公开(公告)号：US07263209B2

公开(公告)日：2007-08-28

申请号：US10461699

申请日：2003-06-13

申请人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

发明人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

IPC分类号： G06K9/00 ,  B60Q1/00

CPC分类号： G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

摘要翻译： 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

公开(公告)号：US07974442B2

公开(公告)日：2011-07-05

申请号：US11837114

申请日：2007-08-10

申请人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

发明人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  André Rieder ,  John Benjamin Southall

IPC分类号： G06K9/00 ,  G06K9/62

CPC分类号： G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

摘要翻译： 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。

公开(公告)号：US20080159620A1

公开(公告)日：2008-07-03

申请号：US11837114

申请日：2007-08-10

申请人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  Andre Rieder ,  John Benjamin Southall

发明人： Theodore Armand Camus ,  David Hirvonen ,  Robert Mandelbaum ,  Billie Joe Call ,  Ian Gregory Hill ,  Andre Rieder ,  John Benjamin Southall

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G06K9/00201 ,  G06K9/3241 ,  G06T7/593 ,  G06T2207/20064 ,  G06T2207/30252

摘要： A vision system for a vehicle that identifies and classifies objects (targets) located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate depth maps of the scene proximate a vehicle. The depth maps are processed and compared to pre-rendered templates of target objects that could appear proximate the vehicle. A target list is produced by matching the pre-rendered templates to the depth map imagery. The system processes the target list to produce target size and classification estimates. The target is then tracked as it moves near a vehicle and the target position, classification and velocity are determined. This information can be used in a number of ways. For example, the target information may be displayed to the driver, the information may be used for an obstacle avoidance system that adjusts the trajectory or other parameters of the vehicle to safely avoid the obstacle. The orientation and/or configuration of the vehicle may be adapted to mitigate damage resulting from an imminent collision, or the driver may be warned of an impending collision.

摘要翻译： 用于识别和分类位于车辆附近的物体（目标）的车辆的视觉系统。 该系统包括产生图像的传感器阵列，其被处理以生成紧邻车辆的场景的深度图。 处理深度图并将其与可能出现在车辆附近的目标对象的预渲染模板进行比较。 通过将预渲染的模板与深度图图像进行匹配来制作目标列表。 系统处理目标列表以产生目标大小和分类估计。 然后在车辆附近移动时跟踪目标，并确定目标位置，分类和速度。 该信息可以以多种方式使用。 例如，可以向驾驶员显示目标信息，该信息可以用于调整车辆的轨迹或其他参数以避免障碍物的障碍物回避系统。 车辆的方向和/或构造可以适于减轻由于即将发生的碰撞造成的损坏，或者可能警告驾驶员即将发生的碰撞。