公开(公告)号：US08294794B2

公开(公告)日：2012-10-23

申请号：US12830525

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

发明人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

IPC分类号： H04N9/64

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/007 ,  G06T7/12 ,  G06T2207/10024 ,  G06T2207/30252

摘要： A method for is provided for creating a shadow-reduced image from a captured image for distinguishing a clear path of travel. Each pixel of a captured input image is plotted according to a two dimensional logarithmic graph. A specific color set relating to an associated color value of a clear path. A linear illumination-invariant axis is determined as a function of the specific color set. An illumination direction for the linear illumination-invariant axis is determined. A log-chromaticity value of each plotted pixel of the specific color set is projected on the axis. Edges in the input image and the illumination-invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination-invariant image domain. A determination is made whether a shadow edge is present in response to comparing the edges. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于从捕获的图像创建阴影缩小图像以区分清晰的行进路径的方法。 捕获的输入图像的每个像素根据二维对数图进行绘制。 与清晰路径相关联的颜色值相关的特定颜色集。 线性照明不变轴被确定为特定颜色集合的函数。 确定线性照明不变轴的照明方向。 特定颜色集合的每个绘制像素的对数色度值投影在轴上。 识别输入图像和照明不变图像域中的边缘。 将识别的输入图像的边缘进行比较，以识别照明不变图像域中的边缘。 确定响应于比较边缘是否存在阴影边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。

公开(公告)号：US08345100B2

公开(公告)日：2013-01-01

申请号：US12830513

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

发明人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

IPC分类号： H04N7/18 ,  G06K9/40

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/008 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/30252

摘要： A method is provided for removing an illumination generated shadow in a captured image. Each pixel of the captured input image is plotted on a two dimensional logarithmic graph. A linear axis for the plurality of color sets is determined that is substantially orthogonal to a respective illumination direction of each respective color set. A log-chromaticity value of each plotted pixel is projected on the axis. An orientation of the linear axis is selected to minimize an illumination effect and provide optimum separation between each of the respective color sets on the linear axis. Edges in the input image and illumination invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination invariant image domain. A determination is made whether a shadow edge is present in response to the comparison. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于去除拍摄图像中的照明产生阴影的方法。 捕获的输入图像的每个像素绘制在二维对数图上。 确定多个颜色组的线性轴，其基本上与每个相应颜色组的相应照明方向正交。 每个绘制像素的对数色度值投影在轴上。 选择线性轴的取向以最小化照明效果并且在线性轴上的每个相应颜色集之间提供最佳间隔。 识别输入图像和照明不变图像域中的边缘。 将识别的输入图像的边缘进行比较，以识别照明不变图像域中的边缘。 确定响应于比较是否存在阴影边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。

公开(公告)号：US20120008019A1

公开(公告)日：2012-01-12

申请号：US12830513

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

发明人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

IPC分类号： H04N9/64

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/008 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/30252

摘要： A method is provided for removing an illumination generated shadow in a captured image. Each pixel of the captured input image is plotted on a two dimensional logarithmic graph. A linear axis for the plurality of color sets is determined that is substantially orthogonal to a respective illumination direction of each respective color set. A log-chromaticity value of each plotted pixel is projected on the axis. An orientation of the linear axis is selected to minimize an illumination effect and provide optimum separation between each of the respective color sets on the linear axis. Edges in the input image and illumination invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination invariant image domain. A determination is made whether a shadow edge is present in response to the comparison. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于去除拍摄图像中的照明产生阴影的方法。 捕获的输入图像的每个像素绘制在二维对数图上。 确定多个颜色组的线性轴，其基本上与每个相应颜色组的相应照明方向正交。 每个绘制像素的对数色度值投影在轴上。 选择线性轴的取向以最小化照明效果并且在线性轴上的每个相应颜色集之间提供最佳间隔。 识别输入图像和照明不变图像域中的边缘。 将识别的输入图像的边缘进行比较，以识别照明不变图像域中的边缘。 确定响应于比较是否存在阴影边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。

公开(公告)号：US20120008021A1

公开(公告)日：2012-01-12

申请号：US12830525

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

发明人： Wende Zhang ,  Qi Wu ,  Vijayakumar Bhagavatula

IPC分类号： H04N9/64

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/007 ,  G06T7/12 ,  G06T2207/10024 ,  G06T2207/30252

