公开(公告)号：US20090243889A1

公开(公告)日：2009-10-01

申请号：US12410126

申请日：2009-03-24

申请人： Jae-kyu Suhr ,  Ho-gi Jung ,  Kwang-hyuk Bae ,  Jaih-he Kim

发明人： Jae-kyu Suhr ,  Ho-gi Jung ,  Kwang-hyuk Bae ,  Jaih-he Kim

IPC分类号： G08G1/14

CPC分类号： G06K9/00812 ,  G06T7/55 ,  G06T15/10 ,  G06T2207/10016 ,  G06T2207/30264 ,  G08G1/168

摘要： A monocular motion stereo-based automatic free parking space detection system is disclosed. The system acquires image sequences with a single rearview fisheye camera, three-dimensionally reconstructs the vehicle rearview by using point correspondences, and recovers metric information from a known camera height to estimate the positions of adjacent vehicles thereby detecting the free parking spaces. By using de-rotation-based feature selection and 3D structure mosaicking the degradation of the 3D structure near the epipole is solved and it is not necessary to use the unreliable odometry due to its accuracy depending on road conditions.

摘要翻译： 公开了一种单眼运动立体声自动停车位检测系统。 该系统利用单个后视镜鱼眼摄像机获取图像序列，通过使用点对位三维地重建车辆后视图，并从已知摄像机高度恢复度量信息，以估计相邻车辆的位置，从而检测到免费停车位。 通过使用基于旋转的特征选择和3D结构镶嵌，解决了近似于近似结构的3D结构的劣化，并且由于其根据道路状况的准确性，不需要使用不可靠的距离测量。

公开(公告)号：US08134479B2

公开(公告)日：2012-03-13

申请号：US12410126

申请日：2009-03-24

申请人： Jae-kyu Suhr ,  Ho-gi Jung ,  Kwang-hyuk Bae ,  Jaih-he Kim

发明人： Jae-kyu Suhr ,  Ho-gi Jung ,  Kwang-hyuk Bae ,  Jaih-he Kim

IPC分类号： B60Q1/48

CPC分类号： G06K9/00812 ,  G06T7/55 ,  G06T15/10 ,  G06T2207/10016 ,  G06T2207/30264 ,  G08G1/168

摘要： A monocular motion stereo-based automatic free parking space detection system is disclosed. The system acquires image sequences with a single rearview fisheye camera, three-dimensionally reconstructs the vehicle rearview by using point correspondences, and recovers metric information from a known camera height to estimate the positions of adjacent vehicles thereby detecting the free parking spaces. By using de-rotation-based feature selection and 3D structure mosaicking the degradation of the 3D structure near the epipole is solved and it is not necessary to use the unreliable odometry due to its accuracy depending on road conditions.

摘要翻译： 公开了一种单眼运动立体声自动停车位检测系统。 该系统利用单个后视镜鱼眼摄像机获取图像序列，通过使用点对位三维地重建车辆后视图，并从已知摄像机高度恢复度量信息，以估计相邻车辆的位置，从而检测到免费停车位。 通过使用基于旋转的特征选择和3D结构镶嵌，解决了近似于近似结构的3D结构的劣化，并且由于其根据道路状况的准确性，不需要使用不可靠的距离测量。

公开(公告)号：US08260001B2

公开(公告)日：2012-09-04

申请号：US12288928

申请日：2008-10-24

申请人： Ho-gi Jung

发明人： Ho-gi Jung

IPC分类号： G06K9/00 ,  B60Q1/48

CPC分类号： G01S7/4802 ,  B60W30/095 ,  B60W50/14 ,  B60W2420/52 ,  B60W2420/62 ,  G01S17/42 ,  G01S17/936 ,  G01S2013/9314

摘要： Disclosed is a method and a system for recognizing a target parking location of a vehicle. The system includes a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle; a preprocessing unit for preprocessing the range data to extract effective clusters; a corner recognition unit for extracting obstacle corners from the effective clusters; and a parking location setting unit for recognizing a main reference corner, which is closest to a subjective vehicle and has an adjacent space satisfying an available parking space condition, and a sub reference corner, which exists toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner, and corresponds to a point on a closest effective cluster within a distance between a vehicle width and a vehicle length, from the obstacle corners to set a target parking location.

