公开(公告)号：US10984259B2

公开(公告)日：2021-04-20

申请号：US16658360

申请日：2019-10-21

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/73 ,  G06T7/13 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60

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.

公开(公告)号：US20190034739A1

公开(公告)日：2019-01-31

申请号：US16148817

申请日：2018-10-01

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: G06K9/00 ,  G06T7/40 ,  G06T7/13 ,  G06T7/73 ,  H04N7/18 ,  G06K9/52 ,  G06T7/60 ,  G06K9/46 ,  G06T7/20 ,  G06T5/00

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.

公开(公告)号：US10929691B2

公开(公告)日：2021-02-23

申请号：US16658360

申请日：2019-10-21

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/73 ,  G06T7/13 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60

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.

公开(公告)号：US10452928B2

公开(公告)日：2019-10-22

申请号：US16148817

申请日：2018-10-01

Applicant: Mobileye Vision Technologies Ltd.

Inventor： Gideon Stein ,  Itay Blumenthal ,  Nadav Shaag ,  Yaakov Kingsley

IPC: H04N7/18 ,  G06K9/00 ,  G06T7/40 ,  G06T7/13 ,  G06T7/73 ,  G06K9/52 ,  G06T5/00 ,  G06K9/46 ,  G06T7/20 ,  G06T7/60

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.

公开(公告)号：US10115024B2

公开(公告)日：2018-10-30

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: H04N7/18 ,  G06K9/00 ,  G06K9/46 ,  G06K9/52 ,  G06T5/00 ,  G06T7/20 ,  G06T7/40 ,  G06T7/60 ,  G06T7/73 ,  G06T7/13

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.