公开(公告)号：WO2007124502A3

公开(公告)日：2007-11-01

申请号：PCT/US2007/067245

申请日：2007-04-23

Applicant: SARNOFF CORPORATION ,  SOUTHALL, John, Benjamin ,  BANSAL, Mayank ,  JAIN, Aastha ,  KUMAR, Manish ,  CAMUS, Theodore, Armand ,  DAS, Aveek, Kumar ,  FIELDS, John, Richard ,  GREENE, Gary, Alan ,  ELEDATH, Jayakrishnan

Inventor： SOUTHALL, John, Benjamin ,  BANSAL, Mayank ,  JAIN, Aastha ,  KUMAR, Manish ,  CAMUS, Theodore, Armand ,  DAS, Aveek, Kumar ,  FIELDS, John, Richard ,  GREENE, Gary, Alan ,  ELEDATH, Jayakrishnan

IPC: G05D1/02

Abstract: The present invention provides a collision avoidance apparatus and method employing stereo vision applications for adaptive vehicular control The stereo vision applications are comprised of a road detection function and a vehicle detection and tracking function. The road detection function makes use of three-dimensional point data, computed from stereo image data, to locate the road surface ahead of a host vehicle information gathered by the road detection function is used to guide the vehicle detection and tracking function, which provides lead motion data to a vehicular control system of the collision avoidance apparatus. Similar to the road detection function, stereo image data is used by the vehicle detection and tracking function to determine the depth of image scene features, thereby providing a robust means for identifying potential lead vehicles in a headway direction of the host vehicle.

公开(公告)号：WO2007124502A2

公开(公告)日：2007-11-01

申请号：PCT/US2007067245

申请日：2007-04-23

Applicant: SARNOFF CORP ,  SOUTHALL JOHN BENJAMIN ,  BANSAL MAYANK ,  JAIN AASTHA ,  KUMAR MANISH ,  CAMUS THEODORE ARMAND ,  DAS AVEEK KUMAR ,  FIELDS JOHN RICHARD ,  GREENE GARY ALAN ,  ELEDATH JAYAKRISHNAN

Inventor： SOUTHALL JOHN BENJAMIN ,  BANSAL MAYANK ,  JAIN AASTHA ,  KUMAR MANISH ,  CAMUS THEODORE ARMAND ,  DAS AVEEK KUMAR ,  FIELDS JOHN RICHARD ,  GREENE GARY ALAN ,  ELEDATH JAYAKRISHNAN

IPC: B60T7/12 ,  G08G1/16

CPC classification number: G06K9/00825 ,  B60T7/22 ,  B60T2201/089 ,  B60W30/08 ,  B60W30/095 ,  B60W30/16 ,  B60W2420/403 ,  G06K9/00201 ,  G06K9/00798 ,  G06K9/00805 ,  G06T7/285 ,  G06T7/593 ,  G08G1/167

Abstract: The present invention provides a collision avoidance apparatus and method employing stereo vision applications for adaptive vehicular control The stereo vision applications are comprised of a road detection function and a vehicle detection and tracking function. The road detection function makes use of three-dimensional point data, computed from stereo image data, to locate the road surface ahead of a host vehicle information gathered by the road detection function is used to guide the vehicle detection and tracking function, which provides lead motion data to a vehicular control system of the collision avoidance apparatus. Similar to the road detection function, stereo image data is used by the vehicle detection and tracking function to determine the depth of image scene features, thereby providing a robust means for identifying potential lead vehicles in a headway direction of the host vehicle.

Abstract translation: 本发明提供了一种采用立体视觉应用的自适应车辆控制的防碰撞装置和方法。立体视觉应用包括道路检测功能和车辆检测和跟踪功能。 道路检测功能利用立体图像数据计算出的立体点数据，定位由道路检测功能采集的主车辆信息之前的路面，用于引导车辆检测和跟踪功能，其提供铅 运动数据发送到防撞装置的车辆控制系统。 类似于道路检测功能，通过车辆检测和跟踪功能使用立体图像数据来确定图像场景特征的深度，从而提供用于识别主车辆的前进方向上的潜在的先导车辆的鲁棒的装置。

