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    VEHICLE VISION SYSTEM WITH OBJECT DETECTION
    41.
    发明申请
    VEHICLE VISION SYSTEM WITH OBJECT DETECTION 审中-公开

    公开(公告)号：US20190171889A1

    公开(公告)日：2019-06-06

    申请号：US16266180

    申请日：2019-02-04

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta ,  Liang Zhang

    IPC: G06K9/00 ,  G06T7/277

    CPC classification number: G06K9/00805 ,  G06T7/277 ,  G06T2207/30261

    Abstract: A vision system of a vehicle includes at least one camera disposed at a vehicle and having a field of view exterior of the vehicle, and an image processor operable to process image data captured by the camera. Responsive to image processing of captured image data, the image processor determines objects present in the field of view of the camera. The vision system processes additional frames of captured image data to enhance determination of objects of interest. The vision system initially detects an object present in the field of view of the camera and conducts hypotheses filtering and hypotheses merging and, responsive to the hypotheses merging, the system determines that the detected object is an object of interest or determines that the detected object is not an object of interest.

    METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS
    44.
    发明申请
    METHOD FOR DYNAMICALLY CALIBRATING VEHICULAR CAMERAS 审中-公开
    动态校准车辆摄像机的方法

    公开(公告)号：US20160267657A1

    公开(公告)日：2016-09-15

    申请号：US15161711

    申请日：2016-05-23

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta ,  Hilda Faraji ,  Daan He ,  Ghanshyam Rathi

    IPC: G06T7/00 ,  H04N17/00 ,  B60R1/00

    CPC classification number: B60R1/00 ,  B60R2300/105 ,  B60R2300/402 ,  B60R2300/8086 ,  B60R2300/8093 ,  G06T7/80 ,  G06T2207/30252 ,  H04N17/00 ,  H04N17/002

    Abstract: A method for dynamically correcting misalignment of a vehicular camera includes fixedly disposing a camera at a vehicle and operating the camera to acquire multiple frames of image data whilst the vehicle is moving generally in a straight line. A plurality of sets of feature points are selected in an image frame, with each set including a first feature point and a second feature point. For each set of feature points, a motion trajectory of that set's feature points is tracked in subsequent image frames. For each tracked first and second feature points, a vanishing point is established in the image plane. Based on the established vanishing point, a vanishing line is determined in the image plane. When the vanishing line is determined to be non-horizontal in the image plane, at least one of pitch, roll or yaw of the camera is adjusted to correct rotational misalignment of the camera.

    Abstract translation: 用于动态校正车辆摄像机的未对准的方法包括在车辆处固定地设置摄像机并且操作摄像机以在车辆大体上以直线移动时获取多帧图像数据。 在图像帧中选择多组特征点，其中每个集合包括第一特征点和第二特征点。 对于每组特征点，该集合的特征点的运动轨迹在随后的图像帧中被跟踪。 对于每个跟踪的第一和第二特征点，在图像平面中建立消失点。 基于已建立的消失点，在图像平面中确定消失线。 当消失线在图像平面中被确定为非水平时，调整照相机的俯仰，滚动或偏转中的至少一个以校正照相机的旋转未对准。

    VEHICLE VISION SYSTEM WITH 3D REGISTRATION FOR DISTANCE ESTIMATION
    45.
    发明申请
    VEHICLE VISION SYSTEM WITH 3D REGISTRATION FOR DISTANCE ESTIMATION 审中-公开
    具有3D注册的车辆视觉系统用于距离估计

    公开(公告)号：US20160180182A1

    公开(公告)日：2016-06-23

    申请号：US14969527

    申请日：2015-12-15

    Applicant: MAGNA ELECTRONICS INC.

    Inventor： Nikhil Gupta ,  Galina Okouneva ,  Liang Zhang

    IPC: G06K9/00 ,  G06T7/00 ,  H04N7/18 ,  G06K9/52

    CPC classification number: G06K9/00805 ,  G06T7/579 ,  G06T2207/30261

    Abstract: A vision system of a vehicle includes at least one camera configured to be disposed at a vehicle so as to have a field of view exterior of the vehicle. Responsive to image processing of captured image data and with the at least one camera disposed at the vehicle, the image processor determines a three dimensional object present in the field of view of the camera and determines a point of interest on the determined object. The vision system uses triangulation to determine an estimated location in three dimensional space of the determined point of interest. The vision system processes additional frames of captured image data to enhance the estimation of the location in three dimensional space of the determined point of interest. The image processor is operable to estimate a distance to the determined object by comparing multiple frames of captured image data.

    Abstract translation: 车辆的视觉系统包括至少一个被配置为设置在车辆上以便具有车辆外观的视场的照相机。 响应于拍摄的图像数据的图像处理和与布置在车辆处的至少一个照相机相关的图像处理器，图像处理器确定存在于相机的视场中的三维物体并且确定所确定的对象上的兴趣点。 视觉系统使用三角测量来确定所确定的感兴趣点的三维空间中的估计位置。 视觉系统处理捕获的图像数据的附加帧以增强对所确定的感兴趣点的三维空间中的位置的估计。 图像处理器可操作以通过比较捕获的图像数据的多个帧来估计到所确定的对象的距离。

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