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公开(公告)号：US20060034484A1
公开(公告)日：2006-02-16
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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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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3.发明申请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：US20050249401A1
公开(公告)日：2005-11-10
申请号：US11111640
申请日：2005-04-21
申请人： Claus Bahlmann , Ying Zhu , Dorin Comaniciu , Thorsten Kohler , Martin Pellkofer
发明人： Claus Bahlmann , Ying Zhu , Dorin Comaniciu , Thorsten Kohler , 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：US20060177100A1
公开(公告)日：2006-08-10
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.
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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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6.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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7.发明申请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：US20050196020A1
公开(公告)日：2005-09-08
申请号：US11054996
申请日：2005-02-10
申请人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Kohler
发明人： Dorin Comaniciu , Ying Zhu , Martin Pellkofer , Thorsten Kohler
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：US08725394B2
公开(公告)日：2014-05-13
申请号：US12246726
申请日：2008-10-07
申请人： Claus Bahlmann , Martin Pellkofer , Jan Giebel , Gregory Baratoff
发明人： Claus Bahlmann , Martin Pellkofer , Jan Giebel , Gregory Baratoff
CPC分类号： G08G1/0962 , B60W30/146 , B60W2420/42 , B60W2550/22 , B60W2550/402 , G01S19/14 , G06K9/00818
摘要： A speed limit assistant (SLA) system includes a camera based SLA, a map based SLA, and a fusion unit. The camera based SLA is configured to determine a first set of probabilities for an input image, wherein the probabilities indicate how likely the image includes a discrete set of speed limit signs. The map based SLA is configured to determine a second set of probabilities for an input coordinate, wherein the probabilities indicate how likely the coordinate is to correspond to one of a discrete set of speed limits. The fusion unit is configured to perform a Bayesian fusion on the first and second set of probabilities to determine a final speed limit from the discrete set of speed limits.
摘要翻译： 速度限制助手（SLA）系统包括基于摄像头的SLA，基于地图的SLA和融合单元。 基于相机的SLA被配置为确定输入图像的第一组概率，其中概率指示图像包括离散的一组限速标志的可能性。 基于地图的SLA被配置为确定用于输入坐标的第二组概率，其中概率指示坐标对于离散速度限制集合之一的可能性。 融合单元被配置为在第一和第二组概率上执行贝叶斯融合，以从离散的速度限制集合确定最终速度限制。
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公开(公告)号：US20100188288A1
公开(公告)日：2010-07-29
申请号：US12246726
申请日：2008-10-07
申请人： Claus Bahlmann , Martin Pellkofer , Jan Giebel , Gregory Baratoff
发明人： Claus Bahlmann , Martin Pellkofer , Jan Giebel , Gregory Baratoff
CPC分类号： G08G1/0962 , B60W30/146 , B60W2420/42 , B60W2550/22 , B60W2550/402 , G01S19/14 , G06K9/00818
摘要： A speed limit assistant (SLA) system includes a camera based SLA, a map based SLA, and a fusion unit. The camera based SLA is configured to determine a first set of probabilities for an input image, wherein the probabilities indicate how likely the image includes a discrete set of speed limit signs. The map based SLA is configured to determine a second set of probabilities for an input coordinate, wherein the probabilities indicate how likely the coordinate is to correspond to one of a discrete set of speed limits. The fusion unit is configured to perform a Bayesian fusion on the first and second set of probabilities to determine a final speed limit from the discrete set of speed limits.
摘要翻译： 速度限制助手（SLA）系统包括基于摄像头的SLA，基于地图的SLA和融合单元。 基于相机的SLA被配置为确定输入图像的第一组概率，其中概率指示图像包括离散的一组限速标志的可能性。 基于地图的SLA被配置为确定用于输入坐标的第二组概率，其中概率指示坐标对于离散速度限制集合之一的可能性。 融合单元被配置为在第一和第二组概率上执行贝叶斯融合，以从离散的速度限制集合确定最终速度限制。
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公开(公告)号：US20080024284A1
公开(公告)日：2008-01-31
申请号：US11628208
申请日：2005-05-13
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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