Having Image Processing Patents (Class 701/28)
  • Patent number: 10300929
    Abstract: Systems and methods are described for an adaptive user interface system for a vehicle with an automatic vehicle system. The adaptive user interface system includes a display and an electronic controller. The controller is configured to generate a graphical user interface indicative of operation of the automatic vehicle system, output the graphical user interface on the display, monitor an indicia of a driver's comfort level, and determine, based on the monitored indicia, when the driver is not comfortable with the operation of the automatic vehicle system. In response to determining that the driver is not comfortable with the operation of the automatic vehicle system, the electronic controller modifies the graphical user interface to provide an increased level of detail.
    Type: Grant
    Filed: December 30, 2015
    Date of Patent: May 28, 2019
    Assignee: Robert Bosch GmbH
    Inventors: Akos Nagy, Jan Becker, Moritz Achim Florian Dechant
  • Patent number: 10299422
    Abstract: A data processor can estimate a series of center points between the first row and the second row based on targeting substantial symmetry in the first sensor signal response and the second sensor signal response. A nozzle is associated with the sprayer implement. The nozzle has a nozzle position with respect to a corresponding center point between the rows of plants. An offset module is adapted to shift laterally the nozzle position from or with respect to each center point to a corresponding offset lateral position such that a spray pattern of the nozzle is directed toward target strip of soil or ground around or containing a plant stem, or root zone, of the plants in the row.
    Type: Grant
    Filed: May 8, 2017
    Date of Patent: May 28, 2019
    Assignee: DEERE & COMPANY
    Inventors: Tyler D. Schleicher, Noah J. Rasmussen
  • Patent number: 10296816
    Abstract: A vehicle controller receives images from a camera upon arrival and upon departure. A location of the vehicle may be tracked and images captured by the camera may be tagged with a location. A departure image may be compared to an arrival image captured closest to the same location as the arrival image. A residual image based on a difference between the arrival and departure images is evaluated for anomalies. Attributes of the anomaly such as texture, color, and the like are determined and the anomaly is classified based on the attributes. If the classification indicates an automotive fluid, then an alert is generated. A machine learning algorithm for generating classifications from image data may be trained using arrival and departure images obtained by rendering of a three-dimensional model or by adding simulated fluid leaks to two-dimensional images.
    Type: Grant
    Filed: January 11, 2017
    Date of Patent: May 21, 2019
    Assignee: FORD GLOBAL TECHNOLOGIES, LLC
    Inventors: Ashley Elizabeth Micks, Jinesh J Jain, Harpreetsingh Banvait, Bruno Sielly Jales Costa
  • Patent number: 10255510
    Abstract: Provided are a driving assistance information generating method and device, and a driving assistance system, which relate to a field of vehicle driving assistance technique. The driving assistance information generating method comprises: obtaining a depth image acquired by a depth camera and a scene image acquired by an imaging camera, the depth camera and the imaging camera being mounted on a vehicle in a manner of being registered and matched with each other, and a coverage of the depth camera and a coverage of the imaging camera being at least partially overlapped; detecting positions of respective objects appearing in the scene image by using the depth image and the scene image; and generating driving assistance information of the vehicle based on positions of the respective objects.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: April 9, 2019
    Assignees: BEIJING KUANGSHI TECHNOLOGY CO., LTD., PINHOLE (BEIJING) TECHNOLOGY CO., LTD.
    Inventors: Gang Yu, Chao Li, Qizheng He, Muge Chen, Yuxiang Peng, Qi Yin
  • Patent number: 10248125
    Abstract: Disclosed herein are a cleaning robot in which light emitting portions emitting infrared rays are installed to face forward, sideward, and upward and infrared rays which are reflected by obstacles and return are received by one light receiving module to sense obstacles to prevent an increase in manufacturing cost caused by installing a plurality of light receiving portions and simultaneously to sense obstacles located above and a method of controlling the cleaning robot. The cleaning robot including a body and a driving portion which moves the body includes at least one light emitting portion which emits light to an obstacle, a light receiving module which obtains an image signal of the obstacle by receiving the light reflected by the obstacle, and a control portion which generates obstacle sensing information based on a position of the image signal obtained by the light receiving module and controls the driving portion based on the generated obstacle sensing information.
