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1. 发明申请

US20130335569A1 VEHICLE WITH IMPROVED TRAFFIC-OBJECT POSITION DETECTION 有权
标题翻译：改进交通对象位置检测的车辆
公开(公告)号：US20130335569A1
公开(公告)日：2013-12-19
申请号：US13799338
申请日：2013-03-13
申请人： HONDA MOTOR CO., LTD.
发明人： Nils EINECKE , Sven REBHAN , Morimichi NISHIGAKI
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G01S7/2955 , G01S13/42 , G01S13/58 , G01S13/726 , G01S13/867 , G01S13/931 , G01S2013/9353 , G01S2013/9364 , G01S2013/9367 , G01S2013/9375 , G06K9/00805 , G06K9/00825 , G08G1/166
摘要： A method is proposed for detecting the position of a target object in the environment of a host vehicle, comprising the steps of receiving a first position of the target object as detected by an object position sensor like a radar sensor; receiving an image containing the target object as detected by an image sensor like a camera; projecting the first position on the image; and refining the first position by computing a second position of the target object on the basis of a symmetry search within the image.
摘要翻译：提出了一种用于检测目标物体在本车辆的环境中的位置的方法，包括以下步骤：通过诸如雷达传感器的物体位置传感器检测到的目标物体的第一位置; 接收由诸如相机的图像传感器检测到的包含目标对象的图像; 投影图像上的第一个位置; 以及通过基于所述图像内的对称性搜索来计算所述目标对象的第二位置来改善所述第一位置。

2. 发明申请

US20130300870A1 METHOD FOR MONITORING A TRAFFIC STREAM AND A TRAFFIC MONITORING DEVICE 有权
标题翻译：监控交通流和交通监控装置的方法
公开(公告)号：US20130300870A1
公开(公告)日：2013-11-14
申请号：US13874393
申请日：2013-04-30
申请人： Pieter Messely , Wouter Favoreel
发明人： Pieter Messely , Wouter Favoreel
IPC分类号： H04N7/18
CPC分类号： H04N7/183 , G01S7/2955 , G01S7/4026 , G01S13/867 , G01S13/92 , G08G1/04
摘要： A traffic monitoring device may comprise a radar and a camera, said radar having a radar field of view extending around a radar central axis and said camera having a camera field of view extending around a camera central axis in such a manner that said radar field of view is situated within said camera field of view. The radar and the camera may be positioned so that their central axis of their field of view make a predetermined angle with respect to each other, said radar being provided for determining coordinates of moving objects. The device may comprise selecting means for selecting within said image an image section or portion representing at least part of said radar field of view and may also comprise transformation means for transforming said coordinates of said moving object within said image portion into further coordinates relative to an image reference frame for display.
摘要翻译：交通监控设备可以包括雷达和相机，所述雷达具有围绕雷达中心轴延伸的雷达视场，并且所述相机具有围绕照相机中心轴延伸的相机视场，使得所述雷达视场视图位于所述相机视野内。雷达和摄像机可以被定位成使得它们的视野的中心轴线相对于彼此形成预定角度，所述雷达被提供用于确定移动物体的坐标。该装置可以包括选择装置，用于在所述图像内选择表示所述雷达视野的至少一部分的图像部分或部分，并且还可以包括变换装置，用于将所述图像部分内的所述移动物体的所述坐标变换为相对于图像参考框架进行显示。

3. 发明授权

US08204677B2 Tracking method 有权
标题翻译：跟踪方法
公开(公告)号：US08204677B2
公开(公告)日：2012-06-19
申请号：US11936099
申请日：2007-11-07
申请人： Daniel Rosenfeld , Ofer Salama
发明人： Daniel Rosenfeld , Ofer Salama
IPC分类号： G01C21/00
CPC分类号： H01Q3/10 , G01C21/165 , G01S7/003 , G01S7/2955 , G01S13/723 , G01S13/86
摘要： A method for tracking a moving platform (MP) wherein the MP uses an on-board navigation system (NS). Data provided by the navigation system on board the moving platform (MP) is merged with data obtained using a tracking system that tracks the MP from another location. A typical navigation system on board the moving platforms is an inertial navigation system (INS). State data of one or more MP is sent to a processing facility and state data of one or more electromagnetic tracking (EMT) is collected by one or more processing facility. The collected states data from the sources are processed, using the one or more processing facilities for calculating tracking data are used to direct one or more antennas for MP tracking. The state data from one or more MP's are sent using a communications channel.
摘要翻译：一种用于跟踪移动平台（MP）的方法，其中MP使用车载导航系统（NS）。由移动平台（MP）上的导航系统提供的数据与使用跟踪系统获得的数据进行合并，跟踪系统从另一个位置跟踪MP。移动平台上的典型导航系统是惯性导航系统（INS）。将一个或多个MP的状态数据发送到处理设备，并且由一个或多个处理设备收集一个或多个电磁跟踪（EMT）的状态数据。来自源的收集的状态数据被处理，使用用于计算跟踪数据的一个或多个处理设备来引导用于MP跟踪的一个或多个天线。来自一个或多个MP的状态数据使用通信信道发送。

