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1. 发明申请

WO2020240284A2 VEHICLE ENVIRONMENT MODELING WITH CAMERAS 审中-公开
公开(公告)号：WO2020240284A2
公开(公告)日：2020-12-03
申请号：PCT/IB2020/000553
申请日：2020-05-29
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： STEIN, Gideon , BLUMENTHAL, Itay , SHAAG, Nadav , MOSKOWITZ, Jeffrey , CARLEBACH, Natalie
IPC分类号： G06T7/579 , G06K9/00 , G06T7/20 , G05D1/02 , B60W30/09 , B60W40/06 , G08G1/16
摘要： Various systems and methods for modeling a scene. A device for modeling a scene includes a hardware interface to obtain a time-ordered sequence of images representative of a scene, the time-ordered sequence including a plurality of images, one of the sequence of images being a current image, the scene captured by a monocular imaging system; and processing circuitry to: provide a data set to an artificial neural network (ANN) to produce a three-dimensional structure of the scene, the data set including: a portion of the sequence of images, the portion of the sequence of images including the current image; and motion of a sensor that captured the sequence of images; and model the scene using the three-dimensional structure of the scene, wherein the three-dimensional structure is determined for both moving and fixed objects in the scene.

2. 发明申请

WO2018204656A1 DETECTION AND CLASSIFICATION SYSTEMS AND METHODS FOR AUTONOMOUS VEHICLE NAVIGATION 审中-公开
公开(公告)号：WO2018204656A1
公开(公告)日：2018-11-08
申请号：PCT/US2018/030904
申请日：2018-05-03
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： BERBERIAN, Oded , COHEN, Barak , BERKUN, Reuven , STEIN, Gideon , SHAAG, Nadav
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00798
摘要： The present disclosure relates to systems and methods for road edge detection and mapping, for vehicle wheel identification and navigation based thereon, and for classification of objects as moving or non-moving. Such systems and methods may include the use of trained systems, such as one or more neural networks. Further, autonomous vehicle systems may incorporate aspects of one or more of the disclosed systems and methods.

3. 发明申请

WO2019202397A8 VEHICLE ENVIRONMENT MODELING WITH A CAMERA 审中-公开
公开(公告)号：WO2019202397A8
公开(公告)日：2019-10-24
申请号：PCT/IB2019/000506
申请日：2019-04-18
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： BLUMENTHAL, Itay , MOSKOWITZ, Jeffrey , SHAAG, Nadav , STEIN, Gideon
IPC分类号： G01C11/02 , G06T17/05 , G06T17/00
摘要： System and techniques for vehicle environment modeling with a camera are described herein, A time-ordered sequence of images representative of a road surface may be obtained. An image from this sequence is a current image. A data set may then be provided to an artificial neural network (ANN) to produce a three-dimensional structure of a scene. Here, the data set includes a portion of the sequence of images that includes the current image, motion of the sensor from which the images were obtained, and an epipole. The road surface is then modeled using the three-dimensional structure of the scene.

4. 发明申请

WO2019202397A3 VEHICLE ENVIRONMENT MODELING WITH A CAMERA 审中-公开
公开(公告)号：WO2019202397A3
公开(公告)日：2019-10-24
申请号：PCT/IB2019/000506
申请日：2019-04-18
申请人： MOBILEYE VISION TECHNOLOGIES LTD. , SHAAG, Nadav , STEIN, Gideon
发明人： SHAAG, Nadav , STEIN, Gideon , BLUMENTHAL, Itay , MOSKOWITZ, Jeffrey
IPC分类号： G01C11/02 , G06T17/05 , G06T17/00
摘要： System and techniques for vehicle environment modeling with a camera are described herein, A time-ordered sequence of images representative of a road surface may be obtained. An image from this sequence is a current image. A data set may then be provided to an artificial neural network (ANN) to produce a three-dimensional structure of a scene. Here, the data set includes a portion of the sequence of images that includes the current image, motion of the sensor from which the images were obtained, and an epipole. The road surface is then modeled using the three-dimensional structure of the scene.

