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    METHOD AND APPARATUS FOR REFINING TARGET POSITION AND SIZE ESTIMATES USING IMAGE AND DEPTH DATA
    3.
    发明公开
    METHOD AND APPARATUS FOR REFINING TARGET POSITION AND SIZE ESTIMATES USING IMAGE AND DEPTH DATA 审中-公开
    用于改善目标的位置和大小的方法和设备估计数。使用的图像和深层数据的

    公开(公告)号：EP1687755A4

    公开(公告)日：2009-07-15

    申请号：EP04822225

    申请日：2004-07-06

    申请人： SARNOFF CORP ,  FORD MOTOR CO

    发明人： SOUTHALL JOHN ,  CAMUS THEODORE ,  HIRVONEN DAVID

    IPC分类号： G06K9/00 ,  G06T7/00

    CPC分类号： G06K9/00624 ,  G06T7/55

    摘要： A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.

    VEHICULAR VISION SYSTEM
    4.
    发明公开
    VEHICULAR VISION SYSTEM 审中-公开
    FAHRZEUG-视觉系统

    公开(公告)号：EP1639519A4

    公开(公告)日：2009-07-08

    申请号：EP04776578

    申请日：2004-06-14

    申请人： SARNOFF CORP ,  FORD MOTOR CO

    发明人： CAMUS THEODORE ,  HIRVONEN DAVID ,  MANDELBAUM ROBERT ,  CALL BILLIE JOE ,  HILL IAN GREGORY ,  RIEDER ANDRE ,  SOUTHALL JOHN

    IPC分类号： G06K9/00 ,  G06K9/32 ,  G06K9/62 ,  G06T7/00 ,  G06T7/20

    CPC分类号： G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

    摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

    摘要翻译： 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 对深度图进行处理，并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来产生目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方位和/或构型可以适应于减轻即将发生的碰撞所造成的损坏，或者可能警告驾驶员即将发生的碰撞。

    METHOD AND APPARATUS FOR PEDESTRIAN DETECTION
    5.
    发明公开
    METHOD AND APPARATUS FOR PEDESTRIAN DETECTION 审中-公开
    方法和装置检测行人

    公开(公告)号：EP1641653A4

    公开(公告)日：2009-07-29

    申请号：EP04777541

    申请日：2004-07-02

    申请人： SARNOFF CORP ,  FORD MOTOR CO

    发明人： HIRVONEN DAVID ,  CAMUS THEODORE

    IPC分类号： B60Q1/00 ,  B60R20060101 ,  G06K9/00 ,  G08G1/16

    CPC分类号： G06K9/00369 ,  G06K9/00201 ,  G06K9/00805

    摘要： A vehicle vision system (102) that identifies pedestrians (103) located proximate a vehicle (100). The system comprises a sensor array (106) produces imagery that is processed to generate disparity images. A depth map can be produced from the disparity images. Either the depth map or the disparity images are processed and compared to pedestrian templates. A pedestrian list is produced from the results of that comparison. The pedestrian list is processed to eliminate false pedestrians as determined by inverse eccentricity. The pedestrians are then tracked, and if a collision is possible, that information is provided to the driver and/or to an automated collision avoidance or damage or injury mitigation system.