    Type: Grant
    Filed: April 15, 2016
    Date of Patent: April 2, 2019
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Chin Woo Kang, Kyong Su Kim, Jong Seok Park, Suk Hoon Song, Kyu Ha Lee
  • Patent number: 10210401
    Abstract: Within examples, systems and methods of generating a synthetic image representative of an environment of a vehicle are described comprising generating a first image using infrared information from an infrared (IR) camera, generating a second image using laser point cloud data from a LIDAR, generating an embedded point cloud representative of the environment based on a combination of the first image and the second image, receiving navigation information traversed by the vehicle, transforming the embedded point cloud into a geo-referenced coordinate space based on the navigation information, and combining the transformed embedded point cloud with imagery of terrain of the environment to generate the synthetic image representative of the environment of the vehicle.
    Type: Grant
    Filed: June 21, 2017
    Date of Patent: February 19, 2019
    Assignee: The Boeing Company
    Inventors: Robert C. Allen, Brendan Blanton, Lauren Gresko, Rajib Mitra, Frank Vincent
  • Patent number: 10203696
    Abstract: Aspects of the disclosure relate to maneuvering a vehicle. As an example, sensor information identifying a set of objects as well as a set of characteristics for each object of the set of objects is received from a perception system of a vehicle. The set of objects is filtered to remove objects corresponding to vehicles, bicycles, and pedestrians. An object within an expected future path of the vehicle is selected from the filtered set of objects. The object is classified as drivable or not drivable based on the set of characteristics. Drivable indicates that the vehicle can drive over the object without causing damage to the vehicle. The vehicle is maneuvered based on the classification such that when the object is classified as drivable, maneuvering the vehicle includes driving the vehicle over the object by not altering the expected future path of the vehicle.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: February 12, 2019
    Assignee: Waymo LLC
    Inventors: David Ian Franklin Ferguson, Andreas Wendel, Zhinan Xu, David Harrison Silver, Brandon Douglas Luders
  • Patent number: 10165722
    Abstract: Embodiments include a ground scout having an ability to identify the location of rows of crops and the end of the rows so that it can navigate, but in other embodiments, the ground scout can also rely more on an aerial drone to navigate, to act as a communication relay system, and so on. A buddy system including a ground scout and an air scout (e.g. drone) communicate their findings with each other.
    Type: Grant
    Filed: October 23, 2015
    Date of Patent: January 1, 2019
    Assignee: DEERE & COMPANY
    Inventors: Chad A. Ackerman, Scott A. Stephens, Dolly Y. Wu, Mark A. Harris, David S. Mercer
  • Patent number: 10157322
    Abstract: A vehicular control system includes a sensor, a control, and a communication system. A projected path of travel of the vehicle is determined at least in part by processing of captured sensor data. The control determines an estimated time to arrival of another vehicle at a location that is in the projected path of travel of the equipped vehicle. The projected path of travel of the vehicle may include (i) a turn by the vehicle across a traffic lane along which the other vehicle is traveling or (ii) a turn by the vehicle into a traffic lane along which the other vehicle is traveling. Responsive at least in part to determination that the vehicle will arrive at the location at least a threshold period of time before the estimated time to arrival of the other vehicle at the location elapses, the control determines that it is safe for the vehicle to proceed.
    Type: Grant
    Filed: August 9, 2018
    Date of Patent: December 18, 2018
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Rohan J. Divekar, Paul A. VanOphem
  • Patent number: 10152886
    Abstract: A traffic light alert system for a vehicle includes a camera, a processor that processes image data captured by the camera to determine a signal status of a traffic light present ahead of the vehicle, and a global positioning system operable to determine a current geographical location of the vehicle. A display device is operable to display an iconistic traffic light representation. Responsive to determination, via processing of image data captured by the camera, that the traffic light ahead of and being approached by the vehicle has a particular signal status, a control controls the display device so that the displayed iconistic traffic light representation indicates the determined particular signal status. The control adjusts orientation of the displayed iconistic traffic light representation between horizontal orientation and vertical orientation responsive to the current geographic location of the vehicle as determined by the global positioning system of the vehicle.
    Type: Grant
    Filed: January 24, 2018
    Date of Patent: December 11, 2018
    Assignee: MAGNA ELECTRONICS INC.