4. 发明授权

US08044840B2 Method for surveillance of space/air space 失效
标题翻译：空间/空间监视方法
公开(公告)号：US08044840B2
公开(公告)日：2011-10-25
申请号：US11991288
申请日：2006-07-20
申请人： Marc Honikel , Hanspeter Berger
发明人： Marc Honikel , Hanspeter Berger
IPC分类号： G01S13/87
CPC分类号： G01S7/2955 , G01S13/87
摘要： The invention proposes utilizing the known geometry of the measurements in order to assign them to one another and to resolve ambiguities, wherein the 3D position of an object (3) in space is determined by a spatial section at the same time. This is done using a plurality (N) of sensors (A, B, C) and their geometries (10, 11, 12), wherein a first sensor (A) is part of the master sensor and a space curve (A1) is calculated and then transmitted to the geometry (11) of a sensor (B) which is defined as a slave sensor and whose local geometry (11) is taken into account, a further sensor (C) is then defined as a slave in which the space curves (B1-B3) of the correspondence obtained in the preceding step are calculated and transmitted to the geometry (12) of the new slave sensor (C) together with the master curve (A1), wherein the steps are repeated at least until the last (N) remaining sensor is defined as a slave in a last step (N−1) and the master (A1) and all of its associated measurements of the previous slave sensors (B, C) are transmitted to the local geometry of the last (N) slave sensor and compared with the measurements.
摘要翻译：本发明提出利用已知的测量几何来分配它们并解决模糊，其中空间中的物体（3）的3D位置由空间部分同时确定。这是使用多个（N）个传感器（A，B，C）及其几何形状（10,11,12）完成的，其中第一传感器（A）是主传感器的一部分，空间曲线（A1）是计算然后传送到被定义为从传感器并且其局部几何（11）被考虑的传感器（B）的几何（11），则另一传感器（C）然后被定义为从属，其中计算在前一步骤中获得的对应关系的空间曲线（B1-B3），并与主曲线（A1）一起发送到新的从属传感器（C）的几何体（12），其中重复步骤至少直到最后（N）个剩余传感器被定义为最后一个步骤（N-1）中的从站，并且主站（A1）及其先前的从属传感器（B，C）的所有相关联的测量结果被传送到最后（N）个从属传感器，并与测量值进行比较。

5. 发明申请

US20100007544A1 Method for Surveillance of Space/Air Space 失效
标题翻译：空间/空间监视方法
公开(公告)号：US20100007544A1
公开(公告)日：2010-01-14
申请号：US11991288
申请日：2006-07-20
申请人： Marc Honikel , Hanspeter Berger
发明人： Marc Honikel , Hanspeter Berger
IPC分类号： G01S13/87
CPC分类号： G01S7/2955 , G01S13/87
摘要： The invention proposes utilizing the known geometry of the measurements in order to assign them to one another and to resolve ambiguities, wherein the 3D position of an object (3) in space is determined by a spatial section at the same time. This is done using a plurality (N) of sensors (A, B, C) and their geometries (10, 11, 12), wherein a first sensor (A) is part of the master sensor and a space curve (A1) is calculated and then transmitted to the geometry (11) of a sensor (B) which is defined as a slave sensor and whose local geometry (11) is taken into account, a further sensor (C) is then defined as a slave in which the space curves (B1-B3) of the correspondence obtained in the preceding step are calculated and transmitted to the geometry (12) of the new slave sensor (C) together with the master curve (A1), wherein the steps are repeated at least until the last (N) remaining sensor is defined as a slave in a last step (N−1) and the master (A1) and all of its associated measurements of the previous slave sensors (B, C) are transmitted to the local geometry of the last (N) slave sensor and compared with the measurements.
摘要翻译：本发明提出利用已知的测量几何来分配它们并解决模糊，其中空间中的物体（3）的3D位置由空间部分同时确定。这是使用多个（N）个传感器（A，B，C）及其几何形状（10,11,12）完成的，其中第一传感器（A）是主传感器的一部分，空间曲线（A1）是计算然后传送到被定义为从传感器并且其局部几何（11）被考虑的传感器（B）的几何（11），则另一传感器（C）然后被定义为从属，其中计算在前一步骤中获得的对应关系的空间曲线（B1-B3），并与主曲线（A1）一起发送到新的从属传感器（C）的几何体（12），其中重复步骤至少直到最后（N）个剩余传感器被定义为最后一个步骤（N-1）中的从站，并且主站（A1）及其先前的从属传感器（B，C）的所有相关联的测量结果被传送到最后（N）个从属传感器，并与测量值进行比较。

