公开(公告)号：US20240391494A1

公开(公告)日：2024-11-28

申请号：US18691634

申请日：2022-10-18

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Kevin Rosenblum ,  Erez Dagan ,  David Boublil ,  Eyal Segev Fang

IPC: B60W60/00 ,  B60W40/06

Abstract: Systems and methods for navigating a host vehicle based on RADAR-camera fusion are disclosed. In one implementation, a system includes a processor configured to receive images acquired by a camera onboard the host vehicle; identify a representation of a target vehicle in one of the images; receive from a RADAR system an indicator of a range between the host vehicle and the target vehicle; based on analysis of the images, identify in the image a ground intersection point associated with the target vehicle and a road surface; and determine an elevation value for the road surface based on the indicator of the range between the host vehicle and the target vehicle, the determined ground intersection point, and an angle of inclination between an optical axis of the camera and a ray directed toward a location of the ground intersection point.

公开(公告)号：US10690770B2

公开(公告)日：2020-06-23

申请号：US16375554

申请日：2019-04-04

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Kevin Rosenblum ,  Erez Dagan

IPC: G01S13/931 ,  G01S13/86 ,  G06T7/215 ,  G06K9/00 ,  G06T7/00 ,  G01S13/42 ,  G01S13/87

Abstract: A navigation system for a vehicle may include at least one image capture device configured to acquire a plurality of images of an environment of a vehicle and a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object. The system may also include at least one processing device programmed to: receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; use range information determined based on the output of the radar sensor together with the indicators of optical flow determined for each of the plurality of image segments in the first image and the corresponding image segments in the second image to calculate for each of a plurality of imaged regions at least one value indicative of a focus of expansion; identify a target object region, including at least a subset of the plurality of imaged regions that share a substantially similar focus of expansion; and cause a system response based on the identified target object region.

公开(公告)号：US11573090B2

公开(公告)日：2023-02-07

申请号：US17809632

申请日：2022-06-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Kevin Rosenblum ,  Alon Ziv ,  Erez Dagan

IPC: G01C21/30 ,  G01S17/89 ,  G01C21/00

Abstract: A navigation system for a host vehicle may include a processor programmed to: receive, from an entity remotely located relative to the host vehicle, a sparse map associated with at least one road segment to be traversed by the host vehicle; receive point cloud information from a LIDAR system onboard the host vehicle, the point cloud information being representative of distances to various objects in an environment of the host vehicle; compare the received point cloud information with at least one of the plurality of mapped navigational landmarks in the sparse map to provide a LIDAR-based localization of the host vehicle relative to at least one target trajectory; determine an navigational action for the host vehicle based on the LIDAR-based localization of the host vehicle relative to the at least one target trajectory; and cause the at least one navigational action to be taken by the host vehicle.

公开(公告)号：US10274598B2

公开(公告)日：2019-04-30

申请号：US15597148

申请日：2017-05-16

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Kevin Rosenblum ,  Erez Dagan

IPC: G06K9/00 ,  G06T7/00 ,  G01S13/42 ,  G01S13/86 ,  G01S13/87 ,  G01S13/93 ,  G06T7/215

Abstract: A navigation system for a vehicle may include at least one image capture device configured to acquire a plurality of images of an environment of a vehicle and a radar sensor to detect an object in the environment of the vehicle and to provide and output including range information indicative of at least one of a range or range rate between the vehicle and the object. The system may also include at least one processing device programmed to: receive the plurality of images from the at least one image capture device; receive the output from the radar sensor; determine, for each of a plurality of image segments in a first image, from among the plurality of images, and corresponding image segments in a second image, from among the plurality of images, an indicator of optical flow; use range information determined based on the output of the radar sensor together with the indicators of optical flow determined for each of the plurality of image segments in the first image and the corresponding image segments in the second image to calculate for each of a plurality of imaged regions at least one value indicative of a focus of expansion; identify a target object region, including at least a subset of the plurality of imaged regions that share a substantially similar focus of expansion; and cause a system response based on the identified target object region.

