公开(公告)号：US07576639B2

公开(公告)日：2009-08-18

申请号：US11685208

申请日：2007-03-13

申请人： Tonnie Michael Boyles ,  Matthew Craig Hillyer ,  Meny Benady ,  Erez Dagan ,  Yoram Gdalyahu ,  Eran Herzberg

发明人： Tonnie Michael Boyles ,  Matthew Craig Hillyer ,  Meny Benady ,  Erez Dagan ,  Yoram Gdalyahu ,  Eran Herzberg

IPC分类号： B60Q1/00 ,  H04N7/18

CPC分类号： G06K9/00805 ,  G06K9/00369 ,  G06K9/00664 ,  G06K2009/363 ,  G06T7/0008 ,  G06T7/285 ,  G06T7/292 ,  G06T2207/30196 ,  G06T2207/30261

摘要： A system mounted on a powered industrial vehicle for detecting classifying and tracking in real time at least one obstruction in the scene around the vehicle. The vehicle is capable of moving in multiple directions. The system includes a multiple cameras mounted on the vehicle, wherein the viewing zones viewed respectively by the cameras preferably encompass 360° horizontally around the vehicle. Each of the cameras is operatively attached to an image processor, which processes the image frames acquired respectively by the camera. When a pedestrian is present in the viewing zone viewed by one of the cameras, the image processor attached to the one camera identifies in at least one of the image frames at least a portion of an image of the detected pedestrian.

摘要翻译： 一种安装在动力工业车辆上的系统，用于实时检测车辆周围场景中至少一个障碍物的分类和跟踪。 车辆能够在多个方向移动。 该系统包括安装在车辆上的多个摄像机，其中通过摄像机分别观察的观察区优选围绕车辆水平360度。 每个相机可操作地附接到图像处理器，图像处理器处理由相机分别获取的图像帧。 当通过其中一个相机观看的观看区域中存在行人时，附接到一个照相机的图像处理器在至少一个图像帧中识别所检测到的行人的图像的至少一部分。

公开(公告)号：US20070229238A1

公开(公告)日：2007-10-04

申请号：US11685208

申请日：2007-03-13

申请人： Tonnie Michael Boyles ,  Matthew Craig Hillyer ,  Meny Benady ,  Erez Dagan ,  Yoram Gdalyahu ,  Eran Herzberg

发明人： Tonnie Michael Boyles ,  Matthew Craig Hillyer ,  Meny Benady ,  Erez Dagan ,  Yoram Gdalyahu ,  Eran Herzberg

IPC分类号： B60Q1/00 ,  H04N7/18

CPC分类号： G06K9/00805 ,  G06K9/00369 ,  G06K9/00664 ,  G06K2009/363 ,  G06T7/0008 ,  G06T7/285 ,  G06T7/292 ,  G06T2207/30196 ,  G06T2207/30261

摘要： A system mounted on a powered industrial vehicle for detecting classifying and tracking in real time at least one obstruction in the scene around the vehicle. The vehicle is capable of moving in multiple directions. The system includes a multiple cameras mounted on the vehicle, wherein the viewing zones viewed respectively by the cameras preferably encompass 360° horizontally around the vehicle. Each of the cameras is operatively attached to an image processor, which processes the image frames acquired respectively by the camera. When a pedestrian is present in the viewing zone viewed by one of the cameras, the image processor attached to the one camera identifies in at least one of the image frames at least a portion of an image of the detected pedestrian

摘要翻译： 一种安装在动力工业车辆上的系统，用于实时检测车辆周围场景中至少一个障碍物的分类和跟踪。 车辆能够在多个方向移动。 该系统包括安装在车辆上的多个摄像机，其中通过摄像机分别观察的观察区优选围绕车辆水平360度。 每个相机可操作地附接到图像处理器，图像处理器处理由相机分别获取的图像帧。 当通过其中一个相机观看的观看区域中存在行人时，附接到一个照相机的图像处理器在至少一个图像帧中识别检测到的行人的图像的至少一部分

公开(公告)号：US07786898B2

公开(公告)日：2010-08-31

申请号：US11696731

申请日：2007-04-05

申请人： Gideon S. Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Liyatan

发明人： Gideon S. Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Liyatan

IPC分类号： G08G1/107

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/304 ,  B60R2300/8033 ,  B60R2300/804 ,  B60R2300/8053 ,  B60R2300/8093 ,  G06K9/00369 ,  G06K9/00825 ,  G06K9/2018 ,  G06K9/209 ,  G06K9/6289 ,  G06T7/246 ,  G06T2207/10048 ,  G06T2207/30261 ,  G08G1/167

摘要： A method in computerized system mounted on a vehicle including a cabin and an engine. The system including a visible (VIS) camera sensitive to visible light, the VIS camera mounted inside the cabin, wherein the VIS camera acquires consecutively in real time multiple image frames including VIS images of an object within a field of view of the VIS camera and in the environment of the vehicle. The system also including a FIR camera mounted on the vehicle in front of the engine, wherein the FIR camera acquires consecutively in real time multiple FIR image frames including FIR images of the object within a field of view of the FIR camera and in the environment of the vehicle. The FIR images and VIS images are processed simultaneously, thereby producing a detected object when the object is present in the environment.

