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公开(公告)号：US20100121577A1
公开(公告)日：2010-05-13
申请号：US12581861
申请日：2009-10-19
申请人： Wende Zhang , Kevin Peterson
发明人： Wende Zhang , Kevin Peterson
CPC分类号： G06K9/00798 , B60W2420/42 , G06K9/00805 , G06K9/6293
摘要： A method for detecting a clear path of travel for a vehicle includes generating a datastream corresponding to a three-dimensional scan of a target area surrounding the vehicle from a vehicle LIDAR system, estimating a ground plane for a present vehicle location using the datastream corresponding to the three-dimensional scan of the target area surrounding the vehicle, and comparing the datastream corresponding to the three-dimensional scan of the target area surrounding the vehicle with the estimated ground plane to detect a clear path of vehicle travel.
摘要翻译： 用于检测车辆的行驶路线的清除方法包括从车辆LIDAR系统生成对应于车辆周围的目标区域的三维扫描的数据流，使用对应于数据流的数据流估计当前车辆位置的接地平面 对车辆周围的目标区域进行三维扫描，并将与车辆周围的目标区域的三维扫描对应的数据流与估计的接地平面进行比较，以检测车辆行驶的清晰路径。
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公开(公告)号：US20100017060A1
公开(公告)日：2010-01-21
申请号：US12175634
申请日：2008-07-18
申请人： Wende Zhang , Varsha Sadekar
发明人： Wende Zhang , Varsha Sadekar
IPC分类号： G05D1/00
CPC分类号： G01S7/4802 , G01S17/89 , G01S17/936 , G06T7/73 , G06T2207/10028 , G06T2207/30256
摘要： A method is provided for detecting road-side edges in a road segment using a light-based sensing system. Input range data is captured using the light-based sensing system. An elevation-based road segment is generated based on the captured input range data. The elevation-based road segment is processed by filtering techniques to identify the road segment candidate region and by pattern recognition techniques to determine whether the candidate region is a road segment. The input range data is also projected onto the ground plane for further validation. The line representation of the projected points are identified. The line representation of the candidate regions is compared to a simple road/road-edge model in the top-down view to determine whether the candidate region is a road segment with its edges. The proposed method provides fast processing speeds and reliable detection performance for both road and road-side edges simultaneously in the captured range data.
摘要翻译： 提供一种使用基于光的感测系统来检测道路段中的路侧边缘的方法。 使用基于光的感测系统捕获输入范围数据。 基于捕获的输入范围数据生成基于海拔的路段。 基于高程的道路段通过过滤技术来处理以识别道路段候选区域，并通过模式识别技术来确定候选区域是否是道路段。 输入范围数据也投射到地平面上以进一步验证。 确定投影点的线表示。 将候选区域的线表示与自上而下的简单道路/道路边缘模型进行比较，以确定候选区域是否是具有边缘的路段。 所提出的方法在捕获的范围数据中同时为道路和路侧边缘提供快速的处理速度和可靠的检测性能。
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公开(公告)号：US20090268946A1
公开(公告)日：2009-10-29
申请号：US12108581
申请日：2008-04-24
申请人： Wende Zhang , Mark J. Wolski
发明人： Wende Zhang , Mark J. Wolski
IPC分类号： G06K9/00
CPC分类号： G06K9/00791
摘要： A method for vehicle clear path detection using a camera includes imaging a ground area in front of the vehicle with the camera to produce a ground image and analyzing the ground image to formulate a clear path free of objects limiting travel of the vehicle.
摘要翻译： 使用照相机的车辆清除路径检测方法包括用摄像机对车辆前方的地面区域进行成像，以产生地面图像并分析地面图像，以制定没有限制车辆行进的物体的清晰路径。
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公开(公告)号：US09738223B2
公开(公告)日：2017-08-22
申请号：US13485368
申请日：2012-05-31
CPC分类号： B60R1/00 , B60R2300/302 , B60R2300/305 , B60R2300/306 , B60R2300/406 , B60R2300/50 , G06T3/00 , G06T3/0068 , G06T7/80 , G06T2207/10016 , G06T2207/30252 , H04N17/002
摘要： A method for dynamically registering a graphic upon a cropped image obtained from a camera device includes capturing an original image obtained from the camera device. Intrinsic calibration information for the camera device, extrinsic information for the camera device and vehicle information are monitored. The cropped image is generated based on cropping parameters to exclude undesirable content from the original image. The intrinsic calibration information is adjusted based on a relationship to the cropping parameters. The graphic is dynamically registered upon the cropped image based on the adjusted intrinsic calibration information for the camera device, the monitored extrinsic information for the camera device and the monitored vehicle information.
