公开(公告)号：US20160019683A1

公开(公告)日：2016-01-21

申请号：US14797667

申请日：2015-07-13

申请人： Ganmei YOU ,  Yuan LIU ,  Zhongchao SHI ,  Yaojie LU ,  Gang WANG

发明人： Ganmei YOU ,  Yuan LIU ,  Zhongchao SHI ,  Yaojie LU ,  Gang WANG

IPC分类号： G06T7/00

CPC分类号： G06T7/74 ,  G06T2207/10021 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30261

摘要： Disclosed is an object detection method used to detect an object in an image pair corresponding to a current frame. The image pair includes an original image of the current frame and a disparity map of the same current frame. The original image of the current frame includes at least one of a grayscale image and a color image of the current frame. The object detection method comprises steps of obtaining a first detection object detected in the disparity map of the current frame; acquiring an original detection object detected in the original image of the current frame; correcting, based on the original detection object, the first detection object so as to obtain a second detection object; and outputting the second detection object.

摘要翻译： 公开了一种用于检测对应于当前帧的图像对中的对象的对象检测方法。 图像对包括当前帧的原始图像和相同当前帧的视差图。 当前帧的原始图像包括灰度图像和当前帧的彩色图像中的至少一个。 对象检测方法包括以下步骤：获得在当前帧的视差图中检测到的第一检测对象; 获取在当前帧的原始图像中检测到的原始检测对象; 基于原始检测对象来校正第一检测对象，以获得第二检测对象; 并输出第二检测对象。

公开(公告)号：US20140086477A1

公开(公告)日：2014-03-27

申请号：US14034689

申请日：2013-09-24

申请人： Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Gang WANG

发明人： Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Gang WANG

IPC分类号： B60Q9/00 ,  G06T7/00

CPC分类号： B60Q9/008 ,  B60W40/06 ,  B60W2420/42 ,  G06K9/00 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/4647 ,  G06T7/50

摘要： A method and a device are disclosed for detecting a drivable region of a road, the method comprising the steps of: deriving a disparity map from a gray-scale map including the road and detecting the road from the disparity map; removing a part with a height above the road greater than a predetermined height threshold from the disparity map so as to generate a sub-disparity map; converting the sub-disparity map into a U-disparity map; detecting the drivable region from the U-disparity map; and converting the drivable region detected from the U-disparity map into the drivable region within the gray-scale map.

摘要翻译： 公开了一种用于检测道路的可驱动区域的方法和装置，所述方法包括以下步骤：从包括所述道路的灰度图并从所述视差图检测道路导出视差图; 从视差图中移除高于道路高度的部分大于预定高度阈值，以便生成子视差图; 将子视差图转换为U-视差图; 从U-视差图检测可驱动区域; 以及将从U视差图检测到的可驱动区域转换为灰度图内的可驱动区域。

公开(公告)号：US20150169956A1

公开(公告)日：2015-06-18

申请号：US14568223

申请日：2014-12-12

申请人： Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Chao CHEN ,  Gang WANG

发明人： Ganmei YOU ,  Yaojie LU ,  Zhongchao SHI ,  Chao CHEN ,  Gang WANG

IPC分类号： G06K9/00 ,  G06K9/46 ,  G06K9/62 ,  G06K9/52

CPC分类号： G06K9/00624 ,  G06K9/00805 ,  G06K9/4604 ,  G06K9/52 ,  G06K9/6215 ,  G06T7/246 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20068 ,  G06T2207/20076 ,  G06T2207/30252

摘要： Disclosed is an object tracking method. The method includes steps of obtaining a first boundary region of a waiting-for-recognition object in the disparity map related to the current frame; calculating a probability of each valid pixel in the first boundary region so as to get a pixel probability map of the waiting-for-recognition object; obtaining historic tracking data of each tracked object, which includes identifier information of the tracked object and a pixel probability map related to each of one or more prior frame related disparity maps prior to the disparity map related to the current frame; determining identifier information of the waiting-for-recognition object, and updating the pixel probability map of the waiting-for-recognition object; and updating, based on the updated pixel probability map of the waiting-for-recognition object, the first boundary region of the waiting-for-recognition object, so as to get a second boundary region of the waiting-for-recognition object.