    Inventor: Christian Weber
  • Patent number: 10150386
    Abstract: An autonomous vehicle seat positioning system includes a seat controller connected to a autonomous vehicle controller and a positioning mechanism of a seat assembly.
    Type: Grant
    Filed: February 27, 2017
    Date of Patent: December 11, 2018
    Assignee: Nissan North America, Inc.
    Inventor: Adrian Tan
  • Patent number: 10078335
    Abstract: Ray tracing can be used to detect hidden obstacles in an external environment of a vehicle. An outbound sensor signal can be transmitted into an external environment of the vehicle. The outbound sensor signal can be a LIDAR sensor signal. If a return sensor signal is not received for the outbound sensor signal, it can be determined whether an obstacle is located along a projected path of the outbound sensor signal. Such a determination can be made using one or more maps, such as a terrain map and/or a static obstacle map. Responsive to determining that an obstacle is located along the projected path of the outbound sensor signal, a driving maneuver for the vehicle relative to the obstacle can be determined. The vehicle can be caused to implement the determined driving maneuver.
    Type: Grant
    Filed: June 28, 2016
    Date of Patent: September 18, 2018
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventors: Xue Mei, Katsuhiro Sakai, Nobuhide Kamata
  • Patent number: 10073462
    Abstract: The invention provides an autonomous vehicle capable of driving independently through a path of intense traffic and transporting objects or people, even on rough surfaces, whilst ensuring safety of the vehicle and general road safety. The autonomous vehicle includes at least one variable pitch camera for producing images to be used for a computer vision to control the autonomous vehicle. The invention facilitates changing the pitch of the variable pitch camera to maximise camera image clarity and/or resolution as the autonomous vehicle moves. The images can be used for lane detection, pedestrian detection, three-dimensional (3D) reconstruction of an environment and/or pothole detection. With the invention, at least one image from the variable pitch camera is used in controlling the movement and/or the trajectory of the autonomous vehicle.
    Type: Grant
    Filed: November 16, 2016
    Date of Patent: September 11, 2018
    Assignee: AIMOTIVE KFT.
    Inventor: Gergely Debreczeni
  • Patent number: 10071730
    Abstract: Methods and Systems are provided for performing an automated parking operation of a vehicle. The methods and systems determine a position of a wireless driver device located outside of the vehicle. A vision system provides video data having a field of view selected based on the position of the wireless driver device. Gesture recognition processing is performed on the video data having the selected field of view. At least one gesture command is determined from the gesture recognition processing. An automated parking operation of the vehicle is performed using the at least one gesture command.
    Type: Grant
    Filed: August 30, 2016
    Date of Patent: September 11, 2018
    Assignee: GM GLOBAL TECHNOLOGY OPERATIONS LLC
    Inventors: Paul A. Donald, Jarvis Chau
  • Patent number: 10054952
    Abstract: An automatic operation vehicle that automatically performs an operation in an operation area is provided. The vehicle includes a moving direction determination unit configured to determine a moving direction of the vehicle, an image analysis unit configured to extract a marker included in an image captured by a camera provided on the vehicle, and a survey unit configured to acquire, by triangulation, position information of the marker extracted by the image analysis unit. When the survey unit starts acquiring the position information of the marker, the moving direction determination unit determines, as the moving direction, a direction in which the vehicle does not come into contact with the marker, and an angle difference with respect to a direction from a current position of the vehicle to the marker is smaller than 90°.
    Type: Grant
    Filed: March 15, 2017
    Date of Patent: August 21, 2018
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasuyuki Shiromizu, Tsutomu Mizoroke, Makoto Yamanaka, Yoshihisa Hirose, Minami Kigami, Kensei Yamashita
  • Patent number: 10049285
    Abstract: A vehicular control system includes a camera and a control having an image processor that processes captured image data to determine an object present in the forward field of view of the camera. The control is operable to determine an estimated time to arrival of another vehicle at a location that is in the projected path of travel of the equipped vehicle. Responsive to the received information being indicative of the state of a signal light at an intersection being green and responsive at least in part to (i) determination that the estimated time to arrival of the other vehicle is at least a threshold amount and (ii) determination that an object is not present in the projected path of travel of the equipped vehicle, the control may determine that it is safe for the equipped vehicle to proceed along the projected path of travel.