摘要： A method for is provided for creating a shadow-reduced image from a captured image for distinguishing a clear path of travel. Each pixel of a captured input image is plotted according to a two dimensional logarithmic graph. A specific color set relating to an associated color value of a clear path. A linear illumination-invariant axis is determined as a function of the specific color set. An illumination direction for the linear illumination-invariant axis is determined. A log-chromaticity value of each plotted pixel of the specific color set is projected on the axis. Edges in the input image and the illumination-invariant image domain are identified. The identified edges of the input image are compared to identify edges in the illumination-invariant image domain. A determination is made whether a shadow edge is present in response to comparing the edges. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于从捕获的图像创建阴影缩小图像以区分清晰的行进路径的方法。 捕获的输入图像的每个像素根据二维对数图进行绘制。 与清晰路径相关联的颜色值相关的特定颜色集。 线性照明不变轴被确定为特定颜色集合的函数。 确定线性照明不变轴的照明方向。 特定颜色集合的每个绘制像素的对数色度值投影在轴上。 识别输入图像和照明不变图像域中的边缘。 将识别的输入图像的边缘进行比较，以识别照明不变图像域中的边缘。 确定响应于比较边缘是否存在阴影边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。

公开(公告)号：US08487991B2

公开(公告)日：2013-07-16

申请号：US12581659

申请日：2009-10-19

申请人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

发明人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

IPC分类号： H04N7/00 ,  H04N7/18

CPC分类号： G06K9/00798 ,  B60W2420/42

摘要： A method for estimating a vanishing point in a roadway using a current image generated by a camera on a vehicle includes defining an exemplary vanishing point for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a vanishing point based upon the matching and the exemplary vanishing points for each of the matched sample images, and utilizing the vanishing point to navigate the vehicle.

摘要翻译： 使用车辆上的照相机产生的当前图像来估计道路中的消失点的方法包括为多个样本图像中的每一个定义示例性消失点，识别多个样本图像中的每一个内的特征，监视当前 由相机生成的图像，识别当前图像内的特征，基于当前图像内的所识别的特征以及多个样本图像中识别的特征，将当前图像与至少一个样本图像匹配，基于消失点 对于每个匹配的样本图像的匹配和示例性消失点，并且利用消失点来导航车辆。

公开(公告)号：US08611585B2

公开(公告)日：2013-12-17

申请号：US12581766

申请日：2009-10-19

申请人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

发明人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

IPC分类号： G06K9/00 ,  G01C21/00

CPC分类号： G06K9/4609 ,  B60W2420/42 ,  G06K9/00798 ,  G06K9/00805

摘要： A method for detecting a clear path of travel for a vehicle utilizing an image generated by a camera device located upon the vehicle includes monitoring the image, and generating a plurality of patches onto the image, wherein the patches are collectively arranged to substantially include the clear path of travel. Feature extraction is utilized to analyze the patches and includes convolving each of the patches with a feature detection filter generating a feature-based filter response, extracting features based upon the feature-based filter response, and determining each of the patches to represent the clear path of travel or to not represent the clear path of travel based upon the extracted features. The clear path of travel is determined based upon the plurality of patches, and is utilized to navigate the vehicle.

摘要翻译： 用于利用位于车辆上的照相机装置生成的图像来检测车辆的清晰行驶路径的方法包括监视图像，并在图像上生成多个贴片，其中所述贴片被集体布置成基本上包括清晰的 旅行路线 使用特征提取来分析补丁，并且包括使用生成基于特征的过滤器响应的特征检测过滤器对每个补丁进行卷积，基于基于特征的过滤器响应来提取特征，以及确定每个补丁以表示清除路径 的旅行或不代表基于提取的特征的明确的旅行路径。 基于多个补片确定行驶的清晰路径，并且用于导航车辆。

公开(公告)号：US20120008020A1

公开(公告)日：2012-01-12

申请号：US12830518

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu

发明人： Wende Zhang ,  Qi Wu

IPC分类号： H04N9/64

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/008 ,  G06T7/13

摘要： A method is provided for removing an illumination generated shadow in a captured image. An image is captured by an image capture device. Each pixel of the captured image is represented by a respective color value in a logarithmic graph. A non-linear illumination-invariant kernel is determined. An illumination direction for each respective color set is determined in the logarithmic graph that is orthogonal to the non-linear illumination-invariant kernel. A log-chromaticity value of each plotted pixel is projected on the non-linear illumination-invariant kernel. Edges are identified in the input image. Edges are identified in the illumination-invariant image domain. The identified edges are compared. A determination is made whether a shadow is present in response to an edge identified in the input image and an absence of a correlating edge in the illumination-invariant image domain. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于去除拍摄图像中的照明产生阴影的方法。 图像由图像捕获设备捕获。 拍摄图像的每个像素由对数图中的相应颜色值表示。 确定非线性照明不变核。 在与非线性照明不变核正交的对数图中确定每个相应颜色集合的照明方向。 每个绘制像素的对数色度值被投影在非线性照明不变核上。 边缘在输入图像中被识别。 边缘在照明不变图像域中被识别。 识别的边缘被比较。 确定响应于在输入图像中识别的边缘是否存在阴影以及照明不变图像域中是否存在相关边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。