6. 发明授权

US5656932A Non-contact type wave signal observation apparatus 失效
标题翻译：非接触型波信号观测装置
公开(公告)号：US5656932A
公开(公告)日：1997-08-12
申请号：US371885
申请日：1995-01-12
申请人： Hitoshi Kitayoshi
发明人： Hitoshi Kitayoshi
IPC分类号： G01R29/08 , G01R31/312 , G01S7/02 , G01S7/06 , G01S7/20 , G01S7/295 , G01S13/86 , G01S13/87 , G01S13/89 , G01S15/89 , G01R27/28
CPC分类号： G01R29/08 , G01R29/0892 , G01R31/312 , G01S13/89 , G01S7/02 , G01S7/062 , G01S7/20 , G01S7/2955 , G01S13/87 , G01S15/89 , G01S7/024 , G01S7/068
摘要： A non-contact type wave signal observation apparatus measures transfer functions of a distributed constant network. A signal is input from a network analyzer to the network to be measured. Electromagnetic waves radiated from the network are received at each observation point on an observation plane arranged in a manner facing the network. The received signals are input to the network analyzer. The transfer functions between an input terminal of the network and each observation point are measured by the network analyzer. The measured transfer functions are converted by an inverse-Fresnel transformer and are stored in memories. The stored data is specified by a control unit and is displayed on a display unit. The stored data can be converted by an inverse-Fourier transformer and is displayed on the display unit as waveforms. Further aspect of the apparatus is, by a non-contact method, to measure signals of a distributed constant network, to determine states of electromagnetic wave in the space, to decrease the amount of calculations in a hologram reconstruction process, and to display a complex three dimensional illustration for a holographic radar.
摘要翻译：非接触型波信号观测装置测量分布常数网络的传递函数。信号从网络分析仪输入到要测量的网络。从以网络方式配置的观察平面上的每个观察点接收从网络辐射的电磁波。接收的信号被输入到网络分析仪。网络输入端和每个观测点之间的传输函数由网络分析仪测量。测量的传递函数由逆菲涅尔变换器转换并存储在存储器中。存储的数据由控制单元指定并显示在显示单元上。存储的数据可以由傅立叶逆变换变换器转换，并作为波形显示在显示单元上。该装置的另一方面是通过非接触方式来测量分布式恒定网络的信号，以确定空间中的电磁波的状态，以减少全息图重建过程中的计算量，并显示复合物全息雷达三维图。

7. 发明授权

US4899161A High accuracy coordinate conversion method for air traffic control applications 失效
标题翻译：空中交通管制应用的高精度坐标转换方法
公开(公告)号：US4899161A
公开(公告)日：1990-02-06
申请号：US222588
申请日：1988-07-21
申请人： Wilfred W. Morin, Jr. , Barry Wasser
发明人： Wilfred W. Morin, Jr. , Barry Wasser
IPC分类号： G01S7/295 , G01S13/87 , G01S13/91
CPC分类号： G01S13/91 , G01S7/2955
摘要： A computer method is disclosed for accurately transforming multiple radar observations of aircraft into a common coordinate system for air traffic control applications. The method involves a transformation from radar observables of the target slant range, azimuth and altitude to the target position coordinates in a stereographic system plane for display. The method includes a conformal coordinate conversion process from geodetic to conformal spherical coordinates followed by a conformal stereographic projection process onto a system display plane. The resulting display of aircraft position on the system plane is more accurate than has been available in the prior art.
摘要翻译：公开了一种用于将飞机的多个雷达观测精确地转换成用于空中交通管制应用的公共坐标系的计算机方法。该方法涉及从用于显示的立体系统平面中的目标倾斜范围，方位角和高度的雷达可观测值到目标位置坐标的变换。该方法包括从大地测量到保形球面坐标之后的共形立体投影处理到系统显示平面上的保形坐标转换过程。飞机在系统平面上的位置的显示比现有技术中更为准确。

