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11.发明授权System and method for detecting a passing vehicle from dynamic background using robust information fusion 有权使用鲁棒信息融合从动态背景检测过往车辆的系统和方法公开(公告)号：US07248718B2
公开(公告)日：2007-07-24
申请号：US11054996
申请日：2005-02-10
申请人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Köhler
发明人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Köhler
IPC分类号： G06K9/80
CPC分类号： G06K9/00805 , G06T7/254
摘要： A system and method for detecting a passing vehicle is disclosed. A video sequence comprising a plurality of image frames is received. Image intensity is measured and image motion is estimated in each image frame. A hypothesis model describing background dynamics is formulated. The measured image intensity and motion estimation is used to determine if the background dynamics has been violated in a given image frame. If the background dynamics has been violated, motion coherency is used to determine whether the violation of the background dynamics is caused by a passing vehicle.
摘要翻译： 公开了一种用于检测过往车辆的系统和方法。 接收包括多个图像帧的视频序列。 测量图像强度，并在每个图像帧中估计图像运动。 制定描述背景动力学的假设模型。 测量的图像强度和运动估计用于确定在给定图像帧中是否违反了背景动力学。 如果背景动力学被违反，则使用运动一致性来确定背景动力学的违反是否由过去的车辆引起。
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公开(公告)号：US20060177099A1
公开(公告)日：2006-08-10
申请号：US11311500
申请日：2005-12-19
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
CPC分类号： G06K9/3241 , G06K9/00335 , G06K9/00664 , G06K2209/23
摘要： The present invention is directed to a system and method for on-road vehicle detection. A video sequence is received that is comprised of a plurality of image frames. A potential vehicle appearance is identified in an image frame. Known vehicle appearance information and scene geometry information are used to formulate initial hypotheses about vehicle appearance. The potential vehicle appearance is tracked over multiple successive image frames. Potential motion trajectories for the potential vehicle appearance are identified over the multiple image frames. Knowledge fusion of appearance, scene geometry and motion information models are applied to each image frame containing the trajectories. A confidence score is calculated for each trajectory. A trajectory with a high confidence score is determined to represent a vehicle appearance.
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公开(公告)号：US07764808B2
公开(公告)日：2010-07-27
申请号：US10805946
申请日：2004-03-22
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , G06T7/20
摘要： A system and method for detecting and tracking an object is disclosed. A camera captures a video sequence comprised of a plurality of image frames. A processor receives the video sequence and analyzes each image frame to determine if an object is detected. The processor applies one or more classifiers to an object in each image frame and computes a confidence score based on the application of the one or more classifiers to the object. A database stores the one or more classifiers and vehicle training samples. A display displays the video sequence.
摘要翻译： 公开了一种用于检测和跟踪对象的系统和方法。 相机拍摄由多个图像帧组成的视频序列。 处理器接收视频序列并分析每个图像帧以确定是否检测到对象。 处理器将一个或多个分类器应用于每个图像帧中的对象，并基于对该对象的一个或多个分类器的应用来计算置信度分数。 数据库存储一个或多个分类器和车辆训练样本。 显示器显示视频序列。
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14.发明授权System and method for on-road detection of a vehicle using knowledge fusion 有权使用知识融合对车辆进行路面检测的系统和方法公开(公告)号：US07639841B2
公开(公告)日：2009-12-29
申请号：US11311500
申请日：2005-12-19
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
CPC分类号： G06K9/3241 , G06K9/00335 , G06K9/00664 , G06K2209/23
摘要： The present invention is directed to a system and method for on-road vehicle detection. A video sequence is received that is comprised of a plurality of image frames. A potential vehicle appearance is identified in an image frame. Known vehicle appearance information and scene geometry information are used to formulate initial hypotheses about vehicle appearance. The potential vehicle appearance is tracked over multiple successive image frames. Potential motion trajectories for the potential vehicle appearance are identified over the multiple image frames. Knowledge fusion of appearance, scene geometry and motion information models are applied to each image frame containing the trajectories. A confidence score is calculated for each trajectory. A trajectory with a high confidence score is determined to represent a vehicle appearance.
摘要翻译： 本发明涉及一种用于道路车辆检测的系统和方法。 接收由多个图像帧组成的视频序列。 在图像帧中识别潜在的车辆外观。 已知的车辆外观信息和场景几何信息用于制定关于车辆外观的初始假设。 在多个连续的图像帧上跟踪潜在的车辆外观。 在多个图像帧上识别潜在车辆外观的潜在运动轨迹。 外观，场景几何和运动信息模型的知识融合应用于包含轨迹的每个图像帧。 计算每个轨迹的置信度。 确定具有高置信度得分的轨迹以表示车辆外观。
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公开(公告)号：US07737832B2
公开(公告)日：2010-06-15
申请号：US11628208
申请日：2005-05-13
IPC分类号： B60Q1/00
CPC分类号： G08G1/161
摘要： An assistance system for motor vehicles has at least one monitoring unit monitoring a space external to a vehicle, in particular in a direction of travel of the motor vehicle, with a warning zone being defined in the monitored external space on each side of a lane. The warning zone is delimited by an earliest warning line and a latest warning line encompassing the respective lane marking or, as the case may be, boundary. An evaluation unit receives the data transmitted by the monitoring unit and generates a warning signal for an acoustic, visual and/or haptic warning and/or a steering intervention if the evaluation unit detects that a defined warning threshold lying within the warning zone is exceeded. The warning signal is issued only as a function of further planned driver-adaptive conditions.
摘要翻译： 用于机动车辆的辅助系统具有至少一个监视单元，其监视车辆外部的空间，特别是在机动车辆的行进方向上，在车道两侧的被监视的外部空间中限定警告区域。 警戒区由最早的警告线和包含相应车道标记的最新警告线（视情况而定）界定。 评估单元接收由监视单元发送的数据，并且如果评估单元检测到超出了警告区域内的定义的警告阈值，则生成用于声学，视觉和/或触觉警告和/或转向干预的警告信号。 警告信号仅作为进一步计划的驾驶员适应条件的函数发出。
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