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公开(公告)号：US10685424B2
公开(公告)日：2020-06-16
申请号：US15957763
申请日：2018-04-19
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
Abstract: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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公开(公告)号：US20190294893A9
公开(公告)日：2019-09-26
申请号：US14180548
申请日：2014-02-14
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Oded Berberian , Gideon Stein
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.
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Patent Agency Ranking
公开(公告)号：US20150145965A1
公开(公告)日：2015-05-28
申请号：US14554544
申请日：2014-11-26
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Harel Livyatan , Oded Berberian
CPC classification number: H04N13/246 , B60R1/00 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/402 , G06K9/00791 , G06K9/6201 , G06T7/579 , G06T7/85 , G06T2207/30252 , H04N5/3532 , H04N13/239 , H04N13/271 , H04N2013/0081
Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.
Abstract translation: 自动校准可安装在主车辆挡风玻璃后面的立体摄像机，并定向为通过挡风玻璃来观察环境。 多个第一图像点位于第一时间从第一相机捕获的第一图像之一，并与第二时间从第一相机捕获的至少另一个第一图像的第一图像点匹配，以产生对 分别在不同时间拍摄的第一图像中的第一图像点。 从相应的第一个图像点计算世界坐标。 从第二相机拍摄的第二图像中的第二图像点与第一图像点的至少一部分匹配。 使用从第一相机确定的世界坐标，从第二相机的匹配的第二图像点解决第二相机的相机参数。
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公开(公告)号：US11763571B2
公开(公告)日：2023-09-19
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 , G06V20/58 , G06V20/56
CPC classification number: G06V20/58 , G06V20/588 , 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.
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公开(公告)号：US11077845B2
公开(公告)日：2021-08-03
申请号：US16359488
申请日：2019-03-20
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Shai Shalev-Shwartz , Shaked Shammah , Amnon Shashua , Barak Cohen , Zeev Adelman , Oded Berberian
IPC: B60W30/09 , B60W10/18 , B60W10/20 , B60W40/06 , B60W40/105 , B60W50/08 , B60W30/18 , B60W30/095 , B60W50/12 , B60W10/06 , B60W30/165
Abstract: A system for navigating a host vehicle may receive an image representative of an environment of the host vehicle and determine a planned navigational action for accomplishing a navigational goal of the host vehicle. The system may identify a target vehicle, determine a current speed of the target vehicle, and assume a maximum braking rate capability of the target vehicle. The system may determine a next-state distance between the host vehicle and the target vehicle that would result if the planned navigational action was taken. The system may implement the planned navigational action if the host vehicle may be stopped using a predetermined sub-maximal braking rate within a distance that is less than the determined next-state distance summed together with a target vehicle travel distance determined based on the current speed of the target vehicle and the maximum braking rate capability of the target vehicle.
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公开(公告)号：US20170287108A9
公开(公告)日：2017-10-05
申请号：US14182715
申请日：2014-02-18
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
CPC classification number: G06T3/0093 , G06K9/00798 , G06K9/6201 , G06T7/20 , G06T7/579 , G06T2207/10016 , G06T2207/30256
Abstract: Determining three-dimensional structure in a road environment 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, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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公开(公告)号：US09729858B2
公开(公告)日：2017-08-08
申请号：US15280117
申请日：2016-09-29
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel Livyatan , Oded Berberian
IPC: H04N13/02 , H04N13/04 , B60R1/00 , H04N5/353 , G06T7/80 , G06T7/579 , B60R11/04 , G06K9/00 , G06K9/62 , H04N13/00 , B60R11/00
CPC classification number: H04N13/246 , B60R1/00 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/402 , G06K9/00791 , G06K9/6201 , G06T7/579 , G06T7/85 , G06T2207/30252 , H04N5/3532 , H04N13/239 , H04N13/271 , H04N2013/0081
Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.
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