公开(公告)号：US08634593B2

公开(公告)日：2014-01-21

申请号：US12474594

申请日：2009-05-29

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W2420/42 ,  G06K9/4652 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images wherein each image comprises a plurality of pixels, utilizing a texture-less processing scheme to analyze the images including filtering the image to separate portions of the image indicating a clear surface upon which a potential road surface can be estimated from other portions of the image that do not indicate a potential road surface. The clear path is determined based upon the clear surface and the clear path is utilized to operate the vehicle.

摘要翻译： 利用对位于车辆上的相机装置产生的多个图像的分析来检测车辆的清晰行驶路径的方法包括监视其中每个图像包括多个像素的图像，利用无纹理处理方案来分析 图像包括过滤图像以分离图像的指示清晰表面的部分，在该清晰表面上，可以从图像的不指示潜在路面的其他部分估计潜在路面。 基于透明表面确定清除路径，并且利用清除路径来操作车辆。

公开(公告)号：US08421859B2

公开(公告)日：2013-04-16

申请号：US12581687

申请日：2009-10-19

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： H04N7/00 ,  H04N7/18 ,  G08G1/123 ,  G06K9/00 ,  G06K9/62 ,  G06K9/34 ,  G06K9/38 ,  G05D1/00 ,  G05D3/00 ,  G05D22/00 ,  G06F7/00 ,  G06F17/00

CPC分类号： B60W30/09 ,  B60W2420/42 ,  G06K9/00798 ,  G06K9/4652 ,  G08G1/165 ,  G08G1/166

摘要： A method for detecting a clear path of travel for a vehicle using an image generated by a camera includes monitoring the image, and utilizing a first patch-based analysis of the image including dividing the image into a plurality of patches, and analyzing each patch to determine a first clear path confidence likelihood for each of the patches of the first patch-based analysis. Each of the patches with the first clear path confidence likelihood greater than a first threshold confidence likelihood is defined as a clear path patch. A second analysis is utilized upon a portion of the patches with the first clear path confidence not greater than the first threshold confidence likelihood to determine a second clear path confidence likelihood for each of the patches of the second analysis. Each of the patches of the second analysis with the second clear path confidence likelihood greater than a second threshold confidence likelihood is defined as a clear path patch. The clear path of travel for the vehicle is identified based upon the clear path patches.

摘要翻译： 使用由照相机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，并且利用对图像进行的第一基于补丁的分析，包括将图像分成多个补片，并且将每个补丁分析到 确定第一基于补丁的分析的每个补丁的第一清除路径置信度。 具有大于第一阈值置信度的第一清除路径置信度的每个补丁被定义为清除路径补丁。 利用具有第一清除路径置信度的第一分析被用于不大于第一阈值置信度，以确定第二分析的每个补丁的第二清除路径置信似然。 将具有大于第二阈值置信度的第二清除路径置信度的第二分析的每个补丁定义为清除路径补丁。 基于清晰路径补丁来识别车辆的清晰行驶路径。

公开(公告)号：US20110304444A1

公开(公告)日：2011-12-15

申请号：US12816070

申请日：2010-06-15

申请人： Wende Zhang ,  Sanjeev M. Naik ,  Cem U. Saraydar

发明人： Wende Zhang ,  Sanjeev M. Naik ,  Cem U. Saraydar

IPC分类号： B60Q7/00

CPC分类号： B60R1/00 ,  B60K35/00 ,  B60K2350/1068 ,  B60K2350/352 ,  B60K2350/357 ,  B60R11/04 ,  G08B21/06 ,  G08G1/165 ,  G08G1/167

摘要： A method and system for integrating a camera-equipped handheld mobile device with a vehicle's electronic systems, such that the imaging capabilities of the mobile device can be utilized by the vehicle, and information from vehicle's systems can be utilized by the mobile device. The mobile device is placed in a mounting fixture, which can provide power to the mobile device, and is designed to dynamically aim the mobile device's camera based on driving conditions. The mobile device can communicate with the vehicle's systems wirelessly, or via a wired connection. Images from the mobile device's camera are provided to a processor onboard the vehicle, and can be used by vehicle safety and convenience systems. The mobile device can also receive information from the vehicle and use the information in applications on the mobile device. Computing workload can be shared between the vehicle's processor and the mobile device.

