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1.发明申请公开(公告)号：US20150294483A1
公开(公告)日：2015-10-15
申请号：US14249386
申请日：2014-04-10
Applicant: GM Global Technology Operations LLC
Inventor： James W. Wells , Kyungnam Kim , Swarup Medasani , Yuri Owechko
CPC classification number: G06T7/2093 , G06K9/00771 , G06K2209/40 , G06T7/292 , G06T7/564 , G06T7/77 , G06T2207/30196 , G06T2207/30232 , H04N7/181
Abstract: A human monitoring system includes a plurality of cameras and a visual processor. The plurality of cameras are disposed about a workspace area, where each camera is configured to capture a video feed that includes a plurality of image frames, and the plurality of image frames are time-synchronized between the respective cameras. The visual processor is configured to receive the plurality of image frames from the plurality of vision-based imaging devices and determine an integrity score for each respective image frame. The processor may then isolate a foreground section from two or more of the views, determine a principle body axis for each respective foreground section, and determine a location point according to a weighted least squares function amongst the various principle body axes.
Abstract translation: 人类监控系统包括多个照相机和视觉处理器。 多个摄像机围绕工作区域设置，其中每个摄像机被配置为捕获包括多个图像帧的视频馈送，并且多个图像帧在各个相机之间是时间同步的。 可视处理器被配置为从多个基于视觉的成像设备接收多个图像帧，并且确定每个相应图像帧的完整性分数。 然后，处理器可以将前景部分与两个或更多个视图隔离，确定每个各个前景部分的主体轴线，并且根据各种原理体轴之间的加权最小二乘函数来确定位置点。
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公开(公告)号：US20150294143A1
公开(公告)日：2015-10-15
申请号：US14249384
申请日：2014-04-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： James W. Wells , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Charles W. Wampler, II , Robert J. Scheuerman
CPC classification number: G06K9/00369 , G06K9/00342 , H04N7/181
Abstract: A human monitoring system includes a plurality of cameras and a visual processor. The plurality of cameras are disposed about a workspace area, where each camera is configured to capture a video feed that includes a plurality of image frames, and the plurality of image frames are time-synchronized between the respective cameras. The visual processor is configured to identify the presence of a human within the workspace area from the plurality of image frames, generate a motion track of the human within the workspace area, generate an activity log of one or more activities performed by the human throughout the motion track, and compare the motion track and activity log to an activity template that defines a plurality of required actions. The processor then provides an alert if one or more actions within the activity template are not performed within the workspace area.
Abstract translation: 人类监控系统包括多个照相机和视觉处理器。 多个摄像机围绕工作区域设置，其中每个摄像机被配置为捕获包括多个图像帧的视频馈送，并且多个图像帧在各个相机之间是时间同步的。 视觉处理器被配置为从多个图像帧中识别工作区域内的人的存在，在工作空间区域内生成人的运动轨迹，生成由人类执行的一个或多个活动的活动日志 运动轨迹，并将运动轨迹和活动日志与定义多个所需动作的活动模板进行比较。 然后，如果活动模板中的一个或多个动作未在工作区域内执行，则处理器将提供警报。
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3.发明公开公开(公告)号：US20230184926A1
公开(公告)日：2023-06-15
申请号：US17551644
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang
CPC classification number: G01S13/9027 , G01S13/505 , G01S13/9011 , G06V10/762 , G06V10/761 , G06V10/809 , G06V10/62
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The controller executes instructions to determine time-matched clusters that represent objects located in an environment surrounding the autonomous vehicle based on the input detection points from the plurality of radar sensors. The controller determines an adjusted signal to noise (SNR) measure for a specific time-matched cluster by dividing an SNR of the specific time-matched cluster by a range measurement of the specific time-matched cluster. The controller determines a velocity-ratio measure of the time-matched cluster by dividing a motion-based velocity by a Doppler-frequency velocity, and identifies the time-matched cluster as either a ghost object or a real object.
