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公开(公告)号：US09826199B2
公开(公告)日：2017-11-21
申请号：US14798575
申请日：2015-07-14
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein , Amnon Shashua
IPC: H04N7/18 , B60W40/076 , G06K9/46 , G06K9/00
CPC classification number: H04N7/18 , B60W40/076 , B60W2420/42 , B60W2550/142 , G06K9/00798 , G06K9/46 , G06K2009/4666
Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.
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公开(公告)号：US09690293B2
公开(公告)日：2017-06-27
申请号：US15273044
申请日：2016-09-22
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Amnon Shashua , Aran Reisman , Daniel Braunstein , Yoav Taieb , Igor Tubis
IPC: G05D1/00 , G05D1/02 , G01C21/32 , G06F17/30 , B60W30/18 , G01C21/14 , G08G1/0967 , B62D15/02 , G08G1/0962 , G08G1/16 , G01C21/34 , G01C21/36 , G06K9/00 , G01C21/16 , G08G1/01 , B60W30/14 , G08G1/0968 , H04L29/08 , G06T7/00 , G01S19/10
CPC classification number: G05D1/0088 , B60W30/14 , B60W30/18 , B60W2420/42 , B60W2550/22 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01C21/14 , G01C21/165 , G01C21/32 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01S19/10 , G05D1/0212 , G05D1/0219 , G05D1/0221 , G05D1/0246 , G05D1/0251 , G05D1/0253 , G05D1/0278 , G05D1/0287 , G05D2201/0213 , G06F17/30241 , G06F17/30377 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/3258 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , H04L67/12
Abstract: A system for navigating an autonomous vehicle along a road segment is disclosed. The system may have at least one processor. The processor may be programmed to receive from an image capture device, images representative of an environment of the autonomous vehicle. The processor may also be programmed to determine a travelled trajectory along the road segment based on analysis of the images. Further, the processor may be programmed to determine a current location of the autonomous vehicle along a predetermined road model trajectory based on analysis of one or more of the plurality of images. The processor may also be programmed to determine a heading direction based on the determined traveled trajectory. In addition, the processor may be programmed to determine a steering direction, relative to the heading direction, by comparing the traveled trajectory to the predetermined road model trajectory at the current location of the autonomous vehicle.
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公开(公告)号：US09665100B2
公开(公告)日：2017-05-30
申请号：US15272598
申请日：2016-09-22
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Amnon Shashua , Yoram Gdalyahu , Ofer Springer , Aran Reisman , Daniel Braunstein
IPC: G05D1/02 , G05D1/00 , G01C21/32 , G08G1/0967 , G08G1/0968
CPC classification number: G05D1/0088 , B60W30/14 , B60W30/18 , B60W2420/42 , B60W2550/22 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01C21/14 , G01C21/165 , G01C21/32 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01S19/10 , G05D1/0212 , G05D1/0219 , G05D1/0221 , G05D1/0246 , G05D1/0251 , G05D1/0253 , G05D1/0278 , G05D1/0287 , G05D2201/0213 , G06F17/30241 , G06F17/30377 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/3258 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , H04L67/12
Abstract: A non-transitory computer-readable medium is provided. The computer-readable medium includes a sparse map for autonomous vehicle navigation along a road segment. The sparse map includes a polynomial representation of a target trajectory for the autonomous vehicle along the road segment, and a plurality of predetermined landmarks associated with the road segment. The plurality of predetermined landmarks are spaced apart by at least 50 meters, and the sparse map has a data density of no more than 1 megabyte per kilometer.
