公开(公告)号：US09251708B2

公开(公告)日：2016-02-02

申请号：US13313227

申请日：2011-12-07

Applicant: Dan Rosenbaum ,  Amiad Gurman ,  Gideon Stein

Inventor： Dan Rosenbaum ,  Amiad Gurman ,  Gideon Stein

IPC: H04N7/18 ,  G08G1/16 ,  G06K9/00

CPC classification number: G08G1/166 ,  G06K9/00805 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/30261 ,  G08G1/165

Abstract: A method for providing a forward collision warning using a camera mountable in a motor vehicle. The method acquires multiple image frames at known time intervals. A patch may be selected in at least one of the image frames. Optical flow may be tracked between the image frames of multiple image points of the patch. Based on the fit of the image points to a model, a time-to collision (TTC) may be determined if a collision is expected. The image points may be fit to a road surface model and a portion of the image points is modeled to be imaged from a road surface. A collision is not expected based on the fir of the image points to the road surface model.

Abstract translation: 一种使用安装在机动车辆中的相机提供前方碰撞警告的方法。 该方法以已知的时间间隔获取多个图像帧。 可以在至少一个图像帧中选择补丁。 可以在贴片的多个图像点的图像帧之间跟踪光流。 基于图像点对模型的拟合，如果预期碰撞，则可以确定碰撞时间（TTC）。 图像点可以适合于路面模型，并且图像点的一部分被建模以从路面成像。 基于图像指向路面模型的冷杉，预计不会发生碰撞。

公开(公告)号：US20120140076A1

公开(公告)日：2012-06-07

申请号：US13313227

申请日：2011-12-07

Applicant: Dan ROSENBAUM ,  Amiad Gurman ,  Gideon Stein

Inventor： Dan ROSENBAUM ,  Amiad Gurman ,  Gideon Stein

IPC: H04N7/18

CPC classification number: G08G1/166 ,  G06K9/00805 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/30261 ,  G08G1/165

Abstract: A method for providing a forward collision warning using a camera mountable in a motor vehicle. The method acquires multiple image frames at known time intervals. A patch may be selected in at least one of the image frames. Optical flow may be tracked between the image frames of multiple image points of the patch. Based on the fit of the image points to a model, a time-to collision (TTC) may be determined if a collision is expected. The image points may be fit to a road surface model and a portion of the image points is modeled to be imaged from a road surface. A collision is not expected based on the fir of the image points to the road surface model.

Abstract translation: 一种使用安装在机动车辆中的相机提供前方碰撞警告的方法。 该方法以已知的时间间隔获取多个图像帧。 可以在至少一个图像帧中选择补丁。 可以在贴片的多个图像点的图像帧之间跟踪光流。 基于图像点对模型的拟合，如果预期碰撞，则可以确定碰撞时间（TTC）。 图像点可以适合于路面模型，并且图像点的一部分被建模以从路面成像。 基于图像指向路面模型的冷杉，预计不会发生碰撞。

公开(公告)号：US09233659B2

公开(公告)日：2016-01-12

申请号：US13455719

申请日：2012-04-25

Applicant: Dan Rosenbaum ,  Amiad Gurman ,  Yonatan Samet ,  Gideon P. Stein ,  David Aloni

Inventor： Dan Rosenbaum ,  Amiad Gurman ,  Yonatan Samet ,  Gideon P. Stein ,  David Aloni

IPC: H04N7/18 ,  B60R21/013 ,  B60W30/095 ,  G06T7/20

CPC classification number: B60R21/013 ,  B60R1/00 ,  B60R2300/8033 ,  B60W30/0956 ,  B60W2420/42 ,  G06K9/00805 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/30196 ,  G06T2207/30256 ,  G06T2207/30261

Abstract: A method is provided for preventing a collision between a motor vehicle and a pedestrian. The method uses a camera and a processor mountable in the motor vehicle. A candidate image is detected. Based on a change of scale of the candidate image, it may be determined that the motor vehicle and the pedestrian are expected to collide, thereby producing a potential collision warning. Further information from the image frames may be used to validate the potential collision warning. The validation may include an analysis of the optical flow of the candidate image, that lane markings prediction of a straight road, a calculation of the lateral motion of the pedestrian, if the pedestrian is crossing a lane mark or curb and/or if the vehicle is changing lanes.

Abstract translation: 提供一种用于防止机动车辆和行人之间的碰撞的方法。 该方法使用可安装在机动车辆中的摄像机和处理器。 检测候选图像。 基于候选图像的尺度的变化，可以确定机动车辆和行人预计会发生碰撞，从而产生潜在的碰撞警告。 来自图像帧的更多信息可以用于验证潜在的碰撞警告。 验证可以包括对候选图像的光流的分析，直道的车道标记预测，行人横向运动的计算，如果行人正在穿过车道标记或路边，和/或如果车辆 正在改变车道。

公开(公告)号：US20120314071A1

公开(公告)日：2012-12-13

申请号：US13455719

申请日：2012-04-25

Applicant: Dan Rosenbaum ,  Amiad Gurman ,  Yonatan Samet ,  Gideon P. Stein ,  David Aloni

Inventor： Dan Rosenbaum ,  Amiad Gurman ,  Yonatan Samet ,  Gideon P. Stein ,  David Aloni

IPC: H04N7/18

CPC classification number: B60R21/013 ,  B60R1/00 ,  B60R2300/8033 ,  B60W30/0956 ,  B60W2420/42 ,  G06K9/00805 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/30196 ,  G06T2207/30256 ,  G06T2207/30261

Abstract: A method is provided for preventing a collision between a motor vehicle and a pedestrian. The method uses a camera and a processor mountable in the motor vehicle. A candidate image is detected. Based on a change of scale of the candidate image, it may be determined that the motor vehicle and the pedestrian are expected to collide, thereby producing a potential collision warning. Further information from the image frames may be used to validate the potential collision warning. The validation may include an analysis of the optical flow of the candidate image, that lane markings prediction of a straight road, a calculation of the lateral motion of the pedestrian, if the pedestrian is crossing a lane mark or curb and/or if the vehicle is changing lanes.

Abstract translation: 提供一种用于防止机动车辆和行人之间的碰撞的方法。 该方法使用可安装在机动车辆中的摄像机和处理器。 检测候选图像。 基于候选图像的尺度的变化，可以确定机动车辆和行人预计会发生碰撞，从而产生潜在的碰撞警告。 来自图像帧的更多信息可以用于验证潜在的碰撞警告。 验证可以包括对候选图像的光流的分析，直道的车道标记预测，行人横向运动的计算，如果行人正在穿过车道标记或路边，和/或如果车辆 正在改变车道。