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公开(公告)号：US12092733B2
公开(公告)日：2024-09-17
申请号：US17551644
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang
CPC classification number: G01S13/9027 , G01S13/505 , G01S13/9011 , G06V10/62 , G06V10/761 , G06V10/762 , G06V10/809
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The controller executes instructions to determine time-matched clusters that represent objects located in an environment surrounding the autonomous vehicle based on the input detection points from the plurality of radar sensors. The controller determines an adjusted signal to noise (SNR) measure for a specific time-matched cluster by dividing an SNR of the specific time-matched cluster by a range measurement of the specific time-matched cluster. The controller determines a velocity-ratio measure of the time-matched cluster by dividing a motion-based velocity by a Doppler-frequency velocity, and identifies the time-matched cluster as either a ghost object or a real object.
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公开(公告)号：US20230184928A1
公开(公告)日：2023-06-15
申请号：US17551666
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang , Hyukseong Kwon
CPC classification number: G01S13/9029 , G01S13/9011 , G01S13/9027 , G01S13/505 , G06V10/62 , G06V10/761 , G06V10/443
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The one or more controllers execute instructions to determine a signal to noise ratio (SNR) distance ratio for the input detection points generated by the plurality of radar sensors, where a value of the SNR distance ratio is indicative of an object being a ghost vehicle. The one or more controllers also determine an effective particle number indicating a degree of particle degradation for the importance sampling for each variable that is part of the state variable. In response to determining the effective particle number is equal to or less than a predetermined threshold, the one or more controllers estimate a ghost position for the ghost vehicle.
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Patent Agency Ranking
6.发明授权公开(公告)号：US09251598B2
公开(公告)日：2016-02-02
申请号：US14249386
申请日：2014-04-10
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： James W. Wells , Kyungnam Kim , Swarup Medasani , Yuri Owechko
CPC classification number: G06T7/2093 , G06K9/00771 , G06K2209/40 , G06T7/292 , G06T7/564 , G06T7/77 , G06T2207/30196 , G06T2207/30232 , H04N7/181
Abstract: A human monitoring system includes a plurality of cameras and a visual processor. The plurality of cameras are disposed about a workspace area, where each camera is configured to capture a video feed that includes a plurality of image frames, and the plurality of image frames are time-synchronized between the respective cameras. The visual processor is configured to receive the plurality of image frames from the plurality of vision-based imaging devices and determine an integrity score for each respective image frame. The processor may then isolate a foreground section from two or more of the views, determine a principle body axis for each respective foreground section, and determine a location point according to a weighted least squares function amongst the various principle body axes.
Abstract translation: 人类监控系统包括多个照相机和视觉处理器。 多个摄像机围绕工作区域设置，其中每个摄像机被配置为捕获包括多个图像帧的视频馈送，并且多个图像帧在各个相机之间是时间同步的。 可视处理器被配置为从多个基于视觉的成像设备接收多个图像帧，并且确定每个相应图像帧的完整性分数。 然后，处理器可以将前景部分与两个或更多个视图隔离，确定每个各个前景部分的主体轴线，并且根据各种原理体轴之间的加权最小二乘函数来确定位置点。
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7.发明授权公开(公告)号：US12091053B2
公开(公告)日：2024-09-17
申请号：US17556035
申请日：2021-12-20
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko
CPC classification number: B60W60/00188 , B60W60/00186 , H04W4/40 , B60W2420/408
Abstract: A method of mitigating jamming of a reflected energy ranging system for an autonomous vehicle is presented. The system comprises at least one transmission antenna, at least two receiving antennas, and a controller comprising a processor and a non-transitory computer-readable medium. The method comprises emitting an energy signal with the transmitter antenna, contacting a target with the energy signal, and reflecting the energy signal off the target and back towards the receiving antennas as a reflected energy signal. The method further comprises receiving a composite energy signal comprising at least the reflected energy signal and a jamming energy signal with the at least two receiving antennas, analyzing the composite energy signal with the processor to blindly extract at least the reflected energy signal and the jamming energy signal, and identifying which of at least the reflected energy signal and the jamming energy signal corresponds to the target with the processor.
