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公开(公告)号：US10699138B2
公开(公告)日：2020-06-30
申请号：US16182461
申请日：2018-11-06
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Yaniv Elimalech , Gideon Stein
Abstract: A system mountable in a vehicle to provide object detection in the vicinity of the vehicle. The system includes a camera operatively attached to a processor. The camera is mounted externally at the rear of the vehicle. The field of view of the camera is substantially in the forward direction of travel of the vehicle along the side of the vehicle. Multiple image frames are captured from the camera. Yaw of the vehicle may be input or the yaw may be computed from the image frames. Respective portions of the image frames are selected responsive to the yaw of the vehicle. The image frames are processed to detect thereby an object in the selected portions of the image frames.
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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
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.
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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.
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公开(公告)号：US20190286155A1
公开(公告)日：2019-09-19
申请号：US16433926
申请日：2019-06-06
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Gideon Stein , Shai Shalev-Shwartz , Shaked Shammah , Amnon Shashua
IPC: G05D1/02 , G06N20/00 , B60W30/095 , B60W50/04 , G01C21/36 , G06K9/00 , G05D1/00 , G06N3/00 , G01C21/34 , B60W30/09 , G06N5/04 , B60W50/00
Abstract: Systems and methods are provided for navigating an autonomous vehicle using reinforcement learning techniques. In one implementation, a navigation system for a host vehicle may include at least one processing device programmed to: receive, from a camera, a plurality of images representative of an environment of the host vehicle; analyze the plurality of images to identify a present navigational state associated with the host vehicle; determine a first potential navigational action for the host vehicle based on the identified present navigational state; determine a first indicator of an expected reward based on the first potential navigational action and the identified present navigational state; predict a first future navigational state based on the first potential navigational action; determine a second indicator of an expected reward associated with at least one future action determined to be available to the host vehicle in response to the first future navigational state; determine a second potential navigational action for the host vehicle based on the identified present navigational state; determine a third indicator of an expected reward based on the second potential navigational action and the identified present navigational state; predict a second future navigational state based on the second potential navigational action; determine a fourth indicator of an expected reward associated with at least one future action determined to be available to the host vehicle in response to the second future navigational state; select the second potential navigational action based on a determination that, while the expected reward associated with the first indicator is greater than the expected reward associated with the third indicator, the expected reward associated with the fourth indicator is greater than the expected reward associated with the first indicator; and cause at least one adjustment of a navigational actuator of the host vehicle in response to the selected second potential navigational action.
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公开(公告)号：US20190276007A1
公开(公告)日：2019-09-12
申请号：US16275560
申请日：2019-02-14
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Gideon Stein
Abstract: The present disclosure generally relates to processing visual data of a road surface that includes a vertical deviation with a lateral slope. In some embodiments, a system determines a path expected to be traversed by at least one wheel of the vehicle on a road surface. In some embodiments, a system determines, using at least two images captured by one or more cameras, a height of the road surface for at least one point along the path to be traversed by the wheel. In some embodiments, a system computes an indication of a lateral slope of the road surface at the at least one point along the path. In some embodiments, a system outputs, on a vehicle interface bus, an indication of the height of the point and an indication of the lateral slope at the at least one point along the path.
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Patent Agency Ranking
公开(公告)号：US20190193648A1
公开(公告)日：2019-06-27
申请号：US16266192
申请日：2019-02-04
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Ori Eytan , Avi Eyal , Gideon Stein
CPC classification number: B60R11/04 , H04N5/2253 , H04N5/2254 , H04N5/23212 , H04N17/002
Abstract: A camera and production technique for an ADAS. The camera lens and image sensor are positioned along multiple axes using a target located at a first distance from the lens to establish a first relative position between the lens and the image sensor. The first relative position between the lens and the image sensor is modified by a predetermined amount for an object located a second distance from the lens. The second distance is larger than the first distance.
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公开(公告)号：US20180376109A1
公开(公告)日：2018-12-27
申请号：US16124367
申请日：2018-09-07
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Gideon Stein , Amnon Shashua
IPC: H04N7/18 , B60W40/076 , G06K9/00 , G06K9/46
Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.
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公开(公告)号：US10127465B2
公开(公告)日：2018-11-13
申请号：US15634450
申请日：2017-06-27
Applicant: Mobileye Vision Technologies Ltd.
Inventor： Barak Cohen , Gideon Stein
IPC: G06K9/00 , G05D1/02 , G05D1/00 , G06T7/246 , B60W30/06 , B60W30/18 , G01B11/14 , B60W30/09 , G01C21/34 , G06T7/20
Abstract: Systems and methods are provided for navigating an autonomous vehicle. In one implementation, a system for navigating a host vehicle based on movement of a target vehicle toward a lane being traveled by the host vehicle may include at least one processing device. The processing device may be programmed to receive a plurality of images associated with an environment of the host vehicle, analyze at least one of the plurality of images to identify the target vehicle and at least one wheel component on a side of the target vehicle, analyze a region including the at least one wheel component of the target vehicle to identify motion associated with the at least one wheel component of the target vehicle, and cause at least one navigational change of the host vehicle based on the identified motion associated with the at least one wheel component.
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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.
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公开(公告)号：US10084992B2
公开(公告)日：2018-09-25
申请号：US15794506
申请日：2017-10-26
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Gideon Stein , Amnon Shashua
IPC: H04N7/18 , G06K9/00 , B60W40/076 , G06K9/46
CPC classification number: H04N7/18 , B60W40/076 , B60W2420/42 , B60W2550/142 , G06K9/00798 , G06K9/46 , G06K2009/4666
Abstract: Various driver assistance systems mountable in a host vehicle and computerized methods for detecting a vertical deviation of a road surface. The driver assistance system includes a camera operatively connectible to a processor. Multiple consecutive image frames are captured from the camera including a first image of the road and a second image of the road. Based on the host vehicle motion, the second image is warped toward the first image to produce thereby a warped second image. Image points of the road in the first image and corresponding image points of the road in the warped second image are tracked. Optical flow is computed between the warped second image to the first image. The optical flow is compared with an optical flow based on a road surface model to produce a residual optical flow. The vertical deviation is computed from the residual optical flow.
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