公开(公告)号：EP2608111A2

公开(公告)日：2013-06-26

申请号：EP12196446.4

申请日：2012-12-11

申请人： Ricoh Company, Ltd.

发明人： You, Ganmei ,  Zheng, Jichuan

IPC分类号： G06K9/00 ,  G06T7/00

CPC分类号： G06K9/00798 ,  G01C11/04 ,  G01C21/28 ,  G06K9/00208 ,  G06K9/4609 ,  G06T7/13 ,  G06T2207/10028 ,  G06T2207/30256

摘要： Disclosed are a road line detection method and a road line detection device. The road line detection method comprises a step of obtaining a first disparity map including one or more road regions and a corresponding V-disparity image; a step of sequentially detecting plural sloped line segments in the corresponding V-disparity image according to a big-to-small order of disparities and a big-to-small order of V-values, to serve as plural sequentially adjacent road surfaces; a step of obtaining a second disparity map of plural road line regions of interest corresponding to the plural sloped line segments; and a step of detecting one or more road lines in the second disparity map of the plural road line regions of interest.

公开(公告)号：EP2728546B1

公开(公告)日：2020-02-12

申请号：EP12192685.1

申请日：2012-11-14

申请人： Ricoh Company, Ltd.

发明人： You, Ganmei ,  Lu, Yaojie ,  Zheng, Jichuan

IPC分类号： G06T7/73 ,  G06K9/00

公开(公告)号：EP2608111A3

公开(公告)日：2014-09-17

申请号：EP12196446.4

申请日：2012-12-11

申请人： Ricoh Company, Ltd.

发明人： You, Ganmei ,  Zheng, Jichuan

IPC分类号： G06K9/00 ,  G06T7/00

CPC分类号： G06K9/00798 ,  G01C11/04 ,  G01C21/28 ,  G06K9/00208 ,  G06K9/4609 ,  G06T7/13 ,  G06T2207/10028 ,  G06T2207/30256

摘要： Disclosed are a road line detection method and a road line detection device. The road line detection method comprises a step of obtaining a first disparity map including one or more road regions and a corresponding V-disparity image; a step of sequentially detecting plural sloped line segments in the corresponding V-disparity image according to a big-to-small order of disparities and a big-to-small order of V-values, to serve as plural sequentially adjacent road surfaces; a step of obtaining a second disparity map of plural road line regions of interest corresponding to the plural sloped line segments; and a step of detecting one or more road lines in the second disparity map of the plural road line regions of interest.

摘要翻译： 本发明公开了一个道路线检测方法及道路线检测装置。 道路线检测方法包括：获得第一视差图包括一个或多个道路区域和对应的V-视差图像的步骤; 顺序地检测多个斜线段对应的V-视差图像中的雅丁到差异的大到小命令和一个大到小顺序V值的，以用作多个顺序相邻的道路表面上的步骤; 获取的对应于多个倾斜线段兴趣多个道路的行区域的第二视差图的步骤; 和在感兴趣的多个道路的行区域的第二视差图检测一个或多个道路线路的步骤。

公开(公告)号：EP2605181A3

公开(公告)日：2014-12-31

申请号：EP12195430.9

申请日：2012-12-04

申请人： Ricoh Company, Ltd.

发明人： Lu, Yaojie ,  You, Ganmei ,  Zheng, Jichuan

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： A method and an apparatus are used for detecting a road partition, the method comprising: a step of obtaining a disparity top view having a road area; and a step of detecting parallel lines as the road partitions from the disparity top view.

摘要翻译： 一种方法和装置用于检测道路分隔，所述方法包括：获得具有道路面积的视差俯视图的步骤; 以及从视差顶视图检测平行线作为道路分隔的步骤。

公开(公告)号：EP2605181A2

公开(公告)日：2013-06-19

申请号：EP12195430.9

申请日：2012-12-04

申请人： Ricoh Company, Ltd.

发明人： Lu, Yaojie ,  You, Ganmei ,  Zheng, Jichuan

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： A method and an apparatus are used for detecting a road partition, the method comprising: a step of obtaining a disparity top view having a road area; and a step of detecting parallel lines as the road partitions from the disparity top view.

摘要翻译： 一种方法和设备用于检测道路分区，该方法包括：获得具有道路区域的视差顶视图的步骤; 以及从视差顶视图检测平行线作为道路分区的步骤。

公开(公告)号：EP2728546A3

公开(公告)日：2015-04-08

申请号：EP12192685.1

申请日：2012-11-14

申请人： Ricoh Company, Ltd.

发明人： You, Ganmei ,  Lu, Yaojie ,  Zheng, Jichuan

IPC分类号： G06T7/00 ,  G06K9/00

摘要： Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.

