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    BUILDING SEGMENTATION FOR DENSELY BUILT URBAN REGIONS USING AERIAL LIDAR DATA
    2.
    发明申请
    BUILDING SEGMENTATION FOR DENSELY BUILT URBAN REGIONS USING AERIAL LIDAR DATA 有权
    使用空中激光数据建立城市区域建设分类

    公开(公告)号：US20090310867A1

    公开(公告)日：2009-12-17

    申请号：US12138027

    申请日：2008-06-12

    申请人： Bogdan Calin Mihai Matei ,  Supun Samarasekera ,  Janet Yonga Kim ,  Charles Fielding Finch Karney ,  Harpreet Singh Sawhney ,  Rakesh Kumar

    发明人： Bogdan Calin Mihai Matei ,  Supun Samarasekera ,  Janet Yonga Kim ,  Charles Fielding Finch Karney ,  Harpreet Singh Sawhney ,  Rakesh Kumar

    IPC分类号： G06K9/46

    CPC分类号： G06T7/11 ,  G06T2207/10032 ,  G06T2207/30184

    摘要： A method for extracting a 3D terrain model for identifying at least buildings and terrain from LIDAR data is disclosed, comprising the steps of generating a point cloud representing terrain and buildings mapped by LIDAR; classifying points in the point cloud, the point cloud having ground and non-ground points, the non-ground points representing buildings and clutter; segmenting the non-ground points into buildings and clutter; and calculating a fit between at least one building segment and at least one rectilinear structure, wherein the fit yields the rectilinear structure with the fewest number of vertices. The step of calculating further comprises the steps of (a) calculating a fit of a rectilinear structure to the at least one building segment, wherein each of the vertices has an angle that is a multiple of 90 degrees; (b) counting the number of vertices; (c) rotating the at least one building segment about an axis by a predetermined increment; and (d) repeating steps (a)-(c) until a rectilinear structure with the least number of vertices is found.

    摘要翻译： 公开了一种用于从LIDAR数据中提取用于识别至少建筑物和地形的3D地形模型的方法，包括以下步骤：生成表示由LIDAR映射的地形和建筑物的点云; 点云分点，点云具有地面和非地面点，代表建筑物的非地面点和杂乱; 将非地面点划分为建筑物和混乱; 以及计算至少一个构建段和至少一个直线结构之间的拟合，其中所述拟合产生具有最少数量顶点的直线结构。 计算步骤还包括以下步骤：（a）计算直线结构对至少一个构建段的拟合，其中每个顶点具有90度的倍数的角度; （b）计算顶点数; （c）使所述至少一个构建段绕轴线旋转预定的增量; 和（d）重复步骤（a） - （c），直到找到具有最少顶点数的直线结构。

    Method and apparatus for real-time pedestrian detection for urban driving
    3.
    发明授权
    Method and apparatus for real-time pedestrian detection for urban driving 有权
    城市驾驶实时行人检测方法与装置

    公开(公告)号：US08861842B2

    公开(公告)日：2014-10-14

    申请号：US13022118

    申请日：2011-02-07

    申请人： Sang-Hack Jung ,  Mayank Bansal ,  Bogdan Calin Mihai Matei ,  Jayan Eledath ,  Harpreet Singh Sawhney ,  Rakesh Kumar ,  Raia Hadsell

    发明人： Sang-Hack Jung ,  Mayank Bansal ,  Bogdan Calin Mihai Matei ,  Jayan Eledath ,  Harpreet Singh Sawhney ,  Rakesh Kumar ,  Raia Hadsell

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00805 ,  G06K9/00369

    摘要： A computer implemented method for detecting the presence of one or more pedestrians in the vicinity of the vehicle is disclosed. Imagery of a scene is received from at least one image capturing device. A depth map is derived from the imagery. A plurality of pedestrian candidate regions of interest (ROIs) is detected from the depth map by matching each of the plurality of ROIs with a 3D human shape model. At least a portion of the candidate ROIs is classified by employing a cascade of classifiers tuned for a plurality of depth bands and trained on a filtered representation of data within the portion of candidate ROIs to determine whether at least one pedestrian is proximal to the vehicle.

    摘要翻译： 公开了一种用于检测车辆附近的一个或多个行人的存在的计算机实现方法。 从至少一个图像捕获装置接收场景的图像。 从图像中导出深度图。 通过将多个ROI中的每一个与3D人体形状模型进行匹配，从深度图检测多个行人候选区域（ROI）。 候选ROI的至少一部分通过采用针对多个深度带调谐的分级器级联进行分类，并且针对候选ROI部分内的数据的滤波表示进行训练，以确定至少一个行人是否靠近车辆。

    METHOD AND APPARATUS FOR REAL-TIME PEDESTRIAN DETECTION FOR URBAN DRIVING
    4.
    发明申请
    METHOD AND APPARATUS FOR REAL-TIME PEDESTRIAN DETECTION FOR URBAN DRIVING 有权
    用于城市驾驶的实时检测方法和装置

    公开(公告)号：US20110255741A1

    公开(公告)日：2011-10-20

    申请号：US13022118

    申请日：2011-02-07

    申请人： Sang-Hack Jung ,  Mayank Bansal ,  Bogdan Calin Mihai Matei ,  Jayan Eledath ,  Harpreet Singh Sawhney ,  Rakesh Kumar ,  Raia Hadsell

    发明人： Sang-Hack Jung ,  Mayank Bansal ,  Bogdan Calin Mihai Matei ,  Jayan Eledath ,  Harpreet Singh Sawhney ,  Rakesh Kumar ,  Raia Hadsell

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00805 ,  G06K9/00369

    摘要： A computer implemented method for detecting the presence of one or more pedestrians in the vicinity of the vehicle is disclosed. Imagery of a scene is received from at least one image capturing device. A depth map is derived from the imagery. A plurality of pedestrian candidate regions of interest (ROIs) is detected from the depth map by matching each of the plurality of ROIs with a 3D human shape model. At least a portion of the candidate ROIs is classified by employing a cascade of classifiers tuned for a plurality of depth bands and trained on a filtered representation of data within the portion of candidate ROIs to determine whether at least one pedestrian is proximal to the vehicle.