    Type: Grant
    Filed: August 21, 2017
    Date of Patent: August 14, 2018
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Rohan J. Divekar, Paul A. VanOphem
  • Patent number: 10042359
    Abstract: Methods and systems for autonomous vehicle recharging or refueling are disclosed. Autonomous vehicles may be automatically refueled by routing the vehicles to available fueling stations when not in operation, according to methods described herein. A fuel level within a tank of an autonomous vehicle may be monitored until it reaches a refueling threshold, at which point an on-board computer may generate a predicted use profile for the vehicle. Based upon the predicted use profile, a time and location for the vehicle to refuel the vehicle may be determined. In some embodiments, the vehicle may be controlled to automatically travel to a fueling station, refill a fuel tank, and return to its starting location in order to refuel when not in use.
    Type: Grant
    Filed: January 24, 2017
    Date of Patent: August 7, 2018
    Assignee: STATE FARM MUTUAL AUTOMOBILE INSURANCE COMPANY
    Inventors: Blake Konrardy, Scott T. Christensen, Gregory Hayward, Scott Farris
  • Patent number: 10043130
    Abstract: A method and an apparatus for carrying out the method, for ascertaining at least one exit probability from a land area identifiable in a digital map as open terrain, wherein the exit probability is ascertained starting from a position within the land area. The method includes a step of subdividing the land area into a plurality of cells, with an initial transition probability being assigned to at least one transition from one cell to an adjacent cell. The method further includes a step of adapting the initial transition probability of the transition in response to a presence of at least one item of information from the digital map, to obtain an adapted transition probability for the transition, the item of information being associated with the cell or with the adjacent cell. The method also includes ascertaining the exit probability at least using the adapted transition probability of the transition.
    Type: Grant
    Filed: July 29, 2011
    Date of Patent: August 7, 2018
    Assignee: Robert Bosch GNBH
    Inventors: Andreas Landau, Caroline Ussat
  • Patent number: 10007269
    Abstract: A collision-avoidance system for use with an autonomous-capable vehicle can continuously receive image frames captured of the roadway to determine drivable space in a forward direction of the vehicle. The system can determine, for each image frame, whether individual regions of the image frame depict drivable space. The system can do so using machine-learned image recognition algorithms such as convolutional neural networks generated using extensive training data. Using such techniques, the system can label regions of the image frames as corresponding to drivable space or non-drivable space. By analyzing the labeled image frames, the system can determine whether the vehicle is likely to impact a region of non-drivable space. And, in response to such a determination, the system can generate control signals that override other control systems or human operator input to control the brakes, the steering, or other sub-systems of the vehicle to avoid the collision.
    Type: Grant
    Filed: June 23, 2017
    Date of Patent: June 26, 2018
    Assignee: Uber Technologies, Inc.
    Inventor: Andrew Gray
  • Patent number: 9977973
    Abstract: A vehicle driving assist apparatus executes a vehicle collision prevention control when a target object distance from a vehicle to a target object is equal to or smaller than a predetermined distance. The apparatus acquires the target object distance on the basis of a position of the target object in a camera image taken by a camera and a height of the camera in a situation that a movable load of the vehicle is a maximum load capacity.
