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公开(公告)号：US20140355822A1
公开(公告)日：2014-12-04
申请号：US14043016
申请日：2013-10-01
申请人： Hyundai Motor Company , Industry-University Cooperation Foundation Hanyang University , Kia Motors Corporation
发明人： Jae Seob Choi , Seong Sook Ryu , Dae Joong Yoon , Eu Gene Chang , Ho Gi Jung , Jae Kyu Suhr
IPC分类号： G06K9/00
CPC分类号： G06K9/00812
摘要： An apparatus and a method for tracing a parking-lot is provided that includes a controller configured to recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle and extract a template according to a type of a parking-lot line of the recognized parking-lot. In addition, the controller is configured to generate a template transformed based on a position information of the parking-lot and calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame. A position of a parking-lot is determined according to the calculated similarity and the controller is configured to correct the template based on an information of a parking-lot line extracted from the determined position.
摘要翻译： 提供了一种用于跟踪停车场的装置和方法，其包括：控制器，被配置为从拍摄了车辆周围的先前图像帧识别至少一个停车场，并根据停车场的类型提取模板， 批号的公认停车场。 此外，控制器被配置为基于停车场的位置信息来生成变换的模板，并且通过将从先前图像帧生成的模板与从当前图像帧识别的停车场线进行比较来计算相似度。 根据计算出的相似度确定停车场的位置，并且控制器被配置为基于从确定的位置提取的停车场线的信息来校正模板。
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公开(公告)号：US09539945B2
公开(公告)日：2017-01-10
申请号：US14166099
申请日：2014-01-28
申请人： Hyundai Motor Company , Kia Motors Corporation , Industry-University Cooperation Foundation Hanyang University
发明人： Seong Sook Ryu , Eu Gene Chang , Jae Seob Choi , Dae Joong Yoon , Jae Kyu Suhr , Ho Gi Jung
CPC分类号： B60R1/00 , B60R2300/305 , B60R2300/806 , G06K9/00812 , G06T7/248 , G06T11/60 , G06T2207/10004 , G06T2207/20221 , G06T2207/30264 , H04N7/181
摘要： A parking area tracking method includes: creating a top view image by capturing surroundings of a vehicle; setting a template by detecting a parking area in the top view image; detecting a location of a pillar in the top view image; detecting a region obstructed by the pillar from the parking area in which the template is set; and changing the shape of the template according to the obstructed region. A parking area tracking apparatus includes an imaging unit with a plurality of cameras for recording images around the vehicle, and a control unit for carrying out the steps of the parking area tracking method.
摘要翻译： 停车区域跟踪方法包括：通过捕获车辆的周围来创建顶视图; 通过检测顶视图中的停车区域来设置模板; 检测顶视图中的柱的位置; 从设置有模板的停车区域检测由所述支柱阻挡的区域; 并根据阻挡区域改变模板的形状。 一种停车区域跟踪装置，包括具有用于在车辆周围记录图像的多个照相机的摄像单元和用于执行停车区域跟踪方法的步骤的控制单元。
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3.发明授权公开(公告)号：US09076047B2
公开(公告)日：2015-07-07
申请号：US13715816
申请日：2012-12-14
申请人： Hyundai Motor Company , Kia Motors Corporation , IUCF-HYU (Industry-University Cooperation Foundation Hanyang University)
发明人： Jae Seob Choi , Dae Joong Yoon , Eu Gene Chang , Ho Gi Jung
IPC分类号： G06K9/00
CPC分类号： G06K9/00812
摘要： Disclosed herein is a method for recognizing a parking space line marking for a vehicle, including: detecting, by a processor, a plurality of parking spaces from a portion of a parking space line marking in an image; calculating, by the processor, an overlap coefficient representing a degree of overlapping between the detected parking spaces; selecting, by the processor, a parking space having a largest brightness coefficient as a final parking space by determining overlap when the overlap coefficient has a predetermined magnitude and comparing the brightness degrees of the overlapped parking spaces.