5. 发明申请

WO2021138619A2 VEHICLE NAVIGATION WITH PEDESTRIANS AND DETERMINING VEHICLE FREE SPACE 审中-公开
公开(公告)号：WO2021138619A2
公开(公告)日：2021-07-08
申请号：PCT/US2020/067756
申请日：2020-12-31
申请人： MOBILEYE VISION TECHNOLOGIES LTD. , SHAMBIK, Yaakov , CHITRIT, Ohad , SACHTER, Michael , NETSER, Alon , VIENTE, Kfir , LEVI, Ishay , SCHWARTZ, Yonatan , BAR ZVI, Asaf , SIEGEL, Aaron , COHEN, Barak , STEIN, Gideon , BENTOLILA, Jacob , GELLER, Idan , SPRINGER, Ofer , NEUHOF, David , TOPEL, Gal , SHAAG, Nadav , MOSKOWITZ, Jeffrey , BLUMENTHAL, Itay , MALACH, Eran , SHALEV-SHWARTZ, Shai , REGEV, Lior , BABA, Tomer , BENOU, Ariel , ALONI, David , KIRZHNER, Dmitry , KARIO, Jack , BYK, Hananel
发明人： SHAMBIK, Yaakov , CHITRIT, Ohad , SACHTER, Michael , NETSER, Alon , VIENTE, Kfir , LEVI, Ishay , SCHWARTZ, Yonatan , BAR ZVI, Asaf , SIEGEL, Aaron , COHEN, Barak , STEIN, Gideon , BENTOLILA, Jacob , GELLER, Idan , SPRINGER, Ofer , NEUHOF, David , TOPEL, Gal , SHAAG, Nadav , MOSKOWITZ, Jeffrey , BLUMENTHAL, Itay , MALACH, Eran , SHALEV-SHWARTZ, Shai , REGEV, Lior , BABA, Tomer , BENOU, Ariel , ALONI, David , KIRZHNER, Dmitry , KARIO, Jack , BYK, Hananel
IPC分类号： G01C21/00 , G06T7/70 , G01C21/20 , G06K9/00369 , G06K9/3233 , G06K9/6256 , G06K9/6271 , G06K9/6289 , G06T2207/10016 , G06T2207/10028 , G06T2207/20081 , G06T2207/20084 , G06T2207/30196 , G06T2207/30236 , G06T2207/30261 , G06T7/73
摘要： Systems and methods are provided for vehicle navigation. In one implementation, a navigation system for a host vehicle may include at least one processor programmed to receive from a camera onboard the host vehicle at least one captured image representative of an environment of the vehicle; detect a pedestrian represented in the at least one captured image; analyze the at least one captured image to determine an indicator of angular rotation and an indicator of pitch angle associated with a head of the pedestrian represented in the at least one captured image; and cause at least one navigational action by the host vehicle based on the indicator of angular rotation and the indicator of pitch angle associated with the head of a pedestrian.

6. 发明申请

WO2019202397A2 VEHICLE ENVIRONMENT MODELING WITH A CAMERA 审中-公开
公开(公告)号：WO2019202397A2
公开(公告)日：2019-10-24
申请号：PCT/IB2019/000506
申请日：2019-04-18
申请人： MOBILEYE VISION TECHNOLOGIES LTD. , SHAAG, Nadav , STEIN, Gideon
发明人： SHAAG, Nadav , STEIN, Gideon , BLUMENTHAL, Itay , MOSKOWITZ, Jeffrey
IPC分类号： G06T7/55 , B60W40/06
摘要： System and techniques for vehicle environment modeling with a camera are described herein, A time-ordered sequence of images representative of a road surface may be obtained. An image from this sequence is a current image. A data set may then be provided to an artificial neural network (ANN) to produce a three-dimensional structure of a scene. Here, the data set includes a portion of the sequence of images that includes the current image, motion of the sensor from which the images were obtained, and an epipole. The road surface is then modeled using the three-dimensional structure of the scene.