    摘要翻译： 公开了一种用于检测车辆附近的一个或多个行人的存在的计算机实现方法。 从至少一个图像捕获装置接收场景的图像。 从图像中导出深度图。 通过将多个ROI中的每一个与3D人体形状模型进行匹配，从深度图检测多个行人候选区域（ROI）。 候选ROI的至少一部分通过采用针对多个深度带调谐的分级器级联进行分类，并且针对候选ROI部分内的数据的滤波表示进行训练，以确定至少一个行人是否靠近车辆。

    Building segmentation for densely built urban regions using aerial LIDAR data
    5.
    发明授权
    Building segmentation for densely built urban regions using aerial LIDAR data 有权
    使用航空LIDAR数据建造高密度城市地区的分段

    公开(公告)号：US08224097B2

    公开(公告)日：2012-07-17

    申请号：US12138027

    申请日：2008-06-12

    申请人： Bogdan Calin Mihai Matei ,  Supun Samarasekera ,  Janet Yonga Kim ,  Charles Fielding Finch Karney ,  Harpreet Singh Sawhney ,  Rakesh Kumar

    发明人： Bogdan Calin Mihai Matei ,  Supun Samarasekera ,  Janet Yonga Kim ,  Charles Fielding Finch Karney ,  Harpreet Singh Sawhney ,  Rakesh Kumar

    IPC分类号： G06K9/46 ,  G06K9/34

    CPC分类号： G06T7/11 ,  G06T2207/10032 ,  G06T2207/30184

    摘要： A method for extracting a 3D terrain model for identifying at least buildings and terrain from LIDAR data is disclosed, comprising the steps of generating a point cloud representing terrain and buildings mapped by LIDAR; classifying points in the point cloud, the point cloud having ground and non-ground points, the non-ground points representing buildings and clutter; segmenting the non-ground points into buildings and clutter; and calculating a fit between at least one building segment and at least one rectilinear structure, wherein the fit yields the rectilinear structure with the fewest number of vertices. The step of calculating further comprises the steps of (a) calculating a fit of a rectilinear structure to the at least one building segment, wherein each of the vertices has an angle that is a multiple of 90 degrees; (b) counting the number of vertices; (c) rotating the at least one building segment about an axis by a predetermined increment; and (d) repeating steps (a)-(c) until a rectilinear structure with the least number of vertices is found.

    摘要翻译： 公开了一种用于从LIDAR数据中提取用于识别至少建筑物和地形的3D地形模型的方法，包括以下步骤：生成表示由LIDAR映射的地形和建筑物的点云; 点云分点，点云具有地面和非地面点，代表建筑物的非地面点和杂乱; 将非地面点划分为建筑物和混乱; 以及计算至少一个构建段和至少一个直线结构之间的拟合，其中所述拟合产生具有最少数量顶点的直线结构。 计算步骤还包括以下步骤：（a）计算直线结构对至少一个构建段的拟合，其中每个顶点具有90度的倍数的角度; （b）计算顶点数; （c）使所述至少一个构建段绕轴线旋转预定的增量; 和（d）重复步骤（a） - （c），直到找到具有最少顶点数的直线结构。

    Method and apparatus for inferring the geographic location of captured scene depictions
    6.
    发明授权
    Method and apparatus for inferring the geographic location of captured scene depictions 有权
    用于推断拍摄场景描述的地理位置的方法和装置

    公开(公告)号：US08989483B2

    公开(公告)日：2015-03-24

    申请号：US13493654

    申请日：2012-06-11

    申请人： Hui Cheng ,  Harpreet Singh Sawhney ,  Bogdan Calin Mihai Matei ,  Zhiwei Zhu ,  Nicholas John Vander Valk

    发明人： Hui Cheng ,  Harpreet Singh Sawhney ,  Bogdan Calin Mihai Matei ,  Zhiwei Zhu ,  Nicholas John Vander Valk

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00671

    摘要： A method and apparatus for determining a geographic location of a scene in a captured depiction comprising extracting a first set of features from the captured depiction by algorithmically analyzing the captured depiction, matching the extracted features of the captured depiction against a second set of extracted features associated with reference depictions with known geographic locations and when the matching is successful, identifying the geographic location of the scene in the captured depiction based on a known geographic location of a matching reference depiction from the reference depictions.

    摘要翻译： 一种用于确定拍摄描述中的场景的地理位置的方法和装置，包括通过对所捕获的描绘进行算法分析来提取所捕获的描述中的第一组特征，将所提取的描绘的特征与所提取的特征相关联的第二组进行匹配 具有已知地理位置的参考描述，并且当匹配成功时，基于来自参考描述的匹配参考描述的已知地理位置来识别所捕获的描绘中场景的地理位置。