    Type: Grant
    Filed: March 16, 2017
    Date of Patent: May 22, 2018
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Masato Okuda, Yuka Sobue, Hironobu Ishijima, Issei Matsunaga, Daisuke Suzuki
  • Patent number: 9971945
    Abstract: A method for determining a wet surface condition of a road. An image of a road surface is captured by an image capture device of the host vehicle. The image capture device is mounted on a side of the host vehicle and captures an image in a downward direction. Identifying in the captured image, by a processor, a region of interest. The region of interest is in a region sideways to a face of the wheel. The region of interest is representative of where sideways splash as generated by the wheel occurs. A determination is made whether water is present in the region of interest. A wet road surface signal is generated in response to the identification of water in the region of interest.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: May 15, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Qingrong Zhao, Qi Zhang, Jinsong Wang, Bakhtiar B. Litkouhi
  • Patent number: 9972206
    Abstract: A method for determining a wet surface condition of a road. Capturing an image of a wheel of a remote vehicle traveling in an adjacent lane by an image capture device of a host vehicle. Identifying in the captured image, by processor of a host vehicle, a region of interest relative to the wheel where the region of interest is representative of where precipitation dispersion occurs. A determination is made whether precipitation is present in the region of interest. A wet road surface signal is generated in response to the identification of precipitation in the adjacent lane.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: May 15, 2018
    Assignee: GM Global Technology Operations LLC
    Inventors: Qingrong Zhao, Jinsong Wang, Qi Zhang, Bakhtiar B. Litkouhi
  • Patent number: 9963004
    Abstract: A trailer sway warning system, according to one embodiment, includes a hitch angle sensor for sensing a hitch angle between a vehicle and a trailer. The trailer sway warning system includes a vehicle sensor for sensing a dynamic parameter of the vehicle, such as a steering angle rate or a yaw rate of the vehicle. Further, the trailer sway warning system includes a controller that generates a warning signal when the hitch angle is oscillating at a magnitude that exceeds a warning threshold and the dynamic parameter is substantially constant.
    Type: Grant
    Filed: March 25, 2015
    Date of Patent: May 8, 2018
    Assignee: Ford Global Technologies, LLC
    Inventor: Erick Michael Lavoie
  • Patent number: 9932038
    Abstract: According to one embodiment, a request to decelerate an ADV from a first location to stop at a second location is received. In response to the request, a first zone and a second zone are determined within a distance between the first location and the second location. The ADV is controlled to decelerate based on a first deceleration rate from a current speed at the first location to a predetermined speed within the first zone. The ADV then decelerates from the predetermined speed based on a second deceleration rate from the predetermined speed to a full stop within the second zone. The first deceleration rate and the second deceleration rate are different. The first deceleration rate is sufficient enough to slow down the vehicle to a degree within the first zone that ensures the vehicle to fully stop at the second location as planned.
    Type: Grant
    Filed: November 30, 2016
    Date of Patent: April 3, 2018
    Assignee: BAIDU USA LLC
    Inventors: Fan Zhu, Qi Kong, Guang Yang, Jingao Wang
  • Patent number: 9921310
    Abstract: A proximity sensor and a proximity sensing method using an event-based vision sensor are provided. The proximity sensor may include a point identification (ID) unit which identifies a point at which an output light output from a focused light source is reflected from an object in an image taken by the proximity sensor; and a distance determination unit which determines a distance between the object and the proximity sensor based on a position of the point.
    Type: Grant
    Filed: September 26, 2013
    Date of Patent: March 20, 2018
    Assignee: SAMSUNG ELECTRONICS CO., LTD.
    Inventors: Jun Haeng Lee, Hyun Surk Ryu, Jae Yeon Won, Keun Joo Park
  • Patent number: 9915948
    Abstract: A method selects from a memory a first model of motion of vehicle, a second model of the motion of the vehicle, a first constraint on the first model for moving along a desired trajectory of the vehicle, and a control invariant set joining states of the first model with states of the second model. For each combination of the states within the control invariant subset there is at least one control action to the second model that maintains the state of the second model within the control invariant set for every modification of the state of the first model satisfying the first constraint. A portion of the desired trajectory satisfying the first constraint is determined using the first model while a sequence of commands for moving the vehicle along the portion of the desired trajectory is determined using the second model.
    Type: Grant
    Filed: July 14, 2016
    Date of Patent: March 13, 2018
    Assignee: Mitsubishi Electric Research Laboratories, Inc.
    Inventors: Stefano Di Cairano, Uro{hacek over (s)} Kalabić, Karl Berntorp
  • Patent number: 9891629
    Abstract: An autonomously robotic machine for performing one or more agricultural operations. The machine includes a frame having a length and an adjustable width. A plurality of ground-engaging mechanisms are coupled to the frame for propelling the machine in a direction of travel. The machine includes a controller, a power-generating device, and a generator. The controller controls the machine, and the generator receives mechanical power from the power-generating device and produces electrical power. A docking assembly is coupled to the frame. The docking assembly includes a power unit and at least one coupler for coupling to any one of a plurality of agricultural implements.
