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公开(公告)号：US07466841B2
公开(公告)日：2008-12-16
申请号：US11109106
申请日：2005-04-19
IPC分类号： G06K9/00
CPC分类号： G06K9/00818 , G06K9/4633 , G06K9/4652
摘要： A method for detecting and recognizing at least one traffic sign is disclosed. A video sequence having a plurality of image frames is received. One or more filters are used to measure features in at least one image frame indicative of an object of interest. The measured features are combined and aggregated into a score indicating possible presence of an object. The scores are fused over multiple image frames for a robust detection. If a score indicates possible presence of an object in an area of the image frame, the area is aligned with a model. A determination is then made as to whether the area indicates a traffic sign. If the area indicates a traffic sign, the area is classified into a particular type of traffic sign. The present invention is also directed to training a system to detect and recognize traffic signs.
摘要翻译： 公开了一种用于检测和识别至少一个交通标志的方法。 接收具有多个图像帧的视频序列。 使用一个或多个过滤器来测量指示感兴趣对象的至少一个图像帧中的特征。 测量的特征被组合并聚合成表示对象可能存在的分数。 分数融合在多个图像帧上以进行鲁棒检测。 如果分数表示在图像帧的区域中可能存在对象，则该区域与模型对齐。 然后确定该区域是否指示交通标志。 如果该区域指示交通标志，该区域被分类为特定类型的交通标志。 本发明还涉及训练用于检测和识别交通标志的系统。
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2.发明授权Method for combining boosted classifiers for efficient multi-class object detection 有权用于组合升级分类器以实现高效多类对象检测的方法公开(公告)号：US07769228B2
公开(公告)日：2010-08-03
申请号：US11111640
申请日：2005-04-21
申请人： Claus Bahlmann , Ying Zhu , Dorin Comaniciu , Thorsten Köhler , Martin Pellkofer
发明人： Claus Bahlmann , Ying Zhu , Dorin Comaniciu , Thorsten Köhler , Martin Pellkofer
IPC分类号： G06K9/62
CPC分类号： G06K9/6256 , G06K9/6228
摘要： A method for training a system for detecting multi-class objects in an image or a video sequence is described. A common ensemble of weak classifiers for a set of object classes is identified. For each object class, a separate weighting scheme is adapted for the ensemble of weak classifiers. A method for detecting objects of multiple classes in an image or a video sequence is also disclosed. Each class is assigned a detector that is implemented by a weighted combination of weak classifiers such that all of the detectors are based on a common ensemble of weak classifiers. Then weights are individually set for each class.
摘要翻译： 描述了一种用于训练用于检测图像或视频序列中的多类对象的系统的方法。 识别一组对象类的弱分类器的常见集合。 对于每个对象类，单独的加权方案适用于弱分类器的集合。 还公开了一种用于检测图像或视频序列中的多个类别的对象的方法。 每个类被分配一个由弱分类器的加权组合实现的检测器，使得所有检测器都基于弱分类器的共同集合。 然后，每个课程都可以单独设置权重。
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公开(公告)号：US07620208B2
公开(公告)日：2009-11-17
申请号：US11313599
申请日：2005-12-21
CPC分类号： G06K9/4609 , G06K2209/23
摘要： A method of detecting a feature of a vehicle in an image of a vehicle includes providing a digitized image of a vehicle, providing a first filter mask over a first subdomain of the image, where the filter mask is placed to detect a feature in the image, calculating a function of a gradient of the image inside the first masked subdomain, and detecting the presence or absence of a vehicle feature within the first masked subdomain based on the value of the gradient function.
摘要翻译： 一种在车辆图像中检测车辆的特征的方法包括提供车辆的数字化图像，在图像的第一子域上提供第一滤波器掩模，其中放置滤波器掩码以检测图像中的特征 计算第一掩蔽子域内的图像的梯度的函数，以及基于梯度函数的值来检测第一掩蔽子域内的车辆特征的存在或不存在。
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公开(公告)号：US07764808B2
公开(公告)日：2010-07-27
申请号：US10805946
申请日：2004-03-22
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , G06T7/20
摘要： A system and method for detecting and tracking an object is disclosed. A camera captures a video sequence comprised of a plurality of image frames. A processor receives the video sequence and analyzes each image frame to determine if an object is detected. The processor applies one or more classifiers to an object in each image frame and computes a confidence score based on the application of the one or more classifiers to the object. A database stores the one or more classifiers and vehicle training samples. A display displays the video sequence.