摘要翻译： 公开了一种用于识别车辆的目标停车位置的方法和系统。 该系统包括扫描激光雷达，用于检测从车辆的后表面反射和指向的范围数据; 预处理单元，用于预处理所述范围数据以提取有效簇; 用于从有效簇中提取障碍物角的角识别单元; 以及停车位置设定单元，用于识别最接近主观车辆并且具有满足可用停车位条件的相邻空间的主参考角以及与所述主参考角相反的方向朝向相邻的空间存在的副参考角 车辆宽度方向，并且对应于从车辆宽度与车辆长度之间的距离内的最近的有效集群上的点与障碍物角落设置目标停车位置。

公开(公告)号：US08164432B2

公开(公告)日：2012-04-24

申请号：US12471878

申请日：2009-05-26

申请人： Alberto Broggi ,  Pietro Cerri ,  Ho-gi Jung

发明人： Alberto Broggi ,  Pietro Cerri ,  Ho-gi Jung

IPC分类号： B60Q1/00

CPC分类号： G06K9/00805 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00369 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： An apparatus, method for detecting critical areas and a pedestrian detection apparatus using the same are provided. An application of the pedestrian detection system is provided to help limit critical urban environment to particular areas. Contrary to traditional pedestrian detection systems that localize every pedestrians appearing in front of the subject vehicle, the apparatus first finds critical areas from urban environment and performs a focused search of pedestrians. The environment is reconstructed using a standard laser scanner but the subsequent checking for the presence of pedestrians is performed by incorporating a vision system. The apparatus identifies pedestrians within substantially limited image areas and results in boosts of timing performance, since no evaluation of critical degrees is necessary until an actual pedestrian is informed to the driver or onboard computer.

摘要翻译： 提供一种用于检测临界区域的装置，方法和使用该装置的行人检测装置。 提供行人检测系统的应用，以帮助限制特定地区的关键城市环境。 与传统的行人检测系统相比，本系统将本地车辆前方的每个行人定位，首先从城市环境中发现关键区域，并对行人进行集中搜索。 使用标准的激光扫描仪重建环境，然后通过结合视觉系统来执行行人的存在的后续检查。 该装置识别在实质上有限的图像区域内的行人，并且导致定时性能的提高，因为在将实际行人通知驾驶员或车载计算机之前，不需要评估临界度。

公开(公告)号：US20090303026A1

公开(公告)日：2009-12-10

申请号：US12471878

申请日：2009-05-26

申请人： Alberto Broggi ,  Pietro Cerri ,  Ho-gi Jung

发明人： Alberto Broggi ,  Pietro Cerri ,  Ho-gi Jung

IPC分类号： B60Q1/00

CPC分类号： G06K9/00805 ,  G01S17/023 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00369 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： An apparatus, method for detecting critical areas and a pedestrian detection apparatus using the same are provided. An application of the pedestrian detection system is provided to help limit critical urban environment to particular areas. Contrary to traditional pedestrian detection systems that localize every pedestrians appearing in front of the subject vehicle, the apparatus first finds critical areas from urban environment and performs a focused search of pedestrians. The environment is reconstructed using a standard laser scanner but the subsequent checking for the presence of pedestrians is performed by incorporating a vision system. The apparatus identifies pedestrians within substantially limited image areas and results in boosts of timing performance, since no evaluation of critical degrees is necessary until an actual pedestrian is informed to the driver or onboard computer.

