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    Vehicle vision system with structure and motion estimation
    113.
    发明授权
    Vehicle vision system with structure and motion estimation 有权

    公开(公告)号：US09898671B2

    公开(公告)日：2018-02-20

    申请号：US15150843

    申请日：2016-05-10

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta ,  Liang Zhang

    IPC: G06K9/00 ,  B60R1/00 ,  G06T7/246 ,  B60R11/04

    CPC classification number: G06K9/00805 ,  B60R1/00 ,  B60R11/04 ,  B60R2300/105 ,  B60R2300/307 ,  B60R2300/8093 ,  G06T7/246 ,  G06T2207/30261

    Abstract: A vision system of a vehicle includes a camera disposed at the vehicle and having a field of view exterior of the vehicle. A control has an image processor that is operable, via image processing of frames of image data captured by the camera, to detect an object present in the field of view of the camera. When the vehicle is moving, the control, responsive at least in part to vehicle motion information and image processing of frames of captured image data, determines motion of the detected object relative to the moving vehicle. The control determines the relative motion of the detected object by (i) determining corresponding object points in at least two frames of captured image data, (ii) estimating object motion trajectory of the detected object responsive to the determination of corresponding object points and (iii) determining the structure of the detected object along the estimated object motion trajectory.

    VEHICLE PARKING ASSIST SYSTEM WITH VISION-BASED PARKING SPACE DETECTION
    114.
    发明申请
    VEHICLE PARKING ASSIST SYSTEM WITH VISION-BASED PARKING SPACE DETECTION 审中-公开
    具有基于视觉停放空间检测的车辆停车辅助系统

    公开(公告)号：US20170017848A1

    公开(公告)日：2017-01-19

    申请号：US15210223

    申请日：2016-07-14

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta ,  Eduardo R. Corral-Soto

    IPC: G06K9/00 ,  G08G1/14 ,  G05D1/02

    CPC classification number: G06K9/00812 ,  B60W30/06 ,  G05D1/0246 ,  G06K9/00798 ,  G08G1/0962 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167 ,  G08G1/168

    Abstract: A parking assist system of a vehicle includes a camera that, when disposed at the vehicle, has a field of view exterior of the vehicle. An image processor is operable to process image data captured by the camera to detect parking space markers indicative of a parking space and to identify empty or available parking spaces. The image processor includes a parking space detection algorithm that detects parking space markers by (i) extracting low level features from captured image data, (ii) classifying pixels as being part of a parking space line or not part of a parking space line, (iii) performing spatial line fitting to find lines in the captured images and to apply parking space geometry constraints, and (iv) detecting and selecting rectangles in the captured images.

    Abstract translation: 车辆的停车辅助系统包括：相机，当设置在车辆处时，具有车辆外部的视场。 图像处理器可操作以处理由相机捕捉的图像数据，以检测指示停车位的停车空间标记并识别空的或可用的停车位。 图像处理器包括：停车位检测算法，其通过以下步骤来检测停车位标记：（i）从捕获的图像数据中提取低级特征，（ii）将像素分类为停车空间线的一部分或不是停车空间线的一部分（ iii）执行空间线拟合以在捕获的图像中找到线并且应用停车空间几何约束，以及（iv）在所捕获的图像中检测和选择矩形。

    VEHICLE VISION SYSTEM WITH CROSS TRAFFIC DETECTION
    115.
    发明申请
    VEHICLE VISION SYSTEM WITH CROSS TRAFFIC DETECTION 审中-公开
    具有交叉检测功能的车辆视觉系统

    公开(公告)号：US20150179074A1

    公开(公告)日：2015-06-25

    申请号：US14573307

    申请日：2014-12-17

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta

    IPC: G08G1/16 ,  H04N7/18

    CPC classification number: G08G1/166 ,  H04N7/183

    Abstract: A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view exterior of the vehicle. The camera may have a wide angle lens with more distortion at the side regions of the field of view than at a center region of the field of view. An image processor processes captured image data to determine gradient information of captured image data, and responsive to processing gradient information, determines a potential cross traffic object at one of the side regions of the field of view. The image processor processes multiple frames of captured image data to determine movement of an upper portion and a lower portion of a gradient of the determined potential cross traffic object and, responsive to such processing, determines if the detected potential cross traffic object is a cross traffic object that is moving into the path of the vehicle.

