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公开(公告)号：US09509979B2
公开(公告)日：2016-11-29
申请号：US14554544
申请日：2014-11-26
发明人： Harel Livyatan , Oded Berberian
CPC分类号： 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
摘要： 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.
摘要翻译： 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算第二相机的相机参数。
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公开(公告)号：US11170466B2
公开(公告)日：2021-11-09
申请号：US16867059
申请日：2020-05-05
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible 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：US10685424B2
公开(公告)日：2020-06-16
申请号：US15957763
申请日：2018-04-19
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
摘要： 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：US20150145965A1
公开(公告)日：2015-05-28
申请号：US14554544
申请日：2014-11-26
发明人： Harel Livyatan , Oded Berberian
CPC分类号： 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
摘要： 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.
摘要翻译： 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：US20170287108A9
公开(公告)日：2017-10-05
申请号：US14182715
申请日：2014-02-18
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
CPC分类号： G06T3/0093 , G06K9/00798 , G06K9/6201 , G06T7/20 , G06T7/579 , G06T2207/10016 , G06T2207/30256
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible 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：US09729858B2
公开(公告)日：2017-08-08
申请号：US15280117
申请日：2016-09-29
发明人： Harel Livyatan , Oded Berberian
IPC分类号： H04N13/02 , H04N13/04 , B60R1/00 , H04N5/353 , G06T7/80 , G06T7/579 , B60R11/04 , G06K9/00 , G06K9/62 , H04N13/00 , B60R11/00
CPC分类号： 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
摘要： 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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公开(公告)号：US10097812B2
公开(公告)日：2018-10-09
申请号：US15669357
申请日：2017-08-04
发明人： Harel Livyatan , Oded Berberian
IPC分类号： H04N9/47 , H04N13/246 , H04N13/02 , B60R11/04 , G06T7/579 , G06K9/62 , G06K9/00 , H04N13/271 , B60R11/00 , H04N13/00
摘要： 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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公开(公告)号：US20200265550A1
公开(公告)日：2020-08-20
申请号：US16867059
申请日：2020-05-05
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
摘要： Determining three-dimensional structure in a road environment using a system mountable in a host vehicle including a camera connectible 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：US10025998B1
公开(公告)日：2018-07-17
申请号：US14858798
申请日：2015-09-18
发明人： Yoram Gdalyahu , Harel Livyatan , Oded Schwarz , Yoav Taieb , Gideon P. Stein , Kfir Viente
摘要： Classification of an object in the field of view of a camera. A processor is configured to capture multiple image frames from the camera. A candidate image is detected in the image frames. Alignment of the candidate image is determined relative to at least one previously known training image by inputting the candidate image into a trained alignment classifier and outputting one or more alignment variables therefrom associated with the candidate image. The candidate image and the alignment variable(s) are input into a trained object classifier. The object is classified responsive to the alignment variable(s).
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公开(公告)号：US09959595B2
公开(公告)日：2018-05-01
申请号：US14182715
申请日：2014-02-18
发明人： Harel Livyatan , Oded Berberian , Barak Cohen , Gideon Stein
CPC分类号： G06T3/0093 , G06K9/00798 , G06K9/6201 , G06T7/20 , G06T7/579 , G06T2207/10016 , G06T2207/30256
摘要： 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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