公开(公告)号：US08890951B2

公开(公告)日：2014-11-18

申请号：US12581781

申请日：2009-10-19

申请人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

发明人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

IPC分类号： H04N7/00 ,  H04N7/18 ,  G09B9/00 ,  G06K9/00

CPC分类号： G06K9/00798 ,  B60W2420/42 ,  G06K9/00805

摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of an image generated by a camera device located upon the vehicle includes monitoring the image, identifying through patch-based clear path detection analysis of the image a first patch within the image that indicates a not clear path, analyzing the first patch through patch smoothing, invalidating the first patch based upon the analyzing the first patch through patch smoothing, utilizing the invalidated first patch to define a clear path of travel for the vehicle, and utilizing the clear path of travel to navigate the vehicle.

摘要翻译： 利用对位于车辆上的相机装置产生的图像进行分析来检测车辆的清晰路径的方法包括监视图像，通过基于图像的基于图像的清晰路径检测分析识别图像中的第一贴片来识别， 指示不清楚的路径，通过补丁平滑来分析第一贴片，基于通过贴片平滑分析第一贴片使第一贴片无效，利用无效的第一贴片来定义车辆的清晰行进路径，以及利用清晰路径 的旅行导航车辆。

公开(公告)号：US08803966B2

公开(公告)日：2014-08-12

申请号：US12581792

申请日：2009-10-19

申请人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

发明人： Wende Zhang ,  Qi Wu ,  Tsuhan Chen

IPC分类号： G06K9/60 ,  H04N7/18 ,  G06K9/00 ,  G06K9/32 ,  G06K9/66 ,  G06K9/46

CPC分类号： G06K9/6202 ,  B60W2420/42 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/3233 ,  G06K9/4609 ,  G06K9/6205 ,  G06K9/66 ,  G06T7/74

摘要： A method for detecting a clear path of travel for a vehicle using a current image generated by a camera includes defining an exemplary clear path for each of a plurality of sample images, identifying features within each of the plurality of sample images, monitoring the current image generated by the camera, identifying features within the current image, matching the current image to at least one of the sample images based upon the identified features within the current image and the identified features within the plurality of sample images, determining a clear path of travel based upon the matching and the exemplary clear path for each of the matched sample images, and utilizing the clear path of travel to navigate the vehicle.

摘要翻译： 使用由相机生成的当前图像来检测车辆的清晰行驶路径的方法包括为多个样本图像中的每一个定义示例性清晰路径，识别多个样本图像中的每一个内的特征，监视当前图像 由相机生成，识别当前图像内的特征，基于当前图像内的所识别的特征和多个样本图像中识别的特征，将当前图像与至少一个样本图像匹配，确定行进路线 基于每个匹配的样本图像的匹配和示例性清晰路径，并且利用清晰的行进路径来导航车辆。

公开(公告)号：US08319854B2

公开(公告)日：2012-11-27

申请号：US12830518

申请日：2010-07-06

申请人： Wende Zhang ,  Qi Wu

发明人： Wende Zhang ,  Qi Wu

IPC分类号： H04N5/228

CPC分类号： G06K9/00791 ,  G06K9/346 ,  G06T5/008 ,  G06T7/13

摘要： A method is provided for removing an illumination generated shadow in a captured image. An image is captured by an image capture device. Each pixel of the captured image is represented by a respective color value in a logarithmic graph. A non-linear illumination-invariant kernel is determined. An illumination direction for each respective color set is determined in the logarithmic graph that is orthogonal to the non-linear illumination-invariant kernel. A log-chromaticity value of each plotted pixel is projected on the non-linear illumination-invariant kernel. Edges are identified in the input image. Edges are identified in the illumination-invariant image domain. The identified edges are compared. A determination is made whether a shadow is present in response to an edge identified in the input image and an absence of a correlating edge in the illumination-invariant image domain. A shadow-reduced image is generated for scene analysis by a vehicle vision-based system.

摘要翻译： 提供了一种用于去除拍摄图像中的照明产生阴影的方法。 图像由图像捕获设备捕获。 拍摄图像的每个像素由对数图中的相应颜色值表示。 确定非线性照明不变核。 在与非线性照明不变核正交的对数图中确定每个相应颜色集合的照明方向。 每个绘制像素的对数色度值被投影在非线性照明不变核上。 边缘在输入图像中被识别。 边缘在照明不变图像域中被识别。 识别的边缘被比较。 确定响应于在输入图像中识别的边缘是否存在阴影以及照明不变图像域中是否存在相关边缘。 通过基于车辆视觉的系统生成用于场景分析的阴影缩小图像。