摘要翻译： 公开了一种物体跟踪方法。 该方法包括以下步骤：获得与当前帧相关的视差图中等待识别对象的第一边界区域; 计算第一边界区域中的每个有效像素的概率，以获得等待识别对象的像素概率图; 获得每个跟踪对象的历史跟踪数据，其包括跟踪对象的标识符信息和与在与当前帧相关的视差图之前的一个或多个先前帧相关视差图中的每一个相关的像素概率图; 确定等待识别对象的标识符信息，以及更新等待识别对象的像素概率图; 以及基于等待识别对象的更新的像素概率图来更新等待识别对象的第一边界区域，以获得等待识别对象的第二边界区域。

公开(公告)号：US20150363633A1

公开(公告)日：2015-12-17

申请号：US14731577

申请日：2015-06-05

申请人： Chao CHEN ,  Yaojie LU ,  Zhongchao SHI ,  Dianchao LIU

发明人： Chao CHEN ,  Yaojie LU ,  Zhongchao SHI ,  Dianchao LIU

IPC分类号： G06K9/00 ,  G06T7/00

CPC分类号： G06K9/00805 ,  G06K2209/21 ,  G06T7/0042

摘要： A method and a system for analyzing a target in a stereo image by displaying the stereo image using a cascade structure are disclosed. The method includes for the input stereo image, generating, based on a first relevant feature, rule or model of the stereo image, at least a first first-level structure map, each of the first first-level structure maps being generated based on an individual tolerance level of the first relevant feature, rule or model, and each of the first first-level structure maps including the target at an individual first division level; and at least partly integrating the first first-level structure maps and analyzing the target in the stereo image, to obtain a structure map of a first-level target analysis result including the target.

摘要翻译： 公开了通过使用级联结构显示立体图像来分析立体图像中的目标的方法和系统。 该方法包括：输入立体图像，基于第一相关特征，基于立体图像的规则或模型生成至少第一第一级结构图，基于第一级结构图生成每个第一级结构图 所述第一相关特征，规则或模型的个体容差水平以及包括所述目标在每个第一分区级别的所述第一一级结构图中的每一者; 并且至少部分地整合第一一级结构图并分析立体图像中的目标，以获得包括目标的第一级目标分析结果的结构图。

公开(公告)号：US20140086451A1

公开(公告)日：2014-03-27

申请号：US14025008

申请日：2013-09-12

申请人： Dianchao LIU ,  Yuan LIU ,  Tong LIU ,  Zhongchao SHI ,  Gang WANG

发明人： Dianchao LIU ,  Yuan LIU ,  Tong LIU ,  Zhongchao SHI ,  Gang WANG

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06K9/00208 ,  G06K9/00791 ,  G06K9/00805

摘要： A method and an apparatus are disclosed for detecting a continuous road partition with a height, the method comprising the steps of: obtaining disparity maps having the continuous road partition, and U-disparity maps corresponding to the disparity maps; obtaining an intermediate detection result of the continuous road partition detected from the U-disparity maps of first N frames; and detecting the continuous road partition from the U-disparity map of a current frame, based on the obtained intermediate detection result.

摘要翻译： 公开了一种用于检测具有高度的连续道路分隔的方法和装置，所述方法包括以下步骤：获得具有连续道路划分的视差图和对应于视差图的U视差图; 从前N帧的U视差图中获取连续道路分区的中间检测结果; 并根据获得的中间检测结果，根据当前帧的U视差图检测连续道路分割。

公开(公告)号：US20130058528A1

公开(公告)日：2013-03-07

申请号：US13589393

申请日：2012-08-20

申请人： Tong LIU ,  Zhongchao SHI ,  Cheng ZHONG ,  Yuan LIU ,  Yi CHEN

发明人： Tong LIU ,  Zhongchao SHI ,  Cheng ZHONG ,  Yuan LIU ,  Yi CHEN

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G06K9/00798

摘要： Disclosed are a method and a system for detecting a vehicle position by employing a polarization image. The method comprises a step of capturing a polarization image by using a polarization camera; a step of acquiring two road shoulders in the polarization image based on a difference between a road surface and each of the two road shoulders in the polarization image, and determining a part between the two road shoulders as the road surface; a step of detecting at least one vehicle bottom from the road surface based on a significant pixel value difference between each wheel and the road surface in the polarization image; and a step of generating a vehicle position from the vehicle bottom based on a pixel value difference between a vehicle outline corresponding to the vehicle bottom and background in the polarization image.

摘要翻译： 公开了一种通过采用偏振图像来检测车辆位置的方法和系统。 该方法包括通过使用偏振照相机捕获偏振图像的步骤; 基于所述偏振图像中的路面与所述两个路肩中的每一个之间的差异，在所述偏振图像中获取两个路肩的步骤，以及确定所述两个路肩之间的部分作为所述路面; 基于所述偏振图像中的每个车轮与所述路面之间的有效像素值差异，从所述路面检测至少一个车辆底部的步骤; 以及基于车辆底部对应的车辆轮廓与偏振图像中的背景之间的像素值差异，从车辆底部产生车辆位置的步骤。