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公开(公告)号：US11445162B2
公开(公告)日：2022-09-13
申请号：US17123999
申请日：2020-12-16
发明人： Zhao Sun , Haitao Zhu , Yongcai Liu , Shanshan Pei , Xinliang Wang
IPC分类号： H04N13/246 , G06T7/80 , G06T7/73 , H04N13/239 , B60R11/04
摘要： The present disclosure provides a method for calibrating a binocular camera, including: S2 of extracting feature points from an image set 1 and an image set 2 taken at two points separated from each other by a predetermined distance; S3 of fitting Gaussian distribution parameters of each feature point, and extracting a desired value as a theoretical disparity; S4 of selecting a common feature point, and calculating the predetermined quantity of frames at a first theoretical distance and the predetermined quantity of frames at a second theoretical distance; S5 of performing Gaussian fitting on a difference between the theoretical distances of the common feature point, and extracting a variance as an evaluation index; S6 of determining whether the evaluation index is smaller than a threshold, if yes, terminating the calibration, and otherwise, proceeding to S7; and S7 of adjusting posture parameters of the binocular camera, and returning to S3.
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2.发明授权公开(公告)号：US10803621B2
公开(公告)日：2020-10-13
申请号：US16254321
申请日：2019-01-22
发明人： Ran Meng , An Jiang , Haitao Zhu , Feng Cui , Hua Chai , Zunying Pang
摘要： A method for building a camera imaging model includes: converting world coordinate values of a random point P into camera coordinate values of a target camera in accordance with a predetermined mode; converting the camera coordinate values into image coordinate values of the target camera; and converting the image coordinate values into digital image coordinate values and building the camera imaging model. The converting the image coordinate values into the digital image coordinate values includes performing a spatial sampling operation on the random point P, and adjusting coordinate values of an origin to image coordinate values through calculation. The method can be used in an automated driving system for a vehicle.
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公开(公告)号：US10360460B2
公开(公告)日：2019-07-23
申请号：US15474755
申请日：2017-03-30
发明人： An Jiang , Ran Meng , Haitao Zhu , Feng Cui , Qiwei Xie
摘要： A lane departure warning method includes steps of: collecting a road image by an imaging device; detecting a lane marking in accordance with the road image, so as to extract a position of the lane marking and an angle of the lane marking relative to a running direction of the vehicle; acquiring steering information and a movement speed of the vehicle by an OBD system; judging whether or not the vehicle is unconsciously running on the lane marking in accordance with the position of the lane marking, the angle of the lane marking relative to the running direction of the vehicle and the steering information of the vehicle; in the case that the vehicle is unconsciously running on the lane marking, recording a duration within which the vehicle is unconsciously running on the lane marking; and judging whether or not to send a lane departure warning to the vehicle.
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公开(公告)号：US10061993B2
公开(公告)日：2018-08-28
申请号：US15465343
申请日：2017-03-21
发明人： Feng Cui , Haitao Zhu , Ran Meng , Qiwei Xie , An Jiang
摘要： An obstacle warning method includes the steps of: acquiring scenario images at a current sampling time and a previous sampling time, and a map about first relative distances between respective viewing points in a viewing field and a vehicle; acquiring a profile and marking information of an obstacle and a map about a second relative distance between the obstacle and the vehicle in accordance with the map about the first relative distances; calculating a map about a third relative distance between the obstacle and the vehicle at a previous sampling time in accordance with the map about the first relative distances at the previous sampling time, the profile and the marking information of the obstacle at the current sampling time and a motion vector of the obstacle from the current sampling time to the previous sampling time.
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公开(公告)号：US11010909B1
公开(公告)日：2021-05-18
申请号：US16721107
申请日：2019-12-19
发明人： Qiwei Xie , Zhao Sun , Yongcai Liu , Feng Cui , Haitao Zhu
摘要： Provided is a road surface information-based imaging environment evaluation method, an imaging environment evaluation device, an imaging environment evaluation system, and a storage medium. The imaging environment evaluation method includes: acquiring a disparity information matrix and pixel coordinates of a vanishing point in the disparity information matrix; subjecting the disparity information matrix to matrix partition and projection in accordance with the pixel coordinates of the vanishing point so as to acquire a disparity projection image; acquiring a road surface model-based statistic model in accordance with the disparity projection image; and acquiring an evaluation result of a current imaging environment in accordance with a relationship between the statistic model and a predetermined threshold.
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公开(公告)号：US10217007B2
公开(公告)日：2019-02-26
申请号：US15470283
申请日：2017-03-27
摘要： The present disclosure provides a disparity map-based obstacle detection method, a disparity map-based obstacle detection device, and a vehicle assistant driving system. The method includes steps of: acquiring a disparity map and a V disparity map in accordance with an image including a road surface; simulating the road surface in accordance with the V disparity map; identifying a first obstacle in accordance with a simulation result; extracting an object whose disparity value is greater than a first threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a second obstacle; extracting an object whose disparity value is smaller than a second threshold in accordance with the disparity map, and subjecting the object to morphological operation so as to identify a third obstacle; and screening the first obstacle, the second obstacle and the third obstacle in accordance with a training model, so as to detect the obstacle, the training model being acquired through machine learning in accordance with correct obstacle information and erroneous obstacle information. According to the present disclosure, it is able to improve the robustness.
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