摘要翻译： 提供一种用于检测临界区域的装置，方法和使用该装置的行人检测装置。 提供行人检测系统的应用，以帮助限制特定地区的关键城市环境。 与传统的行人检测系统相比，本系统将本地车辆前方的每个行人定位，首先从城市环境中发现关键区域，并对行人进行集中搜索。 使用标准的激光扫描仪重建环境，然后通过结合视觉系统来执行行人的存在的后续检查。 该装置识别在实质上有限的图像区域内的行人，并且导致定时性能的提高，因为在将实际行人通知驾驶员或车载计算机之前，不需要评估临界度。

公开(公告)号：US20090146842A1

公开(公告)日：2009-06-11

申请号：US12288928

申请日：2008-10-24

申请人： Ho-gi Jung

发明人： Ho-gi Jung

IPC分类号： G08G1/00

CPC分类号： G01S7/4802 ,  B60W30/095 ,  B60W50/14 ,  B60W2420/52 ,  B60W2420/62 ,  G01S17/42 ,  G01S17/936 ,  G01S2013/9314

摘要： Disclosed is a method and a system for recognizing a target parking location of a vehicle. The system includes a scanning laser radar for detecting range data reflected and directed from a rear surface of the vehicle; a preprocessing unit for preprocessing the range data to extract effective clusters; a corner recognition unit for extracting obstacle corners from the effective clusters; and a parking location setting unit for recognizing a main reference corner, which is closest to a subjective vehicle and has an adjacent space satisfying an available parking space condition, and a sub reference corner, which exists toward the adjacent space in a direction opposite to a vehicle width direction from the main reference corner, and corresponds to a point on a closest effective cluster within a distance between a vehicle width and a vehicle length, from the obstacle corners to set a target parking location.

摘要翻译： 公开了一种用于识别车辆的目标停车位置的方法和系统。 该系统包括扫描激光雷达，用于检测从车辆的后表面反射和指向的范围数据; 预处理单元，用于预处理所述范围数据以提取有效簇; 用于从有效簇中提取障碍物角的角识别单元; 以及停车位置设定单元，用于识别最接近主观车辆并且具有满足可用停车位条件的相邻空间的主参考角以及与所述主参考角相反的方向朝向相邻的空间存在的副参考角 车辆宽度方向，并且对应于从车辆宽度与车辆长度之间的距离内的最近的有效集群上的点与障碍物角落设置目标停车位置。

公开(公告)号：US20090099767A1

公开(公告)日：2009-04-16

申请号：US12287494

申请日：2008-10-09

申请人： Ho-gi Jung

发明人： Ho-gi Jung

IPC分类号： G01C21/20 ,  G08G1/16

CPC分类号： G01C21/20 ,  G01C21/206 ,  G05D1/0246 ,  G08G1/165 ,  G08G1/168

摘要： Disclosed is a method for detecting a light stripe for indoor navigation and a parking assist apparatus using the same. The apparatus applies light plane projection to indoor navigation, detects a light stripe from an image inputted through a camera, detects an obstacle, and assists vehicle parking by using an active steering device and an electronically controlled braking device. A light stripe width function is used to calculate a light stripe width, and a half value of the calculated light stripe width is used as a constant value of a LOG filter to conduct LOG filtering and detect the light stripe. The precision and rate of recognition of light stripes obtained by LOG filtering are advantageously improved. Therefore, obstacles are precisely recognized during indoor navigation, and parking is assisted efficiently.

摘要翻译： 本发明公开了一种室内导航用光条检测方法及使用该方法的驻车辅助装置。 该装置将光平面投影应用于室内导航，从通过照相机输入的图像检测光条，检测障碍物，并通过使用主动转向装置和电子控制制动装置来协助车辆停车。 使用光条宽度函数来计算光条宽度，并且将计算的光条宽度的一半值用作LOG滤镜的常数值以进行LOG滤波并检测光条纹。 有利地提高了通过LOG滤波获得的光条纹的精确度和识别率。 因此，在室内导航中可以正确识别障碍物，并有效地辅助停车。