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公开(公告)号：US08890951B2
公开(公告)日：2014-11-18
申请号：US12581781
申请日：2009-10-19
申请人： Wende Zhang , Qi Wu , Tsuhan Chen
发明人： Wende Zhang , Qi Wu , Tsuhan Chen
CPC分类号： G06K9/00798 , B60W2420/42 , G06K9/00805
摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of an image generated by a camera device located upon the vehicle includes monitoring the image, identifying through patch-based clear path detection analysis of the image a first patch within the image that indicates a not clear path, analyzing the first patch through patch smoothing, invalidating the first patch based upon the analyzing the first patch through patch smoothing, utilizing the invalidated first patch to define a clear path of travel for the vehicle, and utilizing the clear path of travel to navigate the vehicle.
摘要翻译： 利用对位于车辆上的相机装置产生的图像进行分析来检测车辆的清晰路径的方法包括监视图像，通过基于图像的基于图像的清晰路径检测分析识别图像中的第一贴片来识别， 指示不清楚的路径，通过补丁平滑来分析第一贴片，基于通过贴片平滑分析第一贴片使第一贴片无效，利用无效的第一贴片来定义车辆的清晰行进路径，以及利用清晰路径 的旅行导航车辆。
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公开(公告)号：US08803966B2
公开(公告)日：2014-08-12
申请号：US12581792
申请日：2009-10-19
申请人： Wende Zhang , Qi Wu , Tsuhan Chen
发明人： Wende Zhang , Qi Wu , Tsuhan Chen
CPC分类号： G06K9/6202 , B60W2420/42 , G06K9/00798 , G06K9/00805 , G06K9/3233 , G06K9/4609 , G06K9/6205 , G06K9/66 , G06T7/74
摘要： A method for detecting a clear path of travel for a vehicle using a current image generated by a camera includes defining an exemplary clear path for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a clear path of travel based upon the matching and the exemplary clear path for each of the matched sample images, and utilizing the clear path of travel to navigate the vehicle.
摘要翻译： 使用由相机生成的当前图像来检测车辆的清晰行驶路径的方法包括为多个样本图像中的每一个定义示例性清晰路径，识别多个样本图像中的每一个内的特征，监视当前图像 由相机生成，识别当前图像内的特征，基于当前图像内的所识别的特征和多个样本图像中识别的特征，将当前图像与至少一个样本图像匹配，确定行进路线 基于每个匹配的样本图像的匹配和示例性清晰路径，并且利用清晰的行进路径来导航车辆。
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公开(公告)号：US08718329B2
公开(公告)日：2014-05-06
申请号：US13441979
申请日：2012-04-09
申请人： Wende Zhang , Jinsong Wang
发明人： Wende Zhang , Jinsong Wang
CPC分类号： G06K9/00798
摘要： A method of detecting a clear path in a road of travel for a vehicle utilizing a top-down view classification technique. An input image of a scene exterior of the vehicle is captured. The captured input image represents a perspective view of the road of travel. The captured input image is analyzed. A segmented top-down image that includes potential clear path regions and potential non-clear path regions are generated. The segmented top-down image represents a viewing angle perpendicular to a ground plane. The segmented regions of the segmented top-down view are input to a classifier for identifying the clear path regions of travel. The identified clear path regions are utilized for navigating the road of travel.