    Type: Grant
    Filed: February 4, 2016
    Date of Patent: February 13, 2018
    Assignee: Deere & Company
    Inventors: Cole L. Murray, Mark E. Barker
  • Patent number: 9796416
    Abstract: A steering wheel control unit executes control such that a steering wheel rotates in accordance with a first target steering angle and the steering wheel rotates in accordance with a second target steering angle when a steering operation is detected. A target steering angle setting unit sets the second target steering angle that asymptotically approaches an actual steering angle from the first target steering angle with the lapse of time, during a period from when the steering operation is detected during the automated driving until when an end of the steering operation is detected, and sets the second target steering angle that asymptotically approaches the first target steering angle with the lapse of time after the end of the steering operation is detected. After the steering operation takes place, the reaction force gradually decreases. After the steering operation ends, the reaction force gradually increases.
    Type: Grant
    Filed: September 23, 2016
    Date of Patent: October 24, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Shota Fujii, Keitaro Niki
  • Patent number: 9778661
    Abstract: Systems and methods for navigating a vehicle within an environment are provided. In one aspect, a method comprises: (a) selecting, with aid of a processor, a subset of a plurality of sensors to be used for navigating the vehicle within the environment based on one or more predetermined criteria, wherein the plurality of sensors are arranged on the vehicle such that each sensor of the plurality of sensors is configured to obtain sensor data from a different field of view; (b) processing, with aid of the processor, the sensor data from the selected sensor(s) so as to generate navigation information for navigating the vehicle within the environment; and (c) outputting, with aid of the processor, signals for controlling the vehicle based on the navigation information.
    Type: Grant
    Filed: May 27, 2016
    Date of Patent: October 3, 2017
    Assignee: SZ DJI TECHNOLOGY CO., LTD.
    Inventors: Tao Wang, Jiaqi Yan
  • Patent number: 9740945
    Abstract: A driver assistance system of an equipped vehicle includes a camera and a communication system operable to receive vehicle information pertaining to another vehicle. A control is operable to process the vehicle information to determine an estimated time to arrival of the other vehicle at a location in a projected path of travel of the equipped vehicle. Responsive at least in part to a determination that the estimated time to arrival is less than a threshold amount, the control generates an alert to the driver of the equipped vehicle that it is not safe to proceed along the projected path of travel. The alert may also be generated responsive to image processing of image data captured by a forward viewing camera when such image processing determines that an object is present in the projected path of travel of the equipped vehicle.
    Type: Grant
    Filed: January 13, 2016
    Date of Patent: August 22, 2017
    Assignee: MAGNA ELECTRONICS INC.
    Inventors: Rohan J. Divekar, Paul A. VanOphem
  • Patent number: 9731752
    Abstract: A steering control device for a vehicle controls a steering device having a steering mechanism and a drive unit configured to provide the steering mechanism with steering force for the wheels. The steering control device includes a detection unit to detect the steering angle; and a control unit to calculate a target value of a current to be supplied to the drive unit as a current command value, and execute automatic steering control to automatically control steering of the vehicle by causing the drive unit to be supplied with the current of the current command value. When an absolute value of the steering angle comes to a predetermined first threshold or more during the automatic steering control, the control unit decreases an upper limit value of an absolute value of the current command value as the absolute value of the steering angle increases.
    Type: Grant
    Filed: June 4, 2014
    Date of Patent: August 15, 2017
    Assignee: Nissan Motor Co., Ltd.
    Inventors: Akira Morimoto, Masahiko Kikuchi, Daisuke Oki
  • Patent number: 9715016
    Abstract: Within examples, systems and methods of generating a synthetic image representative of an environment of a vehicle are described comprising generating a first image using infrared information from an infrared (IR) camera, generating a second image using laser point cloud data from a LIDAR, generating an embedded point cloud representative of the environment based on a combination of the first image and the second image, receiving navigation information traversed by the vehicle, transforming the embedded point cloud into a geo-referenced coordinate space based on the navigation information, and combining the transformed embedded point cloud with imagery of terrain of the environment to generate the synthetic image representative of the environment of the vehicle.