摘要翻译： 一种用于将配备有相机的手持式移动设备与车辆电子系统集成的方法和系统，使得移动设备的成像能力可被车辆利用，并且来自车辆系统的信息可被移动设备利用。 移动设备被放置在安装夹具中，其可以向移动设备提供电力，并且被设计成基于驾驶条件来动态地瞄准移动设备的摄像机。 移动设备可以无线地或通过有线连接与车辆的系统通信。 来自移动设备相机的图像被提供给车辆上的处理器，并且可以被车辆安全和方便的系统使用。 移动设备还可以从车辆接收信息并且使用移动设备上的应用中的信息。 计算工作量可以在车辆处理器和移动设备之间共享。

公开(公告)号：US08605947B2

公开(公告)日：2013-12-10

申请号：US12581838

申请日：2009-10-19

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  B60W2420/42 ,  G06K9/00798 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： Method for detecting a clear path of travel for a host vehicle including fusion of clear path detection by image analysis and detection of an object within an operating environment of the host vehicle including monitoring an image from a camera device, analyzing the image through clear path detection analysis to determine a clear path of travel within the image, monitoring sensor data describing the object, analyzing the sensor data to determine an impact of the object to the clear path, utilizing the determined impact of the object to describe an enhanced clear path of travel, and utilizing the enhanced clear path of travel to navigate the host vehicle.

摘要翻译： 用于检测主车辆的清晰行驶路线的方法，包括通过图像分析进行的清晰路径检测和在本车辆的操作环境内的物体的检测的融合，包括监控来自相机装置的图像，通过清晰路径检测分析图像 分析以确定图像内的清晰的行进路径，监测描述对象的传感器数据，分析传感器数据以确定对象对清晰路径的影响，利用所确定的对象的影响来描述增强的行进路线 并利用增强的清晰行进路径来导航主车辆。

公开(公告)号：US20130113935A1

公开(公告)日：2013-05-09

申请号：US13291314

申请日：2011-11-08

申请人： Sanjeev M. Naik ,  Wende Zhang ,  Shuqing Zeng

发明人： Sanjeev M. Naik ,  Wende Zhang ,  Shuqing Zeng

IPC分类号： H04N7/18 ,  G03B15/02

CPC分类号： B60Q1/085 ,  B60Q2300/45

摘要： An active vision system includes an image capture device for capturing images in a region exterior of a vehicle and a headlamp control unit for controlling a vehicle headlamp beam for illuminating an environment exterior of a vehicle. The headlamp control unit is configured to selectively illuminate between making a path of travel of a road visible to a driver of the vehicle and making the region exterior of the vehicle visible for capturing images by the image capture device. The headlamp control unit utilizes a duty cycle for controlling a first cycle time that the headlamp beam illuminates the path of travel for making the road visible to the driver and for controlling a second cycle time that the headlamp beam makes the captured region visible for capturing images by the image capture device.

摘要翻译： 主动视觉系统包括用于拍摄车辆外部区域的图像的图像捕获装置和用于控制用于照亮车辆外部环境的车辆前照灯光束的前照灯控制单元。 前照灯控制单元被配置为在通过图像捕获装置捕获图像之间，使得车辆的驾驶员可以看到的道路行驶路径和车辆外部区域之间选择性地照亮。 前照灯控制单元利用占空比来控制前照灯光束照亮行进路径的第一周期时间，以使得道路对驾驶员可见，并且用于控制前照灯束使拍摄区域可见以捕获图像的第二周期时间 由图像捕获设备。

公开(公告)号：US20100098290A1

公开(公告)日：2010-04-22

申请号：US12581846

申请日：2009-10-19

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： G06K9/00 ,  G01C21/34 ,  B62D6/00

CPC分类号： G06K9/00798 ,  B60W30/00 ,  B60W2420/42 ,  G08G1/165 ,  G08G1/166

摘要： A method for detecting a clear path of travel for a vehicle wherein the detecting includes a fusion of a plurality of analyses including monitoring an image from a camera device includes analyzing the image through clear path detection analysis to determine a clear path of travel within the image, analyzing an area in front of the vehicle utilizing a topographical variation analysis to determine a flat surface upon which the vehicle can travel, combining the clear path of travel and the determined flat surface to describe an enhanced clear path of travel, and utilizing the enhanced clear path of travel to navigate the vehicle.

摘要翻译： 一种用于检测车辆的清晰行进路径的方法，其中所述检测包括多个分析的融合，包括监视来自照相机设备的图像，包括通过清晰路径检测分析来分析图像，以确定图像内的清晰行进路径 使用地形变化分析来分析车辆前方的区域，以确定车辆可以在其上行进的平坦表面，将清晰的行进路径与所确定的平坦表面组合以描述增强的清晰行驶路径，并且利用增强的 明确的旅行路线来浏览车辆。

公开(公告)号：US20090295917A1

公开(公告)日：2009-12-03

申请号：US12474594

申请日：2009-05-29

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： H04N7/18 ,  G09G5/02

CPC分类号： G06K9/00798 ,  B60W2420/42 ,  G06K9/4652 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images wherein each image comprises a plurality of pixels, utilizing a texture-less processing scheme to analyze the images including filtering the image to separate portions of the image indicating a clear surface upon which a potential road surface can be estimated from other portions of the image that do not indicate a potential road surface. The clear path is determined based upon the clear surface and the clear path is utilized to operate the vehicle.

