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公开(公告)号：US20170019657A1
公开(公告)日：2017-01-19
申请号：US15280117
申请日：2016-09-29
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel LIVYATAN , Oded BERBERIAN
CPC classification number: H04N13/246 , B60R1/00 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/402 , G06K9/00791 , G06K9/6201 , G06T7/579 , G06T7/85 , G06T2207/30252 , H04N5/3532 , H04N13/239 , H04N13/271 , H04N2013/0081
Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used, to solve for camera parameters of the second camera from the matching second image points of the second camera.
Abstract translation: 自动校准可安装在主车辆挡风玻璃后面的立体摄像机，并定向为通过挡风玻璃来观察环境。 多个第一图像点位于第一时间从第一相机捕获的第一图像之一，并与第二时间从第一相机捕获的至少另一个第一图像的第一图像点匹配，以产生对 分别在不同时间拍摄的第一图像中的第一图像点。 从相应的第一个图像点计算世界坐标。 从第二相机拍摄的第二图像中的第二图像点与第一图像点的至少一部分匹配。 使用从第一相机确定的世界坐标，从第二相机的匹配的第二图像点解决第二相机的相机参数。
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公开(公告)号：US20180315163A1
公开(公告)日：2018-11-01
申请号：US15957763
申请日：2018-04-19
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel LIVYATAN , Oded BERBERIAN , Barak COHEN , Gideon STEIN
CPC classification number: G06T3/0093 , G06K9/00798 , G06K9/6201 , G06T7/20 , G06T7/579 , G06T2207/10016 , G06T2207/30256
Abstract: Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectable to a processor. Multiple image frames are captured in the field of view of the camera. In the image frames, a line is selected below which the road is imaged. The line separates between upper images essentially excluding images of the road and lower images essentially including images of the road. One or more of the lower images is warped, according to a road homography to produce at least one warped lower image. The three-dimensional structure may be provided from motion of a matching feature within the upper images or from motion of a matching feature within at least one of the lower images and at least one warped lower image.
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公开(公告)号：US20170339397A1
公开(公告)日：2017-11-23
申请号：US15669357
申请日：2017-08-04
Applicant: MOBILEYE VISION TECHNOLOGIES LTD.
Inventor： Harel LIVYATAN , Oded BERBERIAN
CPC classification number: H04N13/246 , B60R1/00 , B60R11/04 , B60R2011/0026 , B60R2300/105 , B60R2300/402 , G06K9/00791 , G06K9/6201 , G06T7/579 , G06T7/85 , G06T2207/30252 , H04N5/3532 , H04N13/239 , H04N13/271 , H04N2013/0081
Abstract: Auto-calibration of stereo cameras installable behind the windshield of a host vehicle and oriented to view the environment through the windshield. Multiple first image points are located of one of the first images captured from the first camera at a first time and matched with first image points of at least one other of the first images captured from the first camera at a second time to produce pairs of corresponding first image points respectively in the first images captured at the different times. World coordinates are computed from the corresponding first image points. Second image points in the second images captured from the second camera are matched to at least a portion of the first image points. The world coordinates as determined from the first camera are used to solve for camera parameters of the second camera from the matching second image points of the second camera.
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