184A1
公开(公告)日：2014-07-17
申请号：US14156096
申请日：2014-01-15
申请人： Gideon Stein , Efim Belman
发明人： Gideon Stein , Efim Belman
IPC分类号： H04N13/02
CPC分类号： H04N5/3532 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/8093 , G06K9/00791 , H04N5/04 , H04N5/232 , H04N5/23296 , H04N5/247 , H04N13/25 , H04N13/282 , H04N13/296
摘要： An imaging system for a vehicle may include a first image capture device having a first field of view and configured to acquire a first image relative to a scene associated with the vehicle, the first image being acquired as a first series of image scan lines captured using a rolling shutter. The imaging system may also include a second image capture device having a second field of view different from the first field of view and that at least partially overlaps the first field of view, the second image capture device being configured to acquire a second image relative to the scene associated with the vehicle, the second image being acquired as a second series of image scan lines captured using a rolling shutter. As a result of overlap between the first field of view and the second field of view, a first overlap portion of the first image corresponds with a second overlap portion of the second image. The first image capture device has a first scan rate associated with acquisition of the first series of image scan lines that is different from a second scan rate associated with acquisition of the second series of image scan lines, such that the first image capture device acquires the first overlap portion of the first image over a period of time during which the second overlap portion of the second image is acquired.
摘要翻译：用于车辆的成像系统可以包括具有第一视野并被配置为获取相对于与车辆相关联的场景的第一图像的第一图像捕获装置，所述第一图像被获取为使用以下步骤捕获的第一系列图像扫描线：卷帘门。成像系统还可以包括具有不同于第一视野的第二视场并且至少部分地与第一视场重叠的第二图像捕获装置，第二图像捕获装置被配置为获取相对于第一视场的第二图像与车辆相关联的场景，第二图像被获取为使用滚动快门捕获的第二系列图像扫描线。作为第一视场和第二视场之间的重叠的结果，第一图像的第一重叠部分对应于第二图像的第二重叠部分。第一图像捕获装置具有与获取第一系列图像扫描线相关联的第一扫描速率，其不同于与获取第二系列图像扫描线相关联的第二扫描速率，使得第一图像捕获装置获取第一图像的第一重叠部分在其中获取第二图像的第二重叠部分的时间段期间。

7. 发明授权

US08164628B2 Estimating distance to an object using a sequence of images recorded by a monocular camera 有权
标题翻译：使用由单目相机记录的图像序列来估计到物体的距离
公开(公告)号：US08164628B2
公开(公告)日：2012-04-24
申请号：US11554048
申请日：2006-10-30
申请人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
发明人： Gideon P. Stein , Andras D. Ferencz , Ofer Avni
IPC分类号： H04N7/18
CPC分类号： G06T7/0061 , B60R11/04 , B60R2001/1253 , B60R2300/105 , B60R2300/802 , B60R2300/8093 , G01B11/026 , G01B11/14 , G01C3/00 , G01C3/22 , G01C22/00 , G01S11/12 , G01S17/93 , G06K9/00805 , G06T7/55 , G06T2207/10016 , G06T2207/20024 , G06T2207/30196 , G06T2207/30252 , G06T2207/30256 , G06T2207/30261
摘要： In a computerized system including a camera mounted in a moving vehicle. The camera acquires consecutively in real time image frames including images of an object within the field of view of the camera. Range to the object from the moving vehicle is determined in real time. A dimension, e.g. a width, is measured in the respective images of two or more image frames, thereby producing measurements of the dimension. The measurements are processed to produce a smoothed measurement of the dimension. The dimension is measured subsequently in one or more subsequent frames. The range from the vehicle to the object is calculated in real time based on the smoothed measurement and the subsequent measurements. The processing preferably includes calculating recursively the smoothed dimension using a Kalman filter.
摘要翻译：在包括安装在移动车辆中的相机的计算机化系统中。摄像机连续拍摄包括摄像机视场内的物体的图像的实时图像帧。确定来自移动车辆的物体的范围。尺寸，例如在两个或多个图像帧的各个图像中测量宽度，从而产生尺寸的测量。处理测量值以产生平滑的尺寸测量。随后在一个或多个后续帧中测量尺寸。基于平滑的测量和随后的测量，实时地计算从车辆到物体的范围。该处理优选地包括使用卡尔曼滤波器递归地计算平滑维数。