摘要翻译： 利用对位于车辆上的相机装置产生的多个图像的分析来检测车辆的清晰行驶路径的方法包括监视其中每个图像包括多个像素的图像，利用无纹理处理方案来分析 图像包括过滤图像以分离图像的指示清晰表面的部分，在该清晰表面上，可以从图像的不指示潜在路面的其他部分估计潜在路面。 基于透明表面确定清除路径，并且利用清除路径来操作车辆。

公开(公告)号：US20090268948A1

公开(公告)日：2009-10-29

申请号：US12474577

申请日：2009-05-29

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： G06K9/00

CPC分类号： G06K9/6211 ,  G06K9/00798 ,  G08G1/165 ,  G08G1/166

摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images wherein each image comprises a plurality of pixels, identifying a set of interest points from the plurality of pixels in a current image, finding their corresponding points in a preceding image through correspondence matching, filtering the matched pairs of interest points to select a preferential set of matched pairs, generating a three dimensional map of features in the view based upon the preferential set of matched pairs, determining the clear path based upon the mapped features, and utilizing the clear path to operate the vehicle.

摘要翻译： 利用对位于车辆上的相机装置生成的多个图像的分析来检测用于车辆的清晰行进路径的方法包括监视其中每个图像包括多个像素的图像，从多个像素识别一组感兴趣点 的当前图像中的像素，通过对应匹配找到其在先前图像中的对应点，对匹配的兴趣点对进行滤波以选择优选的匹配对组，基于优先集合生成视图中的特征的三维图 的匹配对，基于映射的特征确定清除路径，以及利用清除路径来操作车辆。

公开(公告)号：US08751154B2

公开(公告)日：2014-06-10

申请号：US12581849

申请日：2009-10-19

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： G01C22/00 ,  G05D1/00 ,  G06F19/00 ,  G06G7/70 ,  G06G7/76 ,  G08G1/00 ,  H04N7/00 ,  H04N7/18

CPC分类号： G08G1/00 ,  B60W30/09 ,  B60W2420/42 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00818 ,  G06K9/00825 ,  G08G1/163

摘要： A method for detecting a clear path of travel for a vehicle utilizing analysis of a plurality of images generated by a camera device located upon the vehicle includes monitoring the images. The images are analyzed including determining a clear path upon which a potential road surface can be estimated from other portions of the images that do not indicate a potential road surface, and determining an image of a traffic infrastructure indication. The method further includes determining the content of the traffic infrastructure indication, modifying the clear path based upon the content of the traffic infrastructure indication, and utilizing the modified clear path in navigation of the vehicle.

摘要翻译： 利用对位于车辆上的相机装置生成的多个图像的分析来检测用于车辆的清晰行驶路径的方法包括监视图像。 分析图像，包括确定清晰路径，在该清晰路径上，可以从图像的不指示潜在路面的其他部分估计潜在路面，以及确定交通基础设施指示的图像。 该方法还包括确定业务基础设施指示的内容，基于业务基础设施指示的内容修改清除路径，以及利用车辆导航中的修改的清除路径。

公开(公告)号：US08259174B2

公开(公告)日：2012-09-04

申请号：US12367305

申请日：2009-02-06

申请人： Wende Zhang ,  Sanjeev M. Naik

发明人： Wende Zhang ,  Sanjeev M. Naik

IPC分类号： H04N7/18 ,  H04N5/228 ,  G06K9/00

CPC分类号： G06K9/4647 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20068 ,  G06T2207/30256

摘要： A method for estimating the horizon in an image of a camera to provide camera auto-calibration in the pitch direction. The method includes taking an image of a scene and generating a texture map of the image using horizontal edge detection analysis to locate horizontal edges in the scene. The method also includes providing a motion map by providing image differencing between subsequent images to find areas in the scene with no motion while the vehicle is moving. The texture map and the motion map are combined to identify the areas in the image that do not move and contain horizontal edges. A horizontal projection is generated from the combined map by counting white dots in the map in the horizontal direction. The horizontal projection is smoothed to eliminate noise and the location of the horizon is estimated in the image by identifying the maximum peak in the horizontal projection.

摘要翻译： 一种用于估计相机图像中的水平线以在俯仰方向上提供相机自动校准的方法。 该方法包括拍摄场景的图像并使用水平边缘检测分析生成图像的纹理图，以定位场景中的水平边缘。 该方法还包括通过在随后的图像之间提供图像差分来提供运动图，以便在车辆运动时无动作地寻找场景中的区域。 组合纹理图和运动图以识别图像中不移动并包含水平边缘的区域。 通过在水平方向上计数地图中的白点，从组合地图生成水平投影。 水平投影被平滑以消除噪声，并且通过识别水平投影中的最大峰值来估计图像中的水平位置。