    Type: Grant
    Filed: March 11, 2015
    Date of Patent: July 25, 2017
    Assignee: The Boeing Company
    Inventors: Robert C. Allen, Brendan Blanton, Lauren Gresko, Rajib Mitra, Frank Vincent
  • Patent number: 9709404
    Abstract: A vision-aided inertial navigation system (VINS) is described in which a filter-based sliding-window estimator implements an Iterative Kalman Smoother (IKS) to track the 3D motion of a VINS system, such as a mobile device, in real-time using visual and inertial measurements.
    Type: Grant
    Filed: April 15, 2016
    Date of Patent: July 18, 2017
    Assignee: Regents of the University of Minnesota
    Inventors: Stergios I. Roumeliotis, Dimitrios G. Kottas
  • Patent number: 9687130
    Abstract: An embodiment of the invention provides a control method of a cleaning robot. The method includes steps of moving the cleaning robot according to a first direction; keeping moving the cleaning robot according to the first direction when a light detector of the cleaning robot detects a light beam; moving the cleaning robot for a predetermined distance and then stopping the cleaning robot when the light detector does not detect the light beam; and moving the cleaning robot in a second direction.
    Type: Grant
    Filed: February 15, 2013
    Date of Patent: June 27, 2017
    Assignee: MSI COMPUTER (SHENZHEN) CO., LTD.
    Inventors: You-Wei Teng, Shih-Che Hung, Yao-Shih Leng
  • Patent number: 9659497
    Abstract: A lane departure warning system includes an image photographing unit attached to a front of a vehicle to photograph an object in a forward direction of the vehicle; a driving unit receiving image data from the image photographing unit, filtering the image data to search for a lane pair, converting an image coordinate of the image data into a real coordinate to calculate a lateral distance between the lane pair and the vehicle and to calculate a lateral speed of the vehicle, and generating a warning generating signal as a time of lane change elapses by obtaining the time of lane change; and a warning unit receiving the warning generating signal to generate a lane departure warning signal.
    Type: Grant
    Filed: July 1, 2013
    Date of Patent: May 23, 2017
    Assignee: LG INNOTEK CO., LTD.
    Inventors: Jeong Woo Woo, Ki Dae Kim, Babu Manohar, Raghubansh B. Gupta
  • Patent number: 9638532
    Abstract: A vehicle drive assist system includes: a position detection device that detects a position of a vehicle; a map data acquisition device that acquires map data; a map matching device that determines the position of the vehicle on a road based on a detected position and the map data; an assist device that assists a driver's operation based on a determined position of the vehicle and a road shape ahead of the vehicle in a traveling direction indicated on the map data; a determination device that determines a possibility that the vehicle travels a wrong way on a road where the traveling direction is fixed to one way; and a cancel device that cancels drive assist when a possibility of reverse run exists.
    Type: Grant
    Filed: January 10, 2014
    Date of Patent: May 2, 2017
    Assignee: DENSO CORPORATION
    Inventor: Yuya Higuchi
  • Patent number: 9607401
    Abstract: Estimation techniques for vision-aided inertial navigation are described. In one example, a vision-aided inertial navigation system (VINS) comprises an image source to produce image data for a keyframe and one or more non-keyframes along a trajectory, the one or more non-keyframes preceding the keyframe along the trajectory. The VINS comprises an inertial measurement unit (IMU) to produce IMU data indicative of a motion of the VINS along the trajectory for the keyframe and the one or more non-keyframes, and a processing unit comprising an estimator that processes the IMU data and the image data to compute state estimates of the VINS. The estimator computes the state estimates of the VINS for the keyframe by constraining the state estimates based on the IMU data and the image data for the one or more non-keyframes of the VINS without computing state estimates of the VINS for the one or more non-keyframes.
    Type: Grant
    Filed: May 7, 2014
    Date of Patent: March 28, 2017
    Assignee: Regents of the University of Minnesota
    Inventors: Stergios I. Roumeliotis, Esha D. Nerurkar
  • Patent number: 9587950
    Abstract: In a carrier in which its position is obtained by detecting reflected light using a distance measuring sensor, the position of the carrier is able to be accurately identified in all circumstances. A distance measuring sensor of the carrier is provided in a carrier main body, and measures an intensity of reflected light a plurality of times to obtain a plurality of pieces of measured data. A map database stores map data in which columns provided on a pathway are recorded. A position calculator calculates center points based on a set of measured data having a light intensity greater than or