摘要翻译： 公开了一种用于检测和跟踪对象的系统和方法。 相机拍摄由多个图像帧组成的视频序列。 处理器接收视频序列并分析每个图像帧以确定是否检测到对象。 处理器将一个或多个分类器应用于每个图像帧中的对象，并基于对该对象的一个或多个分类器的应用来计算置信度分数。 数据库存储一个或多个分类器和车辆训练样本。 显示器显示视频序列。
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5.发明授权System and method for detecting a passing vehicle from dynamic background using robust information fusion 有权使用鲁棒信息融合从动态背景检测过往车辆的系统和方法公开(公告)号：US07248718B2
公开(公告)日：2007-07-24
申请号：US11054996
申请日：2005-02-10
申请人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Köhler
发明人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Köhler
IPC分类号： G06K9/80
CPC分类号： G06K9/00805 , G06T7/254
摘要： A system and method for detecting a passing vehicle is disclosed. A video sequence comprising a plurality of image frames is received. Image intensity is measured and image motion is estimated in each image frame. A hypothesis model describing background dynamics is formulated. The measured image intensity and motion estimation is used to determine if the background dynamics has been violated in a given image frame. If the background dynamics has been violated, motion coherency is used to determine whether the violation of the background dynamics is caused by a passing vehicle.
摘要翻译： 公开了一种用于检测过往车辆的系统和方法。 接收包括多个图像帧的视频序列。 测量图像强度，并在每个图像帧中估计图像运动。 制定描述背景动力学的假设模型。 测量的图像强度和运动估计用于确定在给定图像帧中是否违反了背景动力学。 如果背景动力学被违反，则使用运动一致性来确定背景动力学的违反是否由过去的车辆引起。
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公开(公告)号：US20060177099A1
公开(公告)日：2006-08-10
申请号：US11311500
申请日：2005-12-19
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
CPC分类号： G06K9/3241 , G06K9/00335 , G06K9/00664 , G06K2209/23
摘要： The present invention is directed to a system and method for on-road vehicle detection. A video sequence is received that is comprised of a plurality of image frames. A potential vehicle appearance is identified in an image frame. Known vehicle appearance information and scene geometry information are used to formulate initial hypotheses about vehicle appearance. The potential vehicle appearance is tracked over multiple successive image frames. Potential motion trajectories for the potential vehicle appearance are identified over the multiple image frames. Knowledge fusion of appearance, scene geometry and motion information models are applied to each image frame containing the trajectories. A confidence score is calculated for each trajectory. A trajectory with a high confidence score is determined to represent a vehicle appearance.
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7.发明授权System and method for on-road detection of a vehicle using knowledge fusion 有权使用知识融合对车辆进行路面检测的系统和方法公开(公告)号：US07639841B2
公开(公告)日：2009-12-29
申请号：US11311500
申请日：2005-12-19
申请人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
发明人： Ying Zhu , Dorin Comaniciu , Martin Pellkofer , Thorsten Köhler
CPC分类号： G06K9/3241 , G06K9/00335 , G06K9/00664 , G06K2209/23
摘要： The present invention is directed to a system and method for on-road vehicle detection. A video sequence is received that is comprised of a plurality of image frames. A potential vehicle appearance is identified in an image frame. Known vehicle appearance information and scene geometry information are used to formulate initial hypotheses about vehicle appearance. The potential vehicle appearance is tracked over multiple successive image frames. Potential motion trajectories for the potential vehicle appearance are identified over the multiple image frames. Knowledge fusion of appearance, scene geometry and motion information models are applied to each image frame containing the trajectories. A confidence score is calculated for each trajectory. A trajectory with a high confidence score is determined to represent a vehicle appearance.