公开(公告)号：WO2005008562A3

公开(公告)日：2007-06-07

申请号：PCT/US2004022924

申请日：2004-07-16

Applicant: SARNOFF CORP ,  FIELDS JOHN RICHARD ,  SOUTHALL JOHN BENJAMIN

Inventor： FIELDS JOHN RICHARD ,  SOUTHALL JOHN BENJAMIN

IPC: G06F17/10 ,  G06K20060101 ,  G08G1/16

CPC classification number: G08G1/163

Abstract: A method and apparatus for detecting obstacles in off-road applications. A stereo camera (202) and specific image-processing techniques (300) enable a vehicle's vision system to identify durable terrain in front of the vehicle. The method uses non-dpvable residuals(NDR), where the NDR is zero for all terrain that can be easily traversed by the vehicle and greater than zero for terrain that may not be traversable by the vehicle. The method utilizes a depth map (304) having a point cloud that represents the depth to objects withm the field of view of the stereo cameras (200,202). The depth map (304) is tiled such that the point cloud data is represented by an average (smoothed) value. The method scans pixels in the smoothed depth map to find sequences of "good" points that are connected by line segments having an acceptable slope. Points that lie outside of the acceptable slope range will have an NDR that is greater than zero. The vehicle control system (306) can use the NDRs to accurately make decisions as to the trajectory of the vehicle.

Abstract translation: 一种用于检测越野应用中的障碍物的方法和装置。 立体相机（202）和特定的图像处理技术（300）使得车辆的视觉系统能够识别在车辆前方的耐用地形。 该方法使用非dpvable残差（NDR），其中对于可以容易地被车辆穿过的所有地形，NDR为零，并且对于可能不被车辆穿过的地形大于零。 该方法利用具有点云的深度图（304），该点云表示立体照相机（200,202）的视场的对象的深度。 深度图（304）被平铺，使得点云数据由平均（平滑）值表示。 该方法扫描平滑的深度图中的像素，以找到通过具有可接受的斜率的线段连接的“良好”点的序列。 位于可接受的坡度范围之外的点将具有大于零的NDR。 车辆控制系统（306）可以使用NDR来准确地做出关于车辆轨迹的决定。

公开(公告)号：WO2005008562A2

公开(公告)日：2005-01-27

申请号：PCT/US2004/022924

申请日：2004-07-16

Applicant: SARNOFF CORPORATION ,  FIELDS, John, Richard ,  SOUTHALL, John, Benjamin

Inventor： FIELDS, John, Richard ,  SOUTHALL, John, Benjamin

IPC: G06K

CPC classification number: G08G1/163 ,  G06K9/00201 ,  G06K9/00798 ,  G06K9/4671

Abstract: A method and apparatus for detecting obstacles in off-road applications. A stereo camera and specific image-processing techniques enable a vehicle's vision system to identify drivable terrain in front of the vehicle. The method uses non-drivable residuals (NDR), where the NDR is zero for all terrain that can be easily traversed by the vehicle and greater than zero for terrain that may not be traversable by the vehicle. The method utilizes a depth map having a point cloud that represents the depth to objects within the field of view of the stereo cameras. The depth map is tiled such that the point cloud data is represented by an average (smoothed) value. The method scans pixels in the smoothed depth map to find sequences of "good" points that are connected by line segments having an acceptable slope. Points that lie outside of the acceptable slope range will have an NDR that is greater than zero. The vehicle control system can use the NDRs to accurately make decisions as to the trajectory of the vehicle.

Abstract translation: 一种用于检测越野应用中的障碍物的方法和装置。 立体相机和特定的图像处理技术使得车辆的视觉系统能够识别在车辆前面的可驾驶的地形。 该方法使用不可驱动的残差（NDR），其中对于可以容易地被车辆穿过的所有地形，NDR为零，并且对于可能不被车辆行驶的地形大于零。 该方法利用具有点云的深度图，该点云代表立体照相机视场内的对象的深度。 深度图被平铺，使得点云数据由平均（平滑）值表示。 该方法扫描平滑的深度图中的像素，以找到通过具有可接受的斜率的线段连接的“良好”点的序列。 位于可接受的斜率范围之外的点将具有大于零的NDR。 车辆控制系统可以使用NDR来准确地做出关于车辆轨迹的决定。