8. 发明申请

US20190057263A1 AUTOMATED DRIVING SYSTEM THAT MERGES HETEROGENOUS SENSOR DATA 审中-公开
公开(公告)号：US20190057263A1
公开(公告)日：2019-02-21
申请号：US15681891
申请日：2017-08-21
申请人： 2236008 Ontario Inc.
发明人： Xavier Miville , Christian Joseph Eric Montminy
IPC分类号： G06K9/00 , H04L29/08 , G01S17/02 , G05D1/02 , G05D1/00
CPC分类号： G06K9/00805 , G01S7/2955 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/936 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9367 , G05D1/0061 , G05D1/024 , G05D1/0246 , G05D2201/0213 , G06T2207/30261 , H04L67/12
摘要： An automated driving system comprising a first sensor providing first sensor data, a second sensor providing second sensor data, wherein the first and second sensors are different types of sensors and a processor communicatively coupled to the first sensor and the second sensor. The processor is configured to transform the first and second sensor data into a common three-dimensional coordinate system to create a representation of an image for a field of view corresponding to a direction of travel, identify one or more objects in the field of view, and generate one or more drive control signals to control a motion of the vehicle in response to the one or more objects in the field of view.

9. 发明申请

US20180038694A1 ULTRA WIDE BAND RADAR LOCALIZATION 审中-公开
公开(公告)号：US20180038694A1
公开(公告)日：2018-02-08
申请号：US15427773
申请日：2017-02-08
申请人： 5D Robotics, Inc.
发明人： David Bruemmer , Brandon Dewberry
IPC分类号： G01C21/00 , G01S13/86 , G01S13/02
CPC分类号： G01C21/005 , G01S7/2955 , G01S13/0209 , G01S13/74 , G01S13/86 , G01S13/865 , G01S13/874 , G01S13/876 , G01S13/931 , G01S2013/9339 , G01S2013/9375 , G01S2013/9385
摘要： Coherent radar returns gained from Ultra-Wideband Radars are correlated with features extracted from a georeferenced map to refine positional information and pose of an object. Data collected from one or more UWB Radars and other real time sensors affixed on an object can be processed to identify discrete edges or characteristic returns such as a pole, building or the like. These coherent returns can be correlated with features extracted from a georeferenced map. As the UWB Radar(s) location and orientation with respect to the object is (are) known the precise location and pose of the object on the georeferenced map can be determined by matching features found in the map or imagery with those of the coherent return. Moreover the configuration of the UWB Radars can be modified based on a perception of the local environment.

10. 发明申请

US20160320476A1 SYSTEMS TO TRACK A MOVING SPORTS OBJECT 审中-公开
标题翻译：跟踪运动运动对象的系统
公开(公告)号：US20160320476A1
公开(公告)日：2016-11-03
申请号：US15141569
申请日：2016-04-28
申请人： Henri Johnson
发明人： Henri Johnson
IPC分类号： G01S13/72 , G06T7/20 , G01S13/86
CPC分类号： G01S13/72 , A63B2220/16 , A63B2220/806 , A63B2220/89 , G01S3/7864 , G01S7/2955 , G01S7/4026 , G01S13/58 , G01S13/726 , G01S13/867 , G01S13/88 , G06T7/254 , G06T7/277 , G06T7/80 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/30221
摘要： Systems, methods and computer-readable media are provided for tracking a moving sports object. In one example, a method of tracking a moving sports object includes calibrating a perspective of an image of a camera to a perspective of a Doppler radar for simultaneous tracking of the moving sports object, and tracking the moving sports object simultaneously with the camera and Doppler radar. The method may further comprise removing offsets or minimizing differences between simultaneous camera measurements and Doppler radar measurements of the moving sports object. The method may also include combining a camera measurement of an angular position of the moving sports object with a simultaneous Doppler measurement of a radial distance, speed or other measurement of the moving sports object.
摘要翻译：系统，方法和计算机可读介质被提供用于跟踪移动的运动对象。在一个示例中，跟踪运动运动物体的方法包括将摄像机的图像的透视图校准为多普勒雷达的透视图，用于同时跟踪运动运动物体，以及与摄像机和多普勒同时跟踪运动运动物体雷达。该方法还可以包括去除偏移或最小化移动运动物体的同时相机测量和多普勒雷达测量之间的差异。该方法还可以包括组合运动运动物体的角位置的相机测量与运动运动物体的径向距离，速度或其他测量的同时多普勒测量。

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