摘要翻译： 利用自顶向下分类技术检测车辆行驶道路中的清晰路径的方法。 拍摄车辆的场景外部的输入图像。 捕获的输入图像表示行进道路的透视图。 分析捕获的输入图像。 生成包括潜在的清除路径区域和潜在的非清除路径区域的分段自顶向下的图像。 分段自顶向下的图像表示垂直于接地平面的视角。 分段自顶向下视图的分段区域被输入到用于识别行进的清晰路径区域的分类器。 识别的清晰路径区域用于导航行驶道路。
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公开(公告)号：US08670592B2
公开(公告)日：2014-03-11
申请号：US12581742
申请日：2009-10-19
申请人： Wende Zhang
发明人： Wende Zhang
CPC分类号： G06K9/00805 , B60W30/09 , B60W2420/42 , G06K9/00798 , G06K9/4652 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A method for detecting a clear path of travel for a vehicle by segmenting an image generated by a camera device located upon the vehicle includes monitoring the image, analyzing the image with a plurality of analysis methods to segment a region of the image that cannot represent the clear path of travel from a region of the image that can represent the clear path of travel, defining the clear path of travel based upon the analyzing, and utilizing the clear path of travel to navigate the vehicle.
摘要翻译： 通过分割由位于车辆上的相机装置产生的图像来检测车辆的清晰行驶路径的方法包括监视图像，用多种分析方法分析图像，以分割不能表示图像的图像的区域 从可以代表清晰的行进路径的图像区域的行进路线清晰，基于分析确定行驶路线，并利用清晰的行驶路线来导航车辆。
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公开(公告)号：US20140035775A1
公开(公告)日：2014-02-06
申请号：US13563993
申请日：2012-08-01
CPC分类号： G01S13/931 , G01S13/867 , G06K9/00805 , G06K9/629
摘要： A vehicle obstacle detection system includes an imaging system for capturing objects in a field of view and a radar device for sensing objects in a substantially same field of view. The substantially same field of view is partitioned into an occupancy grid having a plurality of observation cells. A fusion module receives radar data from the radar device and imaging data from the imaging system. The fusion module projects the occupancy grid and associated radar data onto the captured image. The fusion module extracts features from each corresponding cell using sensor data from the radar device and imaging data from the imaging system. A primary classifier determines whether an extracted feature extracted from a respective observation cell is an obstacle.
摘要翻译： 车辆障碍物检测系统包括用于在视野中捕获物体的成像系统和用于在基本相同的视场中感测物体的雷达装置。 基本上相同的视场划分成具有多个观察单元的占用网格。 融合模块从雷达装置接收雷达数据并从成像系统接收成像数据。 融合模块将占用网格和相关的雷达数据投影到捕获的图像上。 融合模块使用来自雷达装置的传感器数据和来自成像系统的成像数据从每个对应的小区中提取特征。 主分类器确定从相应观察单元提取的提取特征是否是障碍物。
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公开(公告)号：US20130128044A1
公开(公告)日：2013-05-23
申请号：US13298615
申请日：2011-11-17
申请人： Wende Zhang , Jinsong Wang
发明人： Wende Zhang , Jinsong Wang
IPC分类号： H04N5/228
CPC分类号： H04N5/2351 , G06T7/00 , G06T2207/30252
摘要： A method of distinguishing between daytime lighting conditions and nighttime lighting conditions based on a captured image by a vision-based imaging device along a path of travel. An image is captured by a vision-based imaging device. A region of interest is selected in the captured image. A light intensity value is determined for each pixel within the region of interest. A cumulative histogram is generated based on light intensity values within the region of interest. The cumulative histogram including a plurality of category bins representing the light intensity values. Each category bin identifies an aggregate value of light intensity values assigned to each respective category bin. An aggregate value is compared within a predetermined category bin of the histogram to a first predetermined threshold. A determination is made whether the image is captured during the daytime lighting conditions as a function of the aggregate value within the predetermined category bin.
摘要翻译： 基于通过基于视觉的成像装置沿着行进路径捕获的图像来区分日间照明条件和夜间照明条件的方法。 图像由基于视觉的成像装置捕获。 在捕获的图像中选择感兴趣的区域。 对感兴趣区域内的每个像素确定光强度值。 基于感兴趣区域内的光强度值生成累积直方图。 累积直方图包括表示光强度值的多个类别仓。 每个类别箱标识分配给每个相应类别仓的光强度值的聚合值。 将聚合值在直方图的预定类别箱内与第一预定阈值进行比较。 确定在白天照明条件期间图像是否在预定类别箱内作为聚合值的函数被确定。
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