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公开(公告)号：US09656607B2
公开(公告)日：2017-05-23
申请号：US14753762
申请日：2015-06-29
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
CPC classification number: G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
Abstract: A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
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公开(公告)号：US09631943B2
公开(公告)日：2017-04-25
申请号：US15273138
申请日：2016-09-22
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Amnon Shashua , Shai Shalev-Shwartz
CPC classification number: G05D1/0088 , B60W30/14 , B60W30/18 , B60W2420/42 , B60W2550/22 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01C21/14 , G01C21/165 , G01C21/32 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01S19/10 , G05D1/0212 , G05D1/0219 , G05D1/0221 , G05D1/0246 , G05D1/0251 , G05D1/0253 , G05D1/0278 , G05D1/0287 , G05D2201/0213 , G06F17/30241 , G06F17/30377 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/3258 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , H04L67/12
Abstract: A system for identifying a landmark for use in autonomous vehicle navigation is provided. The system includes at least one processor programmed to receive at least one identifier associated with the landmark; associate the landmark with a corresponding road segment; update an autonomous vehicle road navigation model relative to the corresponding road segment to include the at least one identifier associated with the landmark; and distribute the updated autonomous vehicle road navigation model to a plurality of autonomous vehicles. The at least one identifier is determined based on acquisition, from a camera associated with a host vehicle, of at least one image representative of an environment of the host vehicle; analysis of the at least one image to identify the landmark in the environment of the host vehicle; and analysis of the at least one image to determine the at least one identifier associated with the landmark.
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Patent Agency Ranking
公开(公告)号：US20170010105A1
公开(公告)日：2017-01-12
申请号：US15272789
申请日：2016-09-22
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Yoram Gdalyahu , Amnon Shashua , Yoav Taieb , Daniel Braunstein , David Huberman , Levi Bellaiche
CPC classification number: G05D1/0088 , B60W30/14 , B60W30/18 , B60W2420/42 , B60W2550/22 , B60W2710/18 , B60W2710/20 , B60W2720/10 , B62D15/025 , G01C21/14 , G01C21/165 , G01C21/32 , G01C21/34 , G01C21/3407 , G01C21/3476 , G01C21/36 , G01C21/3602 , G01C21/3623 , G01C21/3644 , G01C21/3691 , G01S19/10 , G05D1/0212 , G05D1/0219 , G05D1/0221 , G05D1/0246 , G05D1/0251 , G05D1/0253 , G05D1/0278 , G05D1/0287 , G05D2201/0213 , G06F17/30241 , G06F17/30377 , G06K9/00791 , G06K9/00798 , G06K9/00818 , G06K9/00825 , G06K9/3258 , G06T7/00 , G06T2207/20081 , G06T2207/30256 , G06T2207/30261 , G08G1/0112 , G08G1/09623 , G08G1/096725 , G08G1/096805 , G08G1/167 , H04L67/12
Abstract: A system for autonomously navigating a vehicle along a road segment may be based on a predetermined landmark location. The system may include at least one processor programmed to receive from a camera, at least one image representative of an environment of the vehicle, and determine a position of the vehicle along a predetermined road model trajectory associated with the road segment based, at least in part, on information associated with the at least one image. The at least one processor may be further programmed to identify a recognized landmark forward of the vehicle based on the determined position, wherein the recognized landmark is beyond a sight range of the camera, and determine a current distance between the vehicle and the recognized landmark by comparing the determined position of the vehicle with a predetermined position of the recognized landmark. The at least one processor may also be programmed to determine an autonomous navigational response for the vehicle based on the determined current distance.
