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    METHOD FOR DETECTING OBJECTS
    1.
    发明申请
    METHOD FOR DETECTING OBJECTS 失效
    检测物体的方法

    公开(公告)号：US20110311108A1

    公开(公告)日：2011-12-22

    申请号：US13201241

    申请日：2010-02-04

    申请人： Hernan Badino ,  Uwe Franke

    发明人： Hernan Badino ,  Uwe Franke

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00805

    摘要： A method for detecting objects, wherein two images of a surrounding (1) are taken and a disparity image is determined by means of stereo image processing, wherein a depth map of the surrounding (1) is determined from the determined disparities, wherein a free space delimiting line (2) is identified, delimiting an unobstructed region of the surrounding (1), wherein outside and along the free space delimiting line (1) the depth card is segmented by segments (3) of a suitable width formed by pixels of the same or similar distance to an image plane, wherein a height of each segment (3) is estimated as part of an object (4.1 to 4.6) located outside of the unobstructed region in a way, such that each segment (3) is characterized by the two-dimensional position of the base (for example the distance and angle to the longitudinal axis of the vehicle) and the height thereof.

    摘要翻译： 一种用于检测物体的方法，其中拍摄周围（1）的两个图像，并且通过立体图像处理来确定视差图像，其中根据确定的差异确定周围（1）的深度图，其中， 空间限定线（2）被识别，限定周围（1）的无障碍区域，其中在自由空间限定线（1）的外部和沿着自由空间限定线（1），深度卡由具有适当宽度的段（3） 与图像平面相同或相似的距离，其中每个段（3）的高度被估计为位于无障碍区域外侧​​的对象（4.1至4.6）的一部分，使得每个段（3）被表征 通过基座的二维位置（例如，与车辆的纵向轴线的距离和角度）及其高度。

    Method and device for video-based observation and measurement of the lateral environment of a vehicle
    3.
    发明申请
    Method and device for video-based observation and measurement of the lateral environment of a vehicle 有权
    用于基于视频的观察和测量车辆的侧向环境的方法和装置

    公开(公告)号：US20070165908A1

    公开(公告)日：2007-07-19

    申请号：US10528810

    申请日：2003-09-19

    申请人： Thomas Braeunl ,  Uwe Franke

    发明人： Thomas Braeunl ,  Uwe Franke

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00812 ,  G06T7/593

    摘要： The first commercially-available driver assist systems required a compromise between the resolution of the scanning and the extent of the scanned region, according to application. Conventional video-based systems have a good compromise between resolution and recording range, however do not generally provide direct distance information. According to the new arrangement of the object of the invention, it is possible to achieve a system, which, on installation in a road vehicle, can record complex dynamic scenes, for example the lateral 3D geometry to the road edge from the point of view of the dynamically operating vehicle and use the same to advantage on parking. According to the invention, the monitoring and measuring of the lateral environment of a vehicle is displayed on the one hand by means of a camera with the digital images and on the other hand with a computer unit which serves to provide the images with a time stamp and to buffer the same. The movements of the vehicle are further recorded, in order to select image pairs from the buffered images, based on the above data. A local 3D depth image of the lateral environment of a vehicle can thus be generated by an algorithm for stereo image processing.

    摘要翻译： 根据应用，第一个可商购的驾驶员辅助系统需要扫描分辨率和扫描区域的范围之间的折衷。 常规的基于视频的系统在分辨率和记录范围之间具有很好的折中，但是通常不提供直接的距离信息。 根据本发明的目的的新方案，可以实现一种系统，其可以在道路车辆的安装中记录复杂的动态场景，例如从侧面观察侧向3D几何形状到道路边缘 的动态操作车辆，并在停车时使用相同的优势。 根据本发明，一方面通过具有数字图像的照相机显示车辆的横向环境的监测和测量，另一方面通过计算机单元来显示，该计算机单元用于向图像提供时间戳 并缓冲。 进一步记录车辆的运动，以便根据上述数据从缓冲图像中选择图像对。 因此，可以通过用于立体图像处理的算法来生成车辆的横向环境的局部3D深度图像。

    Camera based position recognition for a road vehicle
    5.
    发明申请
    Camera based position recognition for a road vehicle 审中-公开
    基于摄像头的道路车辆位置识别

    公开(公告)号：US20050002558A1

    公开(公告)日：2005-01-06

    申请号：US10835130

    申请日：2004-04-29

    申请人： Uwe Franke ,  Stefan Hahn

    发明人： Uwe Franke ,  Stefan Hahn

    IPC分类号： B60R21/00 ,  B60R1/00 ,  G06K9/46 ,  G06T1/00 ,  G06T7/00 ,  G06T7/60 ,  G08G1/123 ,  G08G1/16 ,  H04N7/18 ,  G06K9/00