摘要翻译： 本发明涉及一种用于道路车辆检测的系统和方法。 接收由多个图像帧组成的视频序列。 在图像帧中识别潜在的车辆外观。 已知的车辆外观信息和场景几何信息用于制定关于车辆外观的初始假设。 在多个连续的图像帧上跟踪潜在的车辆外观。 在多个图像帧上识别潜在车辆外观的潜在运动轨迹。 外观，场景几何和运动信息模型的知识融合应用于包含轨迹的每个图像帧。 计算每个轨迹的置信度。 确定具有高置信度得分的轨迹以表示车辆外观。
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公开(公告)号：US07737832B2
公开(公告)日：2010-06-15
申请号：US11628208
申请日：2005-05-13
IPC分类号： B60Q1/00
CPC分类号： G08G1/161
摘要： An assistance system for motor vehicles has at least one monitoring unit monitoring a space external to a vehicle, in particular in a direction of travel of the motor vehicle, with a warning zone being defined in the monitored external space on each side of a lane. The warning zone is delimited by an earliest warning line and a latest warning line encompassing the respective lane marking or, as the case may be, boundary. An evaluation unit receives the data transmitted by the monitoring unit and generates a warning signal for an acoustic, visual and/or haptic warning and/or a steering intervention if the evaluation unit detects that a defined warning threshold lying within the warning zone is exceeded. The warning signal is issued only as a function of further planned driver-adaptive conditions.
摘要翻译： 用于机动车辆的辅助系统具有至少一个监视单元，其监视车辆外部的空间，特别是在机动车辆的行进方向上，在车道两侧的被监视的外部空间中限定警告区域。 警戒区由最早的警告线和包含相应车道标记的最新警告线（视情况而定）界定。 评估单元接收由监视单元发送的数据，并且如果评估单元检测到超出了警告区域内的定义的警告阈值，则生成用于声学，视觉和/或触觉警告和/或转向干预的警告信号。 警告信号仅作为进一步计划的驾驶员适应条件的函数发出。
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9.发明授权System and method for detecting an occupant and head pose using stereo detectors 有权使用立体声检测器检测乘员和头部姿势的系统和方法公开(公告)号：US07508979B2
公开(公告)日：2009-03-24
申请号：US10991684
申请日：2004-11-18
申请人： Dorin Comaniciu , Thorsten Köhler , Binglong Xie , Ying Zhu
发明人： Dorin Comaniciu , Thorsten Köhler , Binglong Xie , Ying Zhu
IPC分类号： G06K9/00
CPC分类号： G06K9/00832 , G06K9/00248 , G06K9/00362 , G06T7/74 , G06T2207/10012 , G06T2207/30201 , G06T2207/30248
摘要： A system and method for detecting an occupant and head pose using stereo detectors is disclosed. In the training stage, pairs of images taken simultaneously from a pair of stereo cameras are received and components in each pair of images are identified. Features are associated with each component and a value is associated with each feature. Among them, a subset of features with best discriminative capabilities is selected and forms a strong classifier for a given component in a pair of images. In the detection stage, the strong classifiers are used in the incoming image pairs to detect components. Identified components are used to detect occupants and head pose of the occupants. Stereo detection is combined with stereo matching in a systematic way to improve occupant detection and localization.
摘要翻译： 公开了一种使用立体声检测器检测乘员和头部姿势的系统和方法。 在训练阶段，接收从一对立体相机同时获取的图像对，并且识别每对图像中的成分。 功能与每个组件相关联，并且值与每个功能相关联。 其中，选择具有最佳辨别能力的特征的子集，并为一对图像中的给定分量形成强分类器。 在检测阶段，强分类器用于输入图像对以检测组件。 识别的组件用于检测乘员的乘客和头部姿势。 立体声检测与系统的立体匹配相结合，提高乘员检测和定位。
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公开(公告)号：US08098889B2
公开(公告)日：2012-01-17
申请号：US12014397
申请日：2008-01-15
申请人： Ying Zhu , Gregory Baratoff , Thorsten Köhler
发明人： Ying Zhu , Gregory Baratoff , Thorsten Köhler
IPC分类号： G06K9/00
CPC分类号： B60W40/02 , G06T7/246 , G06T2207/20016 , G06T2207/20076 , G06T2207/20081 , G06T2207/30252 , G08G1/16 , G08G1/166 , G08G1/167
摘要： A method for vehicle detection and tracking includes acquiring video data including a plurality of frames, comparing a first frame of the acquired video data against a set of one or more vehicle detectors to form vehicle hypotheses, pruning and verifying the vehicle hypotheses using a set of course-to-fine constraints to detect a vehicle, and tracking the detected vehicle within one or more subsequent frames of the acquired video data by fusing shape template matching with one or more vehicle detectors.
摘要翻译： 一种用于车辆检测和跟踪的方法包括获取包括多个帧的视频数据，将所获取的视频数据的第一帧与一组一个或多个车辆检测器进行比较，以形成车辆假设，使用一组 通过融合与一个或多个车辆检测器的形状模板匹配来跟踪所获取的视频数据的一个或多个后续帧中的检测到的车辆。
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