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公开(公告)号：US11921194B2
公开(公告)日：2024-03-05
申请号：US17551666
申请日：2021-12-15
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko , Qin Jiang , Hyukseong Kwon
CPC classification number: G01S13/9029 , G01S13/505 , G01S13/9011 , G01S13/9027 , G06V10/443 , G06V10/62 , G06V10/761
Abstract: A radar anti-spoofing system for an autonomous vehicle includes a plurality of radar sensors that generate a plurality of input detection points representing radio frequency (RF) signals reflected from objects and a controller in electronic communication with the plurality of radar sensors. The one or more controllers execute instructions to determine a signal to noise ratio (SNR) distance ratio for the input detection points generated by the plurality of radar sensors, where a value of the SNR distance ratio is indicative of an object being a ghost vehicle. The one or more controllers also determine an effective particle number indicating a degree of particle degradation for the importance sampling for each variable that is part of the state variable. In response to determining the effective particle number is equal to or less than a predetermined threshold, the one or more controllers estimate a ghost position for the ghost vehicle.
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9.发明公开公开(公告)号：US20230192140A1
公开(公告)日：2023-06-22
申请号：US17556035
申请日：2021-12-20
Applicant: GM Global Technology Operations LLC
Inventor： Yuri Owechko
CPC classification number: B60W60/00188 , B60W60/00186 , H04W4/40 , B60W2420/52
Abstract: A method of mitigating jamming of a reflected energy ranging system for an autonomous vehicle is presented. The system comprises at least one transmission antenna, at least two receiving antennas, and a controller comprising a processor and a non-transitory computer-readable medium. The method comprises emitting an energy signal with the transmitter antenna, contacting a target with the energy signal, and reflecting the energy signal off the target and back towards the receiving antennas as a reflected energy signal. The method further comprises receiving a composite energy signal comprising at least the reflected energy signal and a jamming energy signal with the at least two receiving antennas, analyzing the composite energy signal with the processor to blindly extract at least the reflected energy signal and the jamming energy signal, and identifying which of at least the reflected energy signal and the jamming energy signal corresponds to the target with the processor.
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公开(公告)号：US20150294496A1
公开(公告)日：2015-10-15
申请号：US14251689
申请日：2014-04-14
Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC
Inventor： Swarup Medasani , Yuri Owechko , Kyungnam Kim
CPC classification number: H04N7/181 , B25J9/1676 , G05B2219/40202 , G05B2219/40203 , G06K9/00771 , G06K2209/40 , G06T7/292 , G06T7/564 , G06T7/77 , G06T15/205 , G06T2207/30196 , G06T2207/30232
Abstract: A method of constructing a probabilistic representation of the location of an object within a workspace includes obtaining a plurality of 2D images of the workspace, with each respective 2D image being acquired from a camera disposed at a different location within the workspace. A foreground portion is identified within at least two of the plurality of 2D images, and each foreground portion is projected to each of a plurality of parallel spaced planes. An area is identified within each of the plurality of planes where a plurality of projected foreground portions overlap. These identified areas are combined to form a 3D bounding envelope of an object. This bounding envelope is a probabilistic representation of the location of the object within the workspace.
Abstract translation: 构建工作空间内对象位置的概率表示的方法包括获得工作空间的多个2D图像，其中每个相应的2D图像是从设置在工作空间内的不同位置处的相机获取的。 在多个2D图像的至少两个中识别前景部分，并且将每个前景部分投影到多个平行的间隔平面中的每一个。 在多个投影的前景部分重叠的多个平面的每一个中识别出一个区域。 这些识别的区域被组合以形成对象的3D边界包络。 该边界包络是工作空间内对象位置的概率表示。
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