摘要翻译： 一种安装在包括舱室和发动机的车辆上的计算机化系统中的方法。 该系统包括对可见光敏感的可视（VIS）相机，安装在机舱内的VIS相机，其中VIS相机连续实时获取包括VIS相机视场内的物体的VIS图像的多个图像帧，以及 在车辆的环境中。 该系统还包括安装在发动机前面的车辆上的FIR照相机，其中FIR照相机在FIR照相机的视野内实时地连续地获取包括物体的FIR图像的实时多个FIR图像帧，并且在 机动车。 同时处理FIR图像和VIS图像，从而当对象存在于环境中时产生检测到的对象。

公开(公告)号：US20080036576A1

公开(公告)日：2008-02-14

申请号：US11696731

申请日：2007-04-05

申请人： Gideon S. Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Liyatan

发明人： Gideon S. Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Liyatan

IPC分类号： B60Q1/00

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/304 ,  B60R2300/8033 ,  B60R2300/804 ,  B60R2300/8053 ,  B60R2300/8093 ,  G06K9/00369 ,  G06K9/00825 ,  G06K9/2018 ,  G06K9/209 ,  G06K9/6289 ,  G06T7/246 ,  G06T2207/10048 ,  G06T2207/30261 ,  G08G1/167

摘要： A method in computerized system mounted on a vehicle including a cabin and an engine. The system including a visible (VIS) camera sensitive to visible light, the VIS camera mounted inside the cabin, wherein the VIS camera acquires consecutively in real time multiple image frames including VIS images of an object within a field of view of the VIS camera and in the environment of the vehicle. The system also including a FIR camera mounted on the vehicle in front of the engine, wherein the FIR camera acquires consecutively in real time multiple FIR image frames including FIR images of the object within a field of view of the FIR camera and in the environment of the vehicle. The FIR images and VIS images are processed simultaneously, thereby producing a detected object when the object is present in the environment.

摘要翻译： 一种安装在包括舱室和发动机的车辆上的计算机化系统中的方法。 该系统包括对可见光敏感的可视（VIS）相机，安装在机舱内的VIS相机，其中VIS相机连续实时获取包括VIS相机视场内的物体的VIS图像的多个图像帧，以及 在车辆的环境中。 该系统还包括安装在发动机前面的车辆上的FIR照相机，其中FIR照相机在FIR照相机的视野内实时地连续地获取包括物体的FIR图像的实时多个FIR图像帧，并且在 机动车。 同时处理FIR图像和VIS图像，从而当对象存在于环境中时产生检测到的对象。

公开(公告)号：US20070230792A1

公开(公告)日：2007-10-04

申请号：US10599635

申请日：2005-04-07

申请人： Amnon Shashua ,  Yoram Gdalyahu ,  Gabi Hayon ( Avni)

发明人： Amnon Shashua ,  Yoram Gdalyahu ,  Gabi Hayon ( Avni)

IPC分类号： G06K9/00

CPC分类号： G06K9/00369 ,  G06K9/4642 ,  G06K9/6292

摘要： A classifier for determining whether an instance belongs to a particular class of instances of a plurality of classes, the classifier comprising: a plurality of first classifiers that operate on an instance to provide an indication as to which class the instance belongs, each of which classifiers is trained on a different subset of training instances from a same set of training instances wherein each training subset comprises a group of training instances that share at least one characteristic trait and different subsets have a different at least one characteristic trait; and a second classifier that operates on the indications provided by the first classifiers to provide an indication as to which class the instance belongs.