    CPC分类号： G06K9/4604 ,  B60R1/00 ,  G06K9/00798 ,  G06K2209/23 ,  G06T7/74 ,  G08G1/123

    摘要： A camera based position recognition system for a road vehicle. The environment in the direction of travel of the vehicle is acquired by a camera. Using the acquired image data, the position of the vehicle in its environment is determined with regard to an optical signature identified in the obtained image data. For determining the position of the vehicle, use is made of the knowledge of the relationship between the environment coordinate system of the optical signature and that of the camera coordinate system. In simplified manner, position determination occurs with regard to the optical signature on the basis of a template matching imposed on the image data. For this, a template or an optical signature recorded in memory is superimposed on the optical signature identified in the image data in the environment of the vehicle (template matching). From the parameters of this template matching (for example linear compression and rotation parameters) recognizing the existing coordinate system, the position of the vehicle relative to the optical signature can be directly deduced.

    摘要翻译： 一种用于道路车辆的基于摄像头的位置识别系统。 通过照相机获取车辆行驶方向的环境。 使用所获取的图像数据，根据获得的图像数据中识别的光学特征来确定车辆在其环境中的位置。 为了确定车辆的位置，使用光学签名的环境坐标系与摄像机坐标系的环境坐标系之间的关系的知识。 以简化的方式，基于对图像数据施加的模板匹配，针对光学签名进行位置确定。 为此，记录在存储器中的模板或光学签名叠加在车辆环境中的图像数据中识别的光学签名（模板匹配）上。 根据识别现有坐标系的该模板匹配（例如线性压缩和旋转参数）的参数，可以直接推导出车辆相对于光学签名的位置。

    METHOD FOR REPRESENTING SURROUNDINGS
    8.
    发明申请
    METHOD FOR REPRESENTING SURROUNDINGS 有权
    表示环境的方法

    公开(公告)号：US20140205184A1

    公开(公告)日：2014-07-24

    申请号：US14237590

    申请日：2012-07-21

    申请人： Uwe Franke ,  David Pfeiffer

    发明人： Uwe Franke ,  David Pfeiffer

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00201 ,  G06K9/00805 ,  G06T7/593

    摘要： A method for environmental representation, in which two images of an environment (U) are taken respectively and a disparity image is determined by means of stereo image processing. An unobstructed free space (F) is identified in the disparity image, in that each pixel of the disparity image is allocated either to the unobstructed ground surface (B) or to one of several segments (S11 to Snu) depending on disparity values of the respective pixel. Segments (S11 to Snu) of the same width are formed from pixels of the same or similar distance to an image plane. An object (O1 to Ok) located outside of the free space (F) is modelled in the environment (U) using one segment (S11 to Snu) or several segments (S11 to Snu).

    摘要翻译： 一种用于环境表示的方法，其中分别采用环境（U）的两个图像，并且通过立体图像处理来确定视差图像。 在视差图像中识别出无阻碍的空闲空间（F），因为视差图像的每个像素被分配给无障碍地面（B）或者分配给几个段（S11至Snu）中的一个，取决于视差图 各自的像素。 具有相同宽度的段（S11至Snu）由与像平面相同或相似距离的像素形成。 位于自由空间（F）外的物体（O1〜Ok）利用一个段（S11〜Snu）或多个段（S11〜Snu）在环境（U）中建模。

    Process for predicting the course of a lane of a vehicle
    10.
    发明申请
    Process for predicting the course of a lane of a vehicle 审中-公开
    用于预测车辆车道行驶的过程

    公开(公告)号：US20050278112A1

    公开(公告)日：2005-12-15

    申请号：US11152640

    申请日：2005-06-14

    申请人： Axel Gern ,  Uwe Franke ,  Carsten Knoeppel

    发明人： Axel Gern ,  Uwe Franke ,  Carsten Knoeppel

    IPC分类号： B60W30/10 ,  B60W40/06 ,  G01C21/26

    CPC分类号： B60W40/06 ,  B60W2550/402

    摘要： The present invention relates to a method for estimating the course of a lane of a motor vehicle, where the course of the lane is detected by detecting the trajectory of a vehicle traveling in front in the lane, where the detected course of the trajectory subjected to filtering in order to obtain the actual course of the trajectory, where the course of the trajectory is evaluated by means of at least two different filters, where movements of the vehicle in the lateral direction in the lane are filtered on the basis of the output of a filter, and where movements of the vehicle which correspond to a lane change are detected on the basis of the output of a further filter.

    摘要翻译： 本发明涉及一种用于估计机动车辆的车道行驶方法，其中通过检测行驶在车道前方的车辆的轨迹来检测行车道的过程，其中所检测到的轨迹经过 过滤以获得轨迹的实际过程，其中通过至少两个不同的过滤器来评估轨迹的过程，其中车辆在车道中的横向方向上的运动基于输出 滤波器，并且其中基于另一滤波器的输出检测与车道变化相对应的车辆的移动。