7. 发明申请

WO2016183074A1 ROAD PROFILE ALONG A PREDICTED PATH 审中-公开
标题翻译：道路概况在预测路径
公开(公告)号：WO2016183074A1
公开(公告)日：2016-11-17
申请号：PCT/US2016/031631
申请日：2016-05-10
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： STEIN, Gideon , BLUMENTHAL, Itay , SHAAG, Nadav
IPC分类号： G06T3/40 , G06T7/20 , B62D15/02 , B60R1/00 , G06K9/46
CPC分类号： B60W40/06 , B60G17/0182 , B60T8/172 , B60T2201/08 , B60T2201/083 , B60T2210/32 , B60W50/0097 , B62D15/021 , B62D15/0295 , G05D1/0251 , G06K9/00798 , G06K9/46 , G06T3/40 , G06T7/55 , G06T2207/10021 , G06T2207/20084 , G06T2207/30241 , G06T2207/30256
摘要： Systems and methods are provided for determining a road profile along a predicted path. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of an area in a vicinity of a user vehicle; a data interface; and at least one processing device configured to receive the plurality of images captured by the image capture device through the data interface; and compute a profile of a road along one or more predicted paths of the user vehicle. At least one of the one or more predicted paths is predicted based on image data.
摘要翻译：提供了用于沿着预测路径确定道路轮廓的系统和方法。在一个实现中，系统包括至少一个图像捕获装置，被配置为获取用户车辆附近的区域的多个图像; 数据接口; 以及至少一个处理装置，被配置为通过所述数据接口接收由所述图像捕获装置捕获的所述多个图像; 并且计算沿着所述用户车辆的一个或多个预测路径的道路的轮廓。基于图像数据预测一个或多个预测路径中的至少一个。

8. 发明申请

WO2023073428A1 STEREO-ASSIST NETWORK FOR DETERMINING AN OBJECT'S LOCATION 审中-公开
公开(公告)号：WO2023073428A1
公开(公告)日：2023-05-04
申请号：PCT/IB2022/000647
申请日：2022-10-27
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： SHAAG, Nadav , SPRINGER, Ofer
IPC分类号： G06V20/58 , G06V10/80 , G06V10/82
摘要： Systems and methods for navigating a host vehicle are disclosed. In one implementation, a system includes a processor configured to receive a first image acquired by a first camera and a second image acquired by a second camera onboard the host vehicle; identify a first representation of an object in the first image and a second representation of the object in the second image; input to a first trained model at least a portion of the first image; input to a second trained model at least a portion of the second image; receive the first signature encoding determined by the first trained model and the second signature encoding determined by the second trained model; input to a third trained model the first signature encoding and the second signature encoding; and receive an indicator of a location of the object determined by the third trained model.

9. 发明申请

WO2016135736A2 ROAD VERTICAL CONTOUR DETECTION USING A STABILIZED COORDINATE FRAME 审中-公开
标题翻译：采用稳定坐标系进行道路垂直轮廓检测
公开(公告)号：WO2016135736A2
公开(公告)日：2016-09-01
申请号：PCT/IL2016/050224
申请日：2016-02-28
申请人： MOBILEYE VISION TECHNOLOGIES LTD.
发明人： BLUMENTHAL, Itay , KINGSLEY, Yaakov , SHAAG, Nadav , STEIN, Gideon
IPC分类号： G06K9/00
CPC分类号： G06K9/00791 , G06K9/4604 , G06K9/52 , G06T5/006 , G06T7/13 , G06T7/20 , G06T7/40 , G06T7/60 , G06T7/74 , G06T2207/30252 , H04N7/18
摘要： In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.
摘要翻译：在一些实施例中，从道路的两个图像创建的第一单应矩阵被分解以确定自我运动，并且自我运动被用于调整道路平面的先前估计。调整后的道路平面的先前估计值与当前的平面估计值相结合以创建第二单应矩阵，第二单应矩阵用于确定道路表面的残余运动和垂直偏差。在一些实施例中，通过优化具有数据项，平滑项和正则化项的函数来调整每个对应于道路的公共部分的多个道路轮廓的斜率和偏移量; 并将调整后的道路轮廓组合成多帧道路轮廓。在一些实施例中，预定数量的数据点的道路分布信息以周期性数据脉冲串传输，每个数据脉冲串具有多于一个的数据点。

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