公开(公告)号：US20160253566A1

公开(公告)日：2016-09-01

申请号：US15055322

申请日：2016-02-26

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon STEIN ,  Itay BLUMENTHAL ,  Nadav SHAAG ,  Yaakov KINGSLEY

IPC: G06K9/00 ,  G06K9/52 ,  G06T7/60 ,  G06T7/40 ,  G06T7/00 ,  G06T5/00 ,  G06K9/46 ,  H04N7/18 ,  G06T7/20

CPC classification number: G06K9/00791 ,  G06K9/4604 ,  G06K9/52 ,  G06T5/006 ,  G06T7/13 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60 ,  G06T7/74 ,  G06T2207/30252 ,  H04N7/18

Abstract: In some embodiments, a first homography, created from two images of a roadway, is decomposed to determine an ego-motion, and the ego-motion is used to adjust a previous estimate of a road plane. The adjusted previous estimate of the road plane is combined with the current estimate of the plane to create a second homography, and the second homography is used to determine residual motion and vertical deviation in the surface of the roadway. In some embodiments, multiple road profiles each corresponding to a common portion of a roadway are adjusted in slope and offset by optimizing a function having a data term, a smoothness term and a regularization term; and the adjusted road profiles are combined into a multi-frame road profile. In some embodiments, road profile information for a predetermined number of data points is transmitted in periodic data bursts, with more than one data point per data burst.

Abstract translation: 在一些实施例中，从道路的两个图像创建的第一单应性分解被分解以确定自我运动，并且自我运动用于调整道路平面的先前估计。 道路平面的已调整的先前估计与当前的平面估计相结合以产生第二单应性，并且使用第二单应性来确定道路表面中的残余运动和垂直偏差。 在一些实施例中，通过优化具有数据项，平滑度项和正则化项的函数来对每个对应于道路的公共部分的多个道路剖面进行斜率和偏移量的调整; 并且调整后的道路轮廓被组合成多框架道路轮廓。 在一些实施例中，用于预定数量的数据点的道路简档信息在周期性数据突发中发送，每个数据突发具有多于一个数据点。