公开(公告)号：US20230162513A1

公开(公告)日：2023-05-25

申请号：US18095626

申请日：2023-01-11

Applicant: Mobileye Vision Technologies Ltd.

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

IPC: G06V20/56 ,  G06T7/50 ,  B60W40/06

CPC classification number: G06V20/588 ,  B60W40/06 ,  G06T7/50 ,  B60W2420/42 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: System and techniques for vehicle environment modeling with a camera are described herein. A device for modeling an environment comprises: a hardware sensor interface to obtain a sequence of unrectified images representative of a road environment, the sequence of unrectified images including a first unrectified image, a previous unrectified image, and a previous-previous unrectified image; and processing circuitry to: provide the first unrectified image, the previous unrectified image, and the previous-previous unrectified image to an artificial neural network (ANN) to produce a three-dimensional structure of a scene; determine a selected homography; and apply the selected homography to the three-dimensional structure of the scene to create a model of the road environment.

公开(公告)号：US10929691B2

公开(公告)日：2021-02-23

申请号：US16658360

申请日：2019-10-21

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/73 ,  G06T7/13 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

公开(公告)号：US20190325595A1

公开(公告)日：2019-10-24

申请号：US16387969

申请日：2019-04-18

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：US10452928B2

公开(公告)日：2019-10-22

申请号：US16148817

申请日：2018-10-01

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/40 ,  G06T7/13 ,  G06T7/73 ,  G06K9/52 ,  G06T5/00 ,  G06K9/46 ,  G06T7/20 ,  G06T7/60

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

公开(公告)号：US10115024B2

公开(公告)日：2018-10-30

申请号：US15055322

申请日：2016-02-26

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60 ,  G06T7/73 ,  G06T7/13

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

公开(公告)号：US09902401B2

公开(公告)日：2018-02-27

申请号：US15151135

申请日：2016-05-10

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag

IPC: B60W40/06 ,  B60W50/00 ,  B62D15/02 ,  B60G17/018 ,  G05D1/02 ,  G06K9/46 ,  G06T3/40 ,  B60T8/172 ,  G06T7/55

CPC classification number: B60W40/06 ,  B60G17/0182 ,  B60T8/172 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2210/32 ,  B60W50/0097 ,  B62D15/021 ,  B62D15/0295 ,  G05D1/0251 ,  G06K9/00798 ,  G06K9/46 ,  G06T3/40 ,  G06T7/55 ,  G06T2207/10021 ,  G06T2207/20084 ,  G06T2207/30241 ,  G06T2207/30256

Abstract: Systems and methods are provided for determining a road profile along a predicted path. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of an area in a vicinity of a user vehicle; a data interface; and at least one processing device configured to receive the plurality of images captured by the image capture device through the data interface; and compute a profile of a road along one or more predicted paths of the user vehicle. At least one of the one or more predicted paths is predicted based on image data.

公开(公告)号：US20240132154A1

公开(公告)日：2024-04-25

申请号：US18535458

申请日：2023-12-11

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag

IPC: B62D15/02 ,  B60G17/0165 ,  B60G17/018 ,  B60G17/019 ,  B60T8/172 ,  B60W40/06 ,  B60W50/00 ,  G06T3/40 ,  G06T7/55 ,  G06V10/40 ,  G06V20/56

CPC classification number: B62D15/025 ,  B60G17/0165 ,  B60G17/0182 ,  B60G17/019 ,  B60T8/172 ,  B60W40/06 ,  B60W50/0097 ,  B62D15/021 ,  B62D15/0295 ,  G06T3/40 ,  G06T7/55 ,  G06V10/40 ,  G06V20/588 ,  B60T2201/08 ,  B60T2201/083 ,  B60T2210/32 ,  G06T2207/10021 ,  G06T2207/20084 ,  G06T2207/30241 ,  G06T2207/30256

Abstract: Systems and methods are provided for navigating a host vehicle. A navigation system for the host vehicle may include at least one processor programmed to receive an image representative of an environment of a host vehicle; analyze the image to determine a predicted path of the host vehicle; determine, based on the image, an indicator of comfort associated with the predicted path; identify, based on the indicator of comfort, an alternative path of the host vehicle; and output a control signal configured to modify an operation of a component of the host vehicle to follow the alternative path of the host vehicle.

公开(公告)号：US20220366706A1

公开(公告)日：2022-11-17

申请号：US17841937

申请日：2022-06-16

Applicant: Mobileye Vision Technologies Ltd.

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

IPC: G06V20/56 ,  B60W40/06 ,  G06T7/50

Abstract: System and techniques for vehicle environment modeling with a camera are described herein. A device for modeling an environment comprises: a hardware sensor interface to obtain a sequence of unrectified images representative of a road environment, the sequence of unrectified images including a first unrectified image, a previous unrectified image, and a previous-previous unrectified image; and processing circuitry to: provide the first unrectified image, the previous unrectified image, and the previous-previous unrectified image to an artificial neural network (ANN) to produce a three-dimensional structure of a scene; determine a selected homography; and apply the selected homography to the three-dimensional structure of the scene to create a model of the road environment.

公开(公告)号：US10984259B2

公开(公告)日：2021-04-20

申请号：US16658360

申请日：2019-10-21

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/73 ,  G06T7/13 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

公开(公告)号：US20200062264A1

公开(公告)日：2020-02-27

申请号：US16667884

申请日：2019-10-29

Applicant: MOBILEYE VISION TECHNOLOGIES LTD.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag

IPC: B60W40/06 ,  G06T7/55 ,  B60T8/172 ,  G06T3/40 ,  G06K9/46 ,  B62D15/02 ,  G05D1/02 ,  B60G17/018 ,  B60W50/00 ,  G06K9/00

Abstract: Systems and methods are provided for determining a road profile along a predicted path. In one implementation, a system includes at least one image capture device configured to acquire a plurality of images of an area in a vicinity of a user vehicle; a data interface; and at least one processing device configured to receive the plurality of images captured by the image capture device through the data interface; and compute a profile of a road along one or more predicted paths of the user vehicle. At least one of the one or more predicted paths is predicted based on image data.