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    Vehicular vision system
    1.
    发明授权
    Vehicular vision system 有权
    车辆视觉系统

    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。

    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY
    2.
    发明申请
    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
    用于机器人手术的稳健的SPARSE图像匹配

    公开(公告)号：US20100166323A1

    公开(公告)日：2010-07-01

    申请号：US12465029

    申请日：2009-05-13

    申请人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Dimaio

    发明人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Dimaio

    IPC分类号： G06K9/68

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    Method and apparatus for pedestrian detection
    5.
    发明授权
    Method and apparatus for pedestrian detection 有权
    行人检测方法及装置

    公开(公告)号：US06956469B2

    公开(公告)日：2005-10-18

    申请号：US10819870

    申请日：2004-04-07

    申请人： David Hirvonen ,  Theodore Armand Camus

    发明人： David Hirvonen ,  Theodore Armand Camus

    IPC分类号： B60Q1/00 ,  B60R20060101 ,  G06K9/00 ,  G08G1/16

    CPC分类号： G06K9/00369 ,  G06K9/00201 ,  G06K9/00805

    摘要： A vehicle vision system that identifies pedestrians located proximate a vehicle. The system comprises a sensor array that produces imagery that is processed to generate disparity images. A depth map can be produced from the disparity images. Either the depth map or the disparity images are processed and compared to pedestrian templates. A pedestrian list is produced from the results of that comparison. The pedestrian list is processed to eliminate false pedestrians as determined by inverse eccentricity. The pedestrians are then tracked, and if a collision is possible, that information is provided to the driver and/or to an automated collision avoidance or damage or injury mitigation system.

    摘要翻译： 一种识别位于车辆附近的行人的车辆视觉系统。 该系统包括产生被处理以产生视差图像的图像的传感器阵列。 可以从视差图像中产生深度图。 深度图或视差图像被处理并与行人模板进行比较。 从该比较的结果生成行人列表。 处理行人列表以消除由反偏心度确定的假行人。 然后跟踪行人，并且如果可能发生碰撞，则该信息被提供给驾驶员和/或自动碰撞避免或损害或伤害减轻系统。

    Robust sparse image matching for robotic surgery
    6.
    发明授权
    Robust sparse image matching for robotic surgery 有权
    用于机器人手术的鲁棒稀疏图像匹配

    公开(公告)号：US08639000B2

    公开(公告)日：2014-01-28

    申请号：US13454297

    申请日：2012-04-24

    申请人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    发明人： Wenyi Zhao ,  Chenyu Wu ,  David Hirvonen ,  Tao Zhao ,  Brian D. Hoffman ,  Simon Di Maio

    IPC分类号： G06T7/00

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY
    7.
    发明申请
    ROBUST SPARSE IMAGE MATCHING FOR ROBOTIC SURGERY 有权
    用于机器人手术的稳健的SPARSE图像匹配

    公开(公告)号：US20120237095A1

    公开(公告)日：2012-09-20

    申请号：US13454297

    申请日：2012-04-24

    申请人： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  TAO ZHAO ,  BRIAN D. HOFFMAN ,  SIMON DIMAIO

    发明人： WENYI ZHAO ,  CHENYU WU ,  DAVID HIRVONEN ,  TAO ZHAO ,  BRIAN D. HOFFMAN ,  SIMON DIMAIO

    IPC分类号： G06K9/00

    CPC分类号： G06K9/6211 ,  G06T7/33

    摘要： Systems, methods, and devices are used to match images. Points of interest from a first image are identified for matching to a second image. In response to the identified points of interest, regions and features can be identified and used to match the points of interest to a corresponding second image or second series of images. Regions can be used to match the points of interest when regions of the first image are matched to the second image with high confidence scores, for example above a threshold. Features of the first image can be matched to the second image, and these matched features may be used to match the points of interest to the second image, for example when the confidence scores for the regions are below the threshold value. Constraint can be used to evaluate the matched points of interest, for example by excluding bad points.

    摘要翻译： 系统，方法和设备用于匹配图像。 识别来自第一图像的兴趣点以匹配第二图像。 响应于所识别的兴趣点，区域和特征可被识别并用于将感兴趣点与对应的第二图像或第二系列图像相匹配。 当第一图像的区域与具有高置信度得分的第二图像匹配时，例如高于阈值，可以使用区域来匹配感兴趣点。 第一图像的特征可以匹配第二图像，并且这些匹配的特征可以用于将感兴趣的点与第二图像匹配，例如当区域的置信度得分低于阈值时。 约束可用于评估匹配的兴趣点，例如排除不良点。

    Method and apparatus for ground detection and removal in vision systems
    8.
    发明申请
    Method and apparatus for ground detection and removal in vision systems 有权
    视觉系统中地面检测和去除的方法和装置

    公开(公告)号：US20060210117A1

    公开(公告)日：2006-09-21

    申请号：US11429865

    申请日：2006-05-08

    申请人： Peng Chang ,  David Hirvonen ,  Theodore Camus

    发明人： Peng Chang ,  David Hirvonen ,  Theodore Camus

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00624 ,  G06K9/00805 ,  G06K9/3241

    摘要： A vision system that forms a map of a scene proximate a platform, e.g., a vehicle, that determines the actual ground plane form the map, and that corrects the map for differences between the actual ground plane and an assumed ground plane. The vision system may remove the actual ground plane from the map to prevent false positives. The vision system can further identify and classify objects and, if appropriate, take evasive action.

    摘要翻译： 形成靠近平台（例如，车辆）的场景的映射的视觉系统，其确定实际的接地平面形成地图，并且校正地图以了解实际接地平面与假定的接地平面之间的差异。 视觉系统可以从地图中去除实际的地平面，以防止误报。 视觉系统可以进一步识别和分类对象，如果适当，采取回避行动。

    Method and apparatus for refining target position and size estimates using image and depth data
    10.
    发明申请
    Method and apparatus for refining target position and size estimates using image and depth data 有权
    使用图像和深度数据来提炼目标位置和尺寸估计的方法和装置

    公开(公告)号：US20050013465A1

    公开(公告)日：2005-01-20

    申请号：US10617231

    申请日：2003-07-10

    申请人： John Southall ,  David Hirvonen ,  Theodore Camus

    发明人： John Southall ,  David Hirvonen ,  Theodore Camus

    IPC分类号： G06K9/00 ,  G06T7/00

    CPC分类号： G06K9/00624 ,  G06T7/55

    摘要： A vehicle vision system that uses a depth map, image intensity data, and system calibration parameter to determine a target's dimensions and relative position. Initial target boundary information is projected onto the depth map and onto the image intensity. A visibility analysis determines whether the rear of a target is within the system's field of view. If so, the mapped image boundary is analyzed to determine an upper boundary of the target. Then, vertical image edges of the mapped image boundary are found by searching for a strongest pair of vertical image edges that are located at about the same depth. Then, the bottom of the mapped image boundary is found (or assumed from calibration parameters). Then, the target's position is found by an averaging technique. The height and width of the target are then computed.

    摘要翻译： 一种车辆视觉系统，其使用深度图，图像强度数据和系统校准参数来确定目标的尺寸和相对位置。 初始目标边界信息被投影到深度图和图像强度上。 可视性分析确定目标的后部是否在系统的视野内。 如果是，则分析映射的图像边界以确定目标的上边界。 然后，通过搜索位于大约相同深度的最强的一对垂直图像边缘来找到映射图像边界的垂直图像边缘。 然后，找到映射图像边界的底部（或从校准参数假设）。 然后，通过平均技术找到目标的位置。 然后计算目标的高度和宽度。