公开(公告)号：US20210334557A1

公开(公告)日：2021-10-28

申请号：US17366377

申请日：2021-07-02

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Oded BERBERIAN ,  Gideon Stein

IPC: G06K9/00 ,  H04N13/271

Abstract: Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.

公开(公告)号：US11087148B2

公开(公告)日：2021-08-10

申请号：US16599837

申请日：2019-10-11

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein

IPC: G06K9/00 ,  G06K9/62 ,  G06T3/00 ,  G06T7/73 ,  G06T7/246 ,  H04N7/18

Abstract: Driver assistance systems for detecting a structural barrier extending along a road. The driver assistance system may be mountable in a host vehicle. The camera may capture multiple image frames in the forward field of view of the camera. A processor may process motion of images of the barrier in the image frames. The camera may be a single camera. The motion of the images may be responsive to forward motion of the host vehicle and/or the motion of the images may be responsive to lateral motion of the host vehicle.

公开(公告)号：US20210118161A1

公开(公告)日：2021-04-22

申请号：US17104572

申请日：2020-11-25

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Jeffrey Moskowitz

IPC: G06T7/55 ,  B60W40/06 ,  G06T7/246 ,  G08G1/16

Abstract: 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.

公开(公告)号：US10956756B2

公开(公告)日：2021-03-23

申请号：US16298256

申请日：2019-03-11

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Erez Dagan

IPC: G06K9/00 ,  G06T7/246 ,  G06T7/40 ,  H04N7/18

Abstract: Computerized methods are performable by a driver assistance system while the host vehicle is moving. The driver assistance system includes a camera connectible to a processor. First and second image frames are captured from the field of view of the camera. Corresponding image points of the road are tracked from the first image frame to the second image frame. Image motion between the corresponding image points of the road is processed to detect a hazard in the road. The corresponding image points are determined to be of a moving shadow cast on the road to avoid a false positive detection of a hazard in the road or the corresponding image points are determined not to be of a moving shadow cast on the road to verify detection of a hazard in the road.

公开(公告)号：US10863140B2

公开(公告)日：2020-12-08

申请号：US16689325

申请日：2019-11-20

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Amnon Shashua

IPC: G06K9/36 ,  H04N7/18 ,  B60W40/076 ,  G06K9/46 ,  G06K9/00

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.

公开(公告)号：US10795375B2

公开(公告)日：2020-10-06

申请号：US16021488

申请日：2018-06-28

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Shai Shalev-Shwartz ,  Shaked Shammah ,  Amnon Shashua ,  Gideon Stein ,  Ori Buberman

IPC: G05D1/02 ,  G06F17/00 ,  B60R1/00 ,  B60W30/095 ,  B60R21/00 ,  B60R22/00 ,  G06N20/00 ,  B60W30/09 ,  G01C21/34 ,  G05D1/00 ,  G06K9/00 ,  G06N3/00 ,  G06N3/08 ,  G06N7/00 ,  G06N3/04 ,  B60W50/00 ,  G06N5/04 ,  B60W50/04 ,  G01C21/36

Abstract: Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a navigational state associated with the host vehicle; provide the navigational state to a trained navigational system; receive, from the trained navigational system, a desired navigational action for execution by the host vehicle in response to the identified navigational state; analyze the desired navigational action relative to one or more predefined navigational constraints; determine an actual navigational action for the host vehicle, wherein the actual navigational action includes at least one modification of the desired navigational action determined based on the one or more predefined navigational constraints; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the determined actual navigational action for the host vehicle.

公开(公告)号：US10776635B2

公开(公告)日：2020-09-15

申请号：US14180548

申请日：2014-02-14

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Oded Berberian ,  Gideon Stein

IPC: G06K9/00 ,  H04N13/00 ,  H04N13/271

Abstract: Detection of three dimensional obstacles using a system mountable in a host vehicle including a camera connectible to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, an imaged feature is detected of an object in the environment of the vehicle. The image frames are portioned locally around the imaged feature to produce imaged portions of the image frames including the imaged feature. The image frames are processed to compute a depth map locally around the detected imaged feature in the image portions. Responsive to the depth map, it is determined if the object is an obstacle to the motion of the vehicle.

公开(公告)号：USRE48106E1

公开(公告)日：2020-07-21

申请号：US15940173

申请日：2018-03-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein

IPC: G01B11/02 ,  H04N7/18 ,  G06K9/00

Abstract: A driver assistance systems mountable in a host vehicle while the host vehicle is moving forward with headlights on for detection of obstacles based on shadows. The driver assistance system includes a camera operatively connectible to a processor. A first image frame and a second image frame are captured of a road. A first dark image patch and a second dark image patch include intensity values less than a threshold value. The first and the second dark image patches are tracked from the first image frame to the second image frame as corresponding images of the same portion of the road. Respective thicknesses in vertical image coordinates are measured of the first and second dark image patches responsive to the tracking.

公开(公告)号：US20200112703A1

公开(公告)日：2020-04-09

申请号：US16689325

申请日：2019-11-20

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Amnon Shashua

IPC: H04N7/18 ,  B60W40/076 ,  G06K9/46 ,  G06K9/00

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.

公开(公告)号：US20200062180A1

公开(公告)日：2020-02-27

申请号：US16672201

申请日：2019-11-01

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Ofer Hadassi

IPC: B60R1/00 ,  B60S1/04 ,  B60S1/02 ,  H04N7/18 ,  G06K9/00 ,  B60S1/08 ,  B60R11/04 ,  B60Q1/20 ,  B60Q1/14 ,  B60Q1/00

Abstract: A system mounted on a vehicle for detecting an obstruction on a surface of a window of the vehicle, a primary camera is mounted inside the vehicle behind the window. The primary camera is configured to acquire images of the environment through the window. A secondary camera is focused on an external surface of the window, and operates to image the obstruction. A portion of the window, i.e. window region is subtended respectively by the field of view of the primary camera and the field of view of the secondary camera. A processor processes respective sequences of image data from both the primary camera and the secondary camera.