Abstract translation: 用于沿道路段自主地导航车辆的系统可以基于预定的地标位置。 系统可以包括至少一个处理器，其被编程为从照相机接收至少一个代表车辆环境的图像，并且至少基于以下方式确定车辆沿着与道路段相关联的预定道路模型轨迹的位置 关于与所述至少一个图像相关联的信息的部分。 所述至少一个处理器可以进一步被编程为基于所确定的位置来识别车辆前方的识别的地标，其中所识别的地标超出所述摄像机的视野范围，并且通过以下方式确定所述车辆与所识别的地标之间的当前距离 将所确定的车辆位置与所识别的地标的预定位置进行比较。 所述至少一个处理器还可以被编程为基于所确定的当前距离来确定车辆的自主导航响应。
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107.发明授权公开(公告)号：US09443154B2
公开(公告)日：2016-09-13
申请号：US14866362
申请日：2015-09-25
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein , Amnon Shashua , Yoram Gdalyahu
CPC classification number: G06K9/00805 , B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/304 , B60R2300/8033 , B60R2300/804 , B60R2300/8053 , B60R2300/8093 , G06K9/00369 , G06K9/00825 , G06K9/2018 , G06K9/209 , G06K9/6289 , G06T7/246 , G06T2207/10048 , G06T2207/30261 , G08G1/167
Abstract: A computerized system mountable on a vehicle operable to detect an object by processing first image frames from a first camera and second image frames from a second camera. A first range is determined to said detected object using the first image frames. An image location is projected of the detected object in the first image frames onto an image location in the second image frames. A second range is determined to the detected object based on both the first and second image frames. The detected object is tracked in both the first and second image frames When the detected object leaves a field of view of the first camera, a third range is determined responsive to the second range and the second image frames.
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108.发明授权公开(公告)号：US09323992B2
公开(公告)日：2016-04-26
申请号：US14617559
申请日：2015-02-09
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein , Amnon Shashua , Yoram Gdalyahu
IPC: G06K9/00
CPC classification number: G06K9/00805 , B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/304 , B60R2300/8033 , B60R2300/804 , B60R2300/8053 , B60R2300/8093 , G06K9/00369 , G06K9/00825 , G06K9/2018 , G06K9/209 , G06K9/6289 , G06T7/246 , G06T2207/10048 , G06T2207/30261 , G08G1/167
Abstract: A computerized system mountable on a vehicle operable to detect an object by processing first image frames from a first camera and second image frames from a second camera. A first range is determined to said detected object using the first image frames. An image location is projected of the detected object in the first image frames onto an image location in the second image frames. A second range is determined to the detected object based on both the first and second image frames. The detected object is tracked in both the first and second image frames When the detected object leaves a field of view of the first camera, a third range is determined responsive to the second range and the second image frames.
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公开(公告)号：US20150317525A1
公开(公告)日：2015-11-05
申请号：US14798575
申请日：2015-07-14
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein , Amnon Shashua
IPC: G06K9/00 , G06K9/46 , B60W40/076
CPC classification number: H04N7/18 , B60W40/076 , B60W2420/42 , B60W2550/142 , G06K9/00798 , G06K9/46 , G06K2009/4666
Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.
Abstract translation: 可安装在主车辆中的各种驾驶员辅助系统和用于检测路面垂直偏差的计算机化方法。 驾驶员辅助系统包括可操作地连接到处理器的照相机。 从相机捕获多个连续的图像帧，包括道路的第一图像和道路的第二图像。 基于主车辆运动，第二图像朝向第一图像翘曲，从而产生翘曲的第二图像。 跟踪第一图像中道路的图像点和扭曲的第二图像中道路的对应图像点。 在翘曲的第二图像与第一图像之间计算光流。 将光流与基于路面模型的光流进行比较以产生残余光流。 从残余光流量计算垂直偏差。
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公开(公告)号：US09168868B2
公开(公告)日：2015-10-27
申请号：US13874041
申请日：2013-04-30
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein , Erez Dagan , Ofer Mano , Amnon Shashua
CPC classification number: G06K9/00805 , B60Q9/008 , B60T7/22 , G06T7/248 , G06T7/337 , G06T7/74 , G06T2207/10004 , G06T2207/30232 , G06T2207/30236 , G06T2207/30241 , G06T2207/30252 , G06T2207/30256 , G08G1/16 , G08G1/161 , G08G1/166
Abstract: A method of estimating a time to collision (TTC) of a vehicle with an object comprising: acquiring a plurality of images of the object; and determining a TTC from the images that is responsive to a relative velocity and relative acceleration between the vehicle and the object.
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