8. 发明授权

US07786898B2 Fusion of far infrared and visible images in enhanced obstacle detection in automotive applications 有权
标题翻译：在汽车应用中增强障碍物检测中的远红外和可见图像的融合
公开(公告)号：US07786898B2
公开(公告)日：2010-08-31
申请号：US11696731
申请日：2007-04-05
申请人： Gideon S. Stein , Amnon Shashua , Yoram Gdalyahu , Harel Liyatan
发明人： Gideon S. Stein , Amnon Shashua , Yoram Gdalyahu , Harel Liyatan
IPC分类号： G08G1/107
CPC分类号： G06K9/00805 , B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/304 , B60R2300/8033 , B60R2300/804 , B60R2300/8053 , B60R2300/8093 , G06K9/00369 , G06K9/00825 , G06K9/2018 , G06K9/209 , G06K9/6289 , G06T7/246 , G06T2207/10048 , G06T2207/30261 , G08G1/167
摘要： A method in computerized system mounted on a vehicle including a cabin and an engine. The system including a visible (VIS) camera sensitive to visible light, the VIS camera mounted inside the cabin, wherein the VIS camera acquires consecutively in real time multiple image frames including VIS images of an object within a field of view of the VIS camera and in the environment of the vehicle. The system also including a FIR camera mounted on the vehicle in front of the engine, wherein the FIR camera acquires consecutively in real time multiple FIR image frames including FIR images of the object within a field of view of the FIR camera and in the environment of the vehicle. The FIR images and VIS images are processed simultaneously, thereby producing a detected object when the object is present in the environment.
摘要翻译：一种安装在包括舱室和发动机的车辆上的计算机化系统中的方法。该系统包括对可见光敏感的可视（VIS）相机，安装在机舱内的VIS相机，其中VIS相机连续实时获取包括VIS相机视场内的物体的VIS图像的多个图像帧，以及在车辆的环境中。该系统还包括安装在发动机前面的车辆上的FIR照相机，其中FIR照相机在FIR照相机的视野内实时地连续地获取包括物体的FIR图像的实时多个FIR图像帧，并且在机动车。同时处理FIR图像和VIS图像，从而当对象存在于环境中时产生检测到的对象。

9. 发明申请

US20090228737A1 ELUT: ENHANCED LOOK-UP TABLE SIGNAL PROCESSING 有权
标题翻译： ELUT：增强查看表信号处理
公开(公告)号：US20090228737A1
公开(公告)日：2009-09-10
申请号：US12045033
申请日：2008-03-10
申请人： MOIS P. NAVON , Yossi Kreinin , Emmanuel Sixou , Roman Sajman
发明人： MOIS P. NAVON , Yossi Kreinin , Emmanuel Sixou , Roman Sajman
IPC分类号： G06F15/76 , G06F9/30 , G06F1/04
CPC分类号： G06F9/3001 , G06F9/30098
摘要： An electronic device including an array of addressable registers storing data. An input register connected to the array stores an input command parameter (e.g an opcode of a command) and its associated operands in one or more input registers connected to the addressable register array. A single instance of a command accesses the at least one register of the array. Based on the input command parameter, the command for all of the address operands: reads a datum of the data previously stored in at least one register, updates the datum thereby producing an updated datum, and writes the updated datum into at least one register. The command has multiple address operands referencing the one or more registers and supports two or more of the address operands being identical. The device includes logic circuitry which provides a logical output signal to the processing circuitry indicating which, if any, of the address operands are identical. The processing circuitry based on the logical output, processes first any identical address operands prior to writing the updated datum into the at least one register so that a new instance of the command begins processing by the processing circuitry on a consecutive clock pulse and the command throughput is one command per clock pulse.
摘要翻译：一种包括存储数据的可寻址寄存器阵列的电子设备。连接到阵列的输入寄存器在连接到可寻址寄存器阵列的一个或多个输入寄存器中存储输入命令参数（例如命令的操作码）及其相关联的操作数。命令的单个实例访问阵列的至少一个寄存器。基于输入命令参数，所有地址操作数的命令：读取先前存储在至少一个寄存器中的数据的数据，更新数据，从而产生更新的数据，并将更新的数据写入至少一个寄存器。该命令具有引用一个或多个寄存器的多个地址操作数，并支持两个或多个地址操作数相同。该装置包括向处理电路提供逻辑输出信号的逻辑电路，指示地址操作数中的哪一个（如果有的话）是相同的。基于逻辑输出的处理电路在将更新的数据写入至少一个寄存器之前首先处理任何相同的地址操作数，使得命令的新实例在处理电路上以连续的时钟脉冲和指令吞吐量开始处理每个时钟脉冲是一个命令。

10. 发明申请

US20080239393A1 Cyclical Image Buffer 有权
标题翻译：循环图像缓冲区
公开(公告)号：US20080239393A1
公开(公告)日：2008-10-02
申请号：US11692941
申请日：2007-03-29
申请人： Mois Navon
发明人： Mois Navon
IPC分类号： G06F1/00
CPC分类号： G06T7/593 , G06T2200/28 , G06T2207/10012 , H04N13/10
摘要： A storage buffer attached to an image processor for stereo image processing. The processor compares a first image and a second image. The storage buffer stores image data of the second image. The storage buffer includes: a data-shifting-hardware mechanism which while the processor compares a patch of the first image to a swath of the second image, the data shifting mechanism using hardware within the storage buffer shifts at least a portion of the swath within the storage buffer. The data-shifting hardware mechanism includes preferably digital multiplexers with respective selectable inputs from adjacent and non-adjacent columns of data within the storage buffer and selectable inputs from adjacent rows of data within the storage buffer.
摘要翻译：连接到图像处理器以用于立体图像处理的存储缓冲器。处理器比较第一图像和第二图像。存储缓冲器存储第二图像的图像数据。存储缓冲器包括：数据移位硬件机构，当处理器将第一图像的片段与第二图像的片段进行比较时，使用存储缓冲器内的硬件的数据移位机制将至少一部分条带移动到存储缓冲区。数据移位硬件机构优选地包括具有来自存储缓冲器内的相邻和非相邻数据列的相应可选择输入的数字多路复用器以及来自存储缓冲器内的相邻数据行的可选输入。

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