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    Methods and apparatus for tracking objects using saliency
    31.
    发明授权
    Methods and apparatus for tracking objects using saliency 有权

    公开(公告)号：US10268919B1

    公开(公告)日：2019-04-23

    申请号：US14860579

    申请日：2015-09-21

    Applicant: Brain Corporation

    Inventor： Filip Piekniewski ,  Micah Richert

    IPC: G06K9/00 ,  G06K9/46 ,  G01B11/14 ,  G06T7/20 ,  G06T7/40 ,  G06T3/00 ,  B25J9/16

    Abstract: Methods and apparatus for tracking and discerning objects using their saliency. In one embodiment of the present disclosure, the tracking of objects is based on a combination of object saliency and additional sources of signal about object identity. Under certain simplifying assumptions, the present disclosure allows for robust tracking of simple objects with limited processing resources. In one or more variants, efficient implementation of the methods described allow sensors (e.g., cameras) to be used on board a robot (or autonomous vehicle) on a mobile determining platform, such as to capture images to determine the presence and/or identity of salient objects. Such determination of salient objects allow for e.g., adjustments to vehicle or other moving object trajectory.

    APPARATUS AND METHODS FOR TRACKING SALIENT FEATURES
    32.
    发明申请
    APPARATUS AND METHODS FOR TRACKING SALIENT FEATURES 审中-公开

    公开(公告)号：US20190043208A1

    公开(公告)日：2019-02-07

    申请号：US16042901

    申请日：2018-07-23

    Applicant: Brain Corporation

    Inventor： Filip Piekniewski ,  Micah Richert ,  Dimitry Fisher

    IPC: G06T7/292

    Abstract: Apparatus and methods for detecting and utilizing saliency in digital images. In one implementation, salient objects may be detected based on analysis of pixel characteristics. Least frequently occurring pixel values may be deemed as salient. Pixel values in an image may be compared to a reference. Color distance may be determined based on a difference between reference color and pixel color. Individual image channels may be scaled when determining saliency in a multi-channel image. Areas of high saliency may be analyzed to determine object position, shape, and/or color. Multiple saliency maps may be additively or multiplicative combined in order to improve detection performance (e.g., reduce number of false positives). Methodologies described herein may enable robust tracking of objects utilizing fewer determination resources. Efficient implementation of the methods described below may allow them to be used for example on board a robot (or autonomous vehicle) or a mobile determining platform.

    OPTICAL DETECTION APPARATUS AND METHODS
    40.
    发明申请
    OPTICAL DETECTION APPARATUS AND METHODS 有权
    光学检测装置及方法

    公开(公告)号：US20160004923A1

    公开(公告)日：2016-01-07

    申请号：US14321736

    申请日：2014-07-01

    Applicant: Brain Corporation

    Inventor： Filip Piekniewski ,  Vadim Polonichko ,  Eugene Izhikevich

    IPC: G06K9/46 ,  H04N5/357 ,  G02B13/00 ,  H04N5/369 ,  H04N5/225 ,  G02B5/20 ,  G06K9/52

    CPC classification number: H04N5/2258 ,  B60W30/09 ,  B60W30/14 ,  B60W30/16 ,  G01C3/08 ,  G02B5/204 ,  G02B7/38 ,  G02B13/0015 ,  G02B27/0075 ,  G06K9/00624 ,  G06K9/00664 ,  G06K9/00791 ,  G06K9/00825 ,  G06K9/4614 ,  G06K9/522 ,  H04N5/2253

    Abstract: An optical object detection apparatus and associated methods. The apparatus may comprise a lens (e.g., fixed-focal length wide aperture lens) and an image sensor. The fixed focal length of the lens may correspond to a depth of field area in front of the lens. When an object enters the depth of field area (e.g., sue to a relative motion between the object and the lens) the object representation on the image sensor plane may be in-focus. Objects outside the depth of field area may be out of focus. In-focus representations of objects may be characterized by a greater contrast parameter compared to out of focus representations. One or more images provided by the detection apparatus may be analyzed in order to determine useful information (e.g., an image contrast parameter) of a given image. Based on the image contrast meeting one or more criteria, a detection indication may be produced.

    Abstract translation: 一种光学物体检测装置及相关方法。 该装置可以包括透镜（例如，固定焦距宽孔径透镜）和图像传感器。 透镜的固定焦距可以对应于透镜前方的景深区域。 当物体进入景深区域（例如，起诉到物体和透镜之间的相对运动）时，图像传感器平面上的对象表示可能是对焦的。 景深外的物体可能会失焦。 与焦点外表示相比，物体的对焦表示可以表现为较大的对比度参数。 可以分析由检测装置提供的一个或多个图像，以便确定给定图像的有用信息（例如，图像对比度参数）。 基于符合一个或多个标准的图像对比，可以产生检测指示。

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