公开(公告)号：US12283063B2

公开(公告)日：2025-04-22

申请号：US17809589

申请日：2022-06-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Kevin Rosenblum ,  Erez Dagan ,  David Boublil

IPC: G06T7/55 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W60/00 ,  G01B11/22 ,  G01C21/00 ,  G01C21/16 ,  G01C21/30 ,  G01S7/481 ,  G01S17/42 ,  G01S17/58 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  H04N23/698 ,  H04N23/90

Abstract: A navigation system for a host vehicle may include a processor programmed to determine at least one indicator of ego motion of the host vehicle. A processor may be also programmed to receive, from a LIDAR system, a first point cloud including a first representation of at least a portion of an object and a second point cloud including a second representation of the at least a portion of the object. The processor may further be programmed to determine a velocity of the object based on the at least one indicator of ego motion of the host vehicle, and based on a comparison of the first point cloud, including the first representation of the at least a portion of the object, and the second point cloud, including the second representation of the at least a portion of the object.

公开(公告)号：US12112497B2

公开(公告)日：2024-10-08

申请号：US17809612

申请日：2022-06-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Chaim Blau ,  Ofer Springer ,  Kevin Rosenblum ,  Alon Ziv ,  Erez Dagan ,  David Boublil ,  Nadav Shaag ,  David Neuhof ,  Jeffrey Moskowitz ,  Gal Topel ,  Yotam Stern

IPC: G01S17/42 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W60/00 ,  G01B11/22 ,  G01C21/00 ,  G01C21/16 ,  G01C21/30 ,  G01S7/481 ,  G01S17/58 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  G06T7/55 ,  H04N23/698 ,  H04N23/90

CPC classification number: G06T7/55 ,  B60W10/04 ,  B60W10/18 ,  B60W10/20 ,  B60W30/09 ,  B60W60/001 ,  G01B11/22 ,  G01C21/1652 ,  G01C21/1656 ,  G01C21/30 ,  G01C21/3885 ,  G01S7/4817 ,  G01S17/42 ,  G01S17/58 ,  G01S17/86 ,  G01S17/89 ,  G01S17/931 ,  H04N23/698 ,  H04N23/90 ,  B60W2420/403 ,  B60W2420/408 ,  B60W2554/20 ,  B60W2554/4042 ,  B60W2554/802 ,  B60W2556/45 ,  B60W2720/10 ,  B60W2720/24 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/30252

Abstract: A navigation system for a host vehicle may include a processor programmed to: receive from a camera onboard the host vehicle at least one captured image representative of an environment of the host vehicle, wherein the camera is positioned at a first location relative to the host vehicle; receive point cloud information from a LIDAR system onboard the host vehicle, wherein the LIDAR system is positioned at a second location relative to the host vehicle; analyze the at least one captured image and the received point cloud information to detect one or more objects in the shared field of view region; determine whether a vantage point difference between the first location of the camera and the second location of the LIDAR system accounts for the one or more detected objects being represented in only one of the at least one captured image or the received point cloud information.

公开(公告)号：US11953599B2

公开(公告)日：2024-04-09

申请号：US16478994

申请日：2018-01-25

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Elad Toledano ,  Kevin Rosenblum ,  Erez Dagan ,  Alon Ziv

IPC: G01S17/86 ,  G01S17/48 ,  G01S17/931 ,  G05D1/00

CPC classification number: G01S17/86 ,  G01S17/48 ,  G01S17/931 ,  G05D1/0212 ,  G05D1/0248 ,  G05D1/0251

Abstract: Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a navigational system for a host vehicle may include at least one processor programmed to: receive a stream of images captured by a camera onboard the host vehicle, wherein the captured images are representative of an environment surrounding the host vehicle; and receive an output of a LIDAR onboard the host vehicle, wherein the output of the LIDAR is representative of a plurality of laser reflections from at least a portion of the environment surrounding the host vehicle. The at least one processor may also be configured to determine at least one indicator of relative alignment between the output of the LIDAR and at least one image captured by the camera; attribute LIDAR reflection information to one or more objects identified in the at least one image based on the at least one indicator of the relative alignment between the output of the LIDAR and the at least one image captured by the camera; and use the attributed LIDAR reflection information and the one or more objects identified in the at least one image to determine at least one navigational characteristic associated with the host vehicle.