摘要翻译： 公开了一种用于在道路上检测物体的方法和系统。 该方法包括同时捕获两个深度图，然后计算视差图的步骤; 基于视差图，通过采用V视差算法获得V视差图像的步骤; 检测V视差图像中的斜线，然后去除视差图中与斜线对应的点，以便获取不包括道路的子视差图; 检测V-视差图像中的多个垂直线的步骤，然后针对多个垂直线中的每一个提取与该副视差图对应的该垂直线的点作为与该垂直线对应的对象子视差图 ; 以及将彼此靠近的对象子视差映射的任何两个矩形区域合并为矩形对象区域的步骤。

公开(公告)号：EP2728546A2

公开(公告)日：2014-05-07

申请号：EP12192685.1

申请日：2012-11-14

申请人： Ricoh Company, Ltd.

发明人： You, Ganmei ,  Lu, Yaojie ,  Zheng, Jichuan

IPC分类号： G06T7/00 ,  G06K9/00

摘要： Disclosed are a method and a system for detecting an object on a road. The method comprises a step of simultaneously capturing two depth maps, and then calculating a disparity map; a step of obtaining, based on the disparity map, a V-disparity image by adopting a V-disparity algorithm; a step of detecting an oblique line in the V-disparity image, and then removing points in the disparity map, corresponding to the oblique line so as to acquire a sub-disparity map excluding the road; a step of detecting plural vertical lines in the V-disparity image, and then extracting, for each of the plural vertical lines, points corresponding to this vertical line from the sub-disparity map as an object sub-disparity map corresponding to this vertical line; and a step of merging any two rectangular areas of the object sub-disparity maps approaching each other, into a rectangular object area.

公开(公告)号：EP2348427B1

公开(公告)日：2012-11-21

申请号：EP10251818.0

申请日：2010-10-19

申请人： Ricoh Company Ltd.

发明人： Yin, Yueyan ,  Lu, Yaojie ,  Shi, Dafei ,  Zheng, Jichuan ,  Zhao, Lijun

IPC分类号： G06F17/30 ,  G10L11/00

CPC分类号： G10L25/48 ,  G06F17/30746 ,  G06F17/30749 ,  G10H2240/131

公开(公告)号：EP2306345A3

公开(公告)日：2011-07-13

申请号：EP10176975.0

申请日：2010-09-16

申请人： Ricoh Company Ltd.

发明人： Shi, Dafei ,  Lu, Yaojie ,  Yin, Yueyan ,  Zheng, Jichuan ,  Zhao, Lijun

IPC分类号： G06F17/30

CPC分类号： G06F17/3074 ,  G06F17/30743

摘要： Disclosed are a speech retrieval apparatus and a speech retrieval method for searching, in a speech database, for an audio file matching an input search term by using an acoustic model serialization code, a phonemic code, a sub-word unit, and a speech recognition result of speech. The speech retrieval apparatus comprises a first conversion device, a first division device, a first speech retrieval unit creation device, a second conversion device, a second division device, a second speech retrieval unit creation device, and a matching device. The speech retrieval method comprises a first conversion step, a first division step, a first speech retrieval unit creation step, a second conversion step, a second division step, a second speech retrieval unit creation step, and a matching step.

摘要翻译： 公开了一种语音检索装置和语音检索方法，用于通过使用声学模型序列化码，音素码，子字单元和语音识别在语音数据库中搜索与输入的检索词匹配的音频文件 演讲的结果。 该语音检索装置包括第一转换装置，第一分割装置，第一语音检索单元创建装置，第二转换装置，第二分割装置，第二语音检索单元创建装置和匹配装置。 该语音检索方法包括第一转换步骤，第一分割步骤，第一语音检索单元创建步骤，第二转换步骤，第二分割步骤，第二语音检索单元创建步骤和匹配步骤。

公开(公告)号：EP2306345A2

公开(公告)日：2011-04-06

申请号：EP10176975.0

申请日：2010-09-16

申请人： Ricoh Company Ltd.

发明人： Shi, Dafei ,  Lu, Yaojie ,  Yin, Yueyan ,  Zheng, Jichuan ,  Zhao, Lijun

IPC分类号： G06F17/30

CPC分类号： G06F17/3074 ,  G06F17/30743

摘要： Disclosed are a speech retrieval apparatus and a speech retrieval method for searching, in a speech database, for an audio file matching an input search term by using an acoustic model serialization code, a phonemic code, a sub-word unit, and a speech recognition result of speech. The speech retrieval apparatus comprises a first conversion device, a first division device, a first speech retrieval unit creation device, a second conversion device, a second division device, a second speech retrieval unit creation device, and a matching device. The speech retrieval method comprises a first conversion step, a first division step, a first speech retrieval unit creation step, a second conversion step, a second division step, a second speech retrieval unit creation step, and a matching step.

摘要翻译： 公开了一种语音检索装置和语音检索方法，用于在语音数据库中，通过使用声学模型串行码，音素码，子字单元和语音识别来搜索与输入搜索词匹配的音频文件 结果语言 语音检索装置包括第一转换装置，第一分割装置，第一语音检索单元创建装置，第二转换装置，第二分割装置，第二语音检索单元创建装置和匹配装置。 语音检索方法包括第一转换步骤，第一分割步骤，第一语音检索单元创建步骤，第二转换步骤，第二分割步骤，第二语音检索单元创建步骤和匹配步骤。