    Abstract translation: 车辆的视觉系统包括设置在车辆处并且具有车辆外观的视场的照相机。 相机可以具有在视场的侧部区域处比在视野的中心区域具有更大失真的广角镜头。 图像处理器处理捕获的图像数据以确定捕获的图像数据的梯度信息，并且响应于处理梯度信息，在视场的一个侧面区域确定潜在的交叉物体对象。 图像处理器处理多帧捕获的图像数据以确定所确定的潜在交叉物体对象的梯度的上部和下部的移动，并且响应于这种处理，确定检测到的潜在交叉对象是否是交叉流量 正在进入车辆路径的物体。

    VEHICLE VISION SYSTEM WITH ENHANCED PEDESTRIAN DETECTION
    116.
    发明申请
    VEHICLE VISION SYSTEM WITH ENHANCED PEDESTRIAN DETECTION 审中-公开
    车辆视觉系统与增强的检测

    公开(公告)号：US20150178576A1

    公开(公告)日：2015-06-25

    申请号：US14573306

    申请日：2014-12-17

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta

    IPC: G06K9/00 ,  G06T7/00 ,  H04N5/232

    CPC classification number: G06K9/00805 ,  G06K9/00369 ,  G06K2209/21 ,  H04N5/23238

    Abstract: A vision system of a vehicle includes a camera disposed at a vehicle and having a field of view that encompasses first and second regions exterior of the vehicle. The camera captures image data that includes a first set of image data representative of the first region of the field of view and a second set of image data representative of the second region of the field of view. An image processor processes the first set of image data to detect a pedestrian present in the first region based on a first predetermined orientation of a pedestrian. The image processor processes the second set of image data to detect a pedestrian present in the second region based on a second predetermined orientation of a pedestrian.

    Abstract translation: 车辆的视觉系统包括设置在车辆处并具有涵盖车辆外部的第一和第二区域的视场的照相机。 相机捕获包括表示视场的第一区域的第一组图像数据的图像数据和表示视场的第二区域的第二组图像数据。 图像处理器基于步行者的第一预定取向来处理第一组图像数据以检测存在于第一区域中的行人。 图像处理器处理第二组图像数据，以基于步行者的第二预定取向来检测存在于第二区域中的行人。

    MULTI-CAMERA DYNAMIC TOP VIEW VISION SYSTEM
    117.
    发明申请
    MULTI-CAMERA DYNAMIC TOP VIEW VISION SYSTEM 审中-公开
    多摄像机动态顶视图系统

    公开(公告)号：US20140247352A1

    公开(公告)日：2014-09-04

    申请号：US14191512

    申请日：2014-02-27

    Applicant: Magna Electronics Inc.

    Inventor： Ghanshyam Rathi ,  Hilda Faraji ,  Nikhil Gupta ,  Christian Traub ,  Michael Schaffner ,  Goerg Pflug

    IPC: B60R1/00 ,  G06K9/00 ,  H04N5/265

    CPC classification number: B60R1/00 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/607 ,  G06K9/00791 ,  G06K9/00798 ,  G06K9/00805 ,  G06T3/4038 ,  H04N5/2258 ,  H04N5/23229

    Abstract: A dynamic image stitching system for stitching images captured by multiple cameras of a vision system of a vehicle includes a first camera disposed at a vehicle and having a first field of view exterior the vehicle and a second camera disposed at the vehicle and having a second field of view exterior the vehicle. The first and second fields of view at least partially overlap. A processor is operable to process image data captured by the first and second cameras. The processor processes captured image data to determine characteristics of features or objects present in the overlapping region of the first and second fields of view. The processor is operable to adjust a stitching algorithm responsive to a determination of a difference between a characteristic of a feature as captured by the first camera and the characteristic of the feature as captured by the second camera.

    Abstract translation: 用于拼接由车辆的视觉系统的多个摄像机捕获的图像的动态图像拼接系统包括设置在车辆处并且具有车辆外部的第一视野的第一照相机和设置在车辆处的第二照相机，并且具有第二场 的外观车辆。 第一和第二视野至少部分重叠。 处理器可操作以处理由第一和第二相机捕获的图像数据。 处理器处理捕获的图像数据以确定存在于第一和第二视场的重叠区域中的特征或物体的特征。 处理器可操作以响应于确定由第一相机拍摄的特征的特征与由第二相机拍摄的特征的特征之间的差异来调整拼接算法。

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