摘要翻译： 本发明公开了一种用于识别车辆的停车位线标记的方法，包括：由处理器从图像中的停车位线标记的一部分检测多个停车位; 由处理器计算表示检测到的停车位之间的重叠程度的重叠系数; 通过在重叠系数具有预定大小的同时确定重叠并比较重叠的停车位的亮度，通过处理器选择具有最大亮度系数的停车位作为最终停车位。
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公开(公告)号：US10186039B2
公开(公告)日：2019-01-22
申请号：US14743957
申请日：2015-06-18
申请人： HYUNDAI MOTOR COMPANY , KIA MOTORS CORPORATION , INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY
发明人： Jae Seob Choi , Seong Sook Ryu , Dae Joong Yoon , Jin Wook Choi , Eu Gene Chang , Ho Gi Jung , Jae Kyu Suhr
摘要： An apparatus for recognizing a position of an obstacle in a vehicle obtains image data and ultrasonic sensor data through a camera and an ultrasonic sensor, detects linear edges perpendicular to a ground surface in the image data, detects a discontinuous position at which the ultrasonic sensor data are not continuous, detects intersection points of the linear edges detected in continuous images from the image data when the discontinuous position coincides with a camera position, and estimates the intersection points to be the position of the obstacle.
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公开(公告)号：US09361529B2
公开(公告)日：2016-06-07
申请号：US14315178
申请日：2014-06-25
申请人： HYUNDAI MOTOR COMPANY , KIA MOTORS CORPORATION , INDUSTRY-UNIVERSITY COOPERATION FOUNDATION HANYANG UNIVERSITY
发明人： Seong Sook Ryu , Eu Gene Chang , Jae Seob Choi , Dae Joong Yoon , Jae Kyu Suhr , Ho Gi Jung
CPC分类号： G06K9/00812 , G08G1/168
摘要： A parking area detecting method includes generating a top view image by capturing images of surroundings of a vehicle, detecting a first directional parking line from the top view image, detecting a second directional parking line having a direction different from a direction of the first directional parking line from the top view image, and detecting a parking area by combining the first directional parking line and the second directional parking line.
摘要翻译： 一种停车区域检测方法，包括：通过拍摄车辆周围环境的图像，从顶视图检测出第一定向停车线，检测具有与第一定向停车方向不同的方向的第二定向停车线，生成顶视图; 并且通过组合第一定向停车线和第二定向停车线来检测停车区域。
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公开(公告)号：US09117122B2
公开(公告)日：2015-08-25
申请号：US14043016
申请日：2013-10-01
申请人： Hyundai Motor Company , Kia Motors Corporation , Industry-University Cooperation Foundation Hanyang University
发明人： Jae Seob Choi , Seong Sook Ryu , Dae Joong Yoon , Eu Gene Chang , Ho Gi Jung , Jae Kyu Suhr
CPC分类号： G06K9/00812
摘要： An apparatus and a method for tracing a parking-lot is provided that includes a controller configured to recognize at least one parking-lot from a previous image frame which photographed a surrounding of a vehicle and extract a template according to a type of a parking-lot line of the recognized parking-lot. In addition, the controller is configured to generate a template transformed based on a position information of the parking-lot and calculate similarity by comparing a template generated from a previous image frame with a parking-lot line recognized from a current image frame. A position of a parking-lot is determined according to the calculated similarity and the controller is configured to correct the template based on an information of a parking-lot line extracted from the determined position.