摘要翻译： 一种用于确定实例是否属于多个类的特定类的实例的分类器，所述分类器包括：多个第一分类器，其在实例上操作以提供关于所述实例所属于哪个类别的指示，每个分类器 从训练实例的不同子集训练训练实例，其中每个训练子集包括一组共享至少一个特征性状的训练实例，并且不同子集具有不同的至少一个特征特征; 以及第二分类器，其对由第一分类器提供的指示进行操作，以提供关于实例所属于哪个类别的指示。

公开(公告)号：US09183447B1

公开(公告)日：2015-11-10

申请号：US13493136

申请日：2012-06-11

申请人： Yoram Gdalyahu ,  Harel Livyatan ,  Oded Schwarz ,  Yoav Taieb ,  Gideon P. Stein ,  Kfir Viente

发明人： Yoram Gdalyahu ,  Harel Livyatan ,  Oded Schwarz ,  Yoav Taieb ,  Gideon P. Stein ,  Kfir Viente

IPC分类号： G06K9/62 ,  G06K9/00

CPC分类号： G06K9/00805 ,  G06K9/00369 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/00825 ,  G06K9/3241 ,  G06K9/6255 ,  G06T7/003 ,  G06T7/0081 ,  G06T2207/20081 ,  G06T2207/30196 ,  G06T2207/30236 ,  G06T2207/30261 ,  G06T2210/21

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).

摘要翻译： 摄像机视野中物体的分类。 处理器被配置为从相机捕获多个图像帧。 在图像帧中检测候选图像。 通过将候选图像输入训练对齐分类器并输出与候选图像相关联的一个或多个对准变量，来相对于至少一个先前已知的训练图像来确定候选图像的对准。 候选图像和对准变量被输入到训练对象分类器中。 响应于对准变量对象进行分类。

公开(公告)号：US08378851B2

公开(公告)日：2013-02-19

申请号：US12843368

申请日：2010-07-26

申请人： Gideon Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Livyatan

发明人： Gideon Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Livyatan

IPC分类号： G08G1/107 ,  G06K9/00 ,  H04N7/18

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/304 ,  B60R2300/8033 ,  B60R2300/804 ,  B60R2300/8053 ,  B60R2300/8093 ,  G06K9/00369 ,  G06K9/00825 ,  G06K9/2018 ,  G06K9/209 ,  G06K9/6289 ,  G06T7/246 ,  G06T2207/10048 ,  G06T2207/30261 ,  G08G1/167

摘要： A vehicle warning system that includes: a first camera mounted on the vehicle at a first longitudinal position along the length of the vehicle, which acquires consecutively in real time a plurality of first camera image frames; a second camera mounted on the vehicle at a second longitudinal position along the length of the vehicle, which acquires second camera image frames; and a processor configured to use information in both first and second camera image frames to determine whether there is a danger of a collision between the vehicle and an object shown in both the first and second camera images. The first and second longitudinal positions may be at different positions along the length of the vehicle.

摘要翻译： 一种车辆警告系统，包括：第一照相机，其沿着所述车辆的长度在第一纵向位置处安装在所述车辆上，所述第一照相机连续地实时获取多个第一照相机图像帧; 第二摄像机，其沿着所述车辆的长度在第二纵向位置处安装在所述车辆上，所述第二摄像机获取第二摄像机图像帧; 以及处理器，被配置为使用第一和第二相机图像帧中的信息来确定是否存在车辆与第一和第二相机图像中所示的对象之间的碰撞的危险。 第一和第二纵向位置可以沿着车辆的长度在不同的位置。

公开(公告)号：US20110018700A1

公开(公告)日：2011-01-27

申请号：US12843368

申请日：2010-07-26

申请人： Gideon Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Livyatan

发明人： Gideon Stein ,  Amnon Shashua ,  Yoram Gdalyahu ,  Harel Livyatan

IPC分类号： B60Q1/00

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/304 ,  B60R2300/8033 ,  B60R2300/804 ,  B60R2300/8053 ,  B60R2300/8093 ,  G06K9/00369 ,  G06K9/00825 ,  G06K9/2018 ,  G06K9/209 ,  G06K9/6289 ,  G06T7/246 ,  G06T2207/10048 ,  G06T2207/30261 ,  G08G1/167

摘要： A vehicle warning system that includes: a first camera mounted on the vehicle at a first longitudinal position along the length of the vehicle, which acquires consecutively in real time a plurality of first camera image frames; a second camera mounted on the vehicle at a second longitudinal position along the length of the vehicle, which acquires second camera image frames; and a processor configured to use information in both first and second camera image frames to determine whether there is a danger of a collision between the vehicle and an object shown in both the first and second camera images. The first and second longitudinal positions may be at different positions along the length of the vehicle.

摘要翻译： 一种车辆警告系统，包括：第一照相机，其沿着所述车辆的长度在第一纵向位置处安装在所述车辆上，所述第一照相机连续地实时获取多个第一照相机图像帧; 第二摄像机，其沿着所述车辆的长度在第二纵向位置处安装在所述车辆上，所述第二摄像机获取第二摄像机图像帧; 以及处理器，被配置为使用第一和第二相机图像帧中的信息来确定是否存在车辆与第一和第二相机图像中所示的对象之间的碰撞的危险。 第一和第二纵向位置可以沿着车辆的长度在不同的位置。