摘要翻译： 提供了一种用于跟踪停车场的装置和方法，其包括：控制器，被配置为从拍摄车辆周围的先前图像帧识别至少一个停车场，并根据停车场的类型提取模板; 批号的公认停车场。 此外，控制器被配置为基于停车场的位置信息来生成变换的模板，并且通过将从先前图像帧生成的模板与从当前图像帧识别的停车场线进行比较来计算相似度。 根据计算出的相似度确定停车场的位置，并且控制器被配置为基于从确定的位置提取的停车场线的信息来校正模板。
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7.发明申请公开(公告)号：US20140112542A1
公开(公告)日：2014-04-24
申请号：US13715816
申请日：2012-12-14
申请人： IUCF-HYU (Industry-University Cooperation Foundation Hanyang University) , HYUNDAI MOTOR COMPANY , KIA MOTORS CORPORATION
发明人： Jae Seob Choi , Dae Joong Yoon , Eu Gene Chang , Ho Gi Jung
IPC分类号： G06K9/00
CPC分类号： G06K9/00812
摘要： Disclosed herein is a method for recognizing a parking space line marking for a vehicle, including: detecting, by a processor, a plurality of parking spaces from a portion of a parking space line marking in an image; calculating, by the processor, an overlap coefficient representing a degree of overlapping between the detected parking spaces; selecting, by the processor, a parking space having a largest brightness coefficient as a final parking space by determining overlap when the overlap coefficient has a predetermined magnitude and comparing the brightness degrees of the overlapped parking spaces.
摘要翻译： 本发明公开了一种用于识别车辆的停车位线标记的方法，包括：由处理器从图像中的停车位线标记的一部分检测多个停车位; 由处理器计算表示检测到的停车位之间的重叠程度的重叠系数; 通过在重叠系数具有预定大小的同时确定重叠并比较重叠的停车位的亮度，通过处理器选择具有最大亮度系数的停车位作为最终停车位。
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公开(公告)号：US10906530B2
公开(公告)日：2021-02-02
申请号：US15833765
申请日：2017-12-06
发明人： Yoon Soo Kim , Dae Joong Yoon , Eu Gene Chang , Jae Seob Choi , Min Byeong Lee , Seung Wook Park , Jong Gyu Kim , In Yong Jung
摘要： An automatic parking system includes a smart key recognizing sensor recognizing a smart key positioned in a first area, a sensor system sensing presence or absence of a parking section line, and positions of surrounding vehicles when the smart key is recognized, a controller configured to analyze data sensed by the sensor system to calculate parking areas around a subject vehicle, calculate a range allowing generation of a moving path based on the parking areas, determine at least two parking types available at a current position of the subject vehicle in the range allowing generation of a moving path, provide a moving path range for a parking type that is selected among the moving path ranges, and receive a signal transmitted by the smart key to automatically park the subject vehicle in the optimal parking area.
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公开(公告)号：USRE47559E1
公开(公告)日：2019-08-06
申请号：US15395158
申请日：2016-12-30
发明人： Seong Sook Ryu , Eu Gene Chang , Jae Seob Choi , Dae Joong Yoon , Jae Kyu Suhr , Ho Gi Jung
摘要： A parking area detecting method includes generating a top view image by capturing images of surroundings of a vehicle, detecting a first directional parking line from the top view image, detecting a second directional parking line having a direction different from a direction of the first directional parking line from the top view image, and detecting a parking area by combining the first directional parking line and the second directional parking line.
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公开(公告)号：US20180186407A1
公开(公告)日：2018-07-05
申请号：US15835236
申请日：2017-12-07
发明人： Yoon Soo Kim , Joo Woong Yang , Dae Joong Yoon , Eu Gene Chang , Jae Seob Choi , Kyung Soo Ha , Min Byeong Lee , Seung Wook Park , Jin Ho Park , In Yong Jung
IPC分类号： B62D15/02 , B60W30/06 , B60W10/18 , B60W10/20 , B60W30/095
CPC分类号： B62D15/0285 , B60Q9/004 , B60W10/18 , B60W10/20 , B60W30/06 , B60W30/0956 , G06K9/00812 , G08G1/168
摘要： An automatic parking system includes a sensor system measuring whether there is a parking section line and positions of surrounding vehicles, and a controller configured to analyze data sensed by the sensor system to calculate parking areas around a subject vehicle, calculate a range allowing generation of a moving path based on the parking areas, provide a moving path range for a parking type that is selected among the moving path ranges provided for the at least two parking types, and an optimal parking area for the selected moving path range, and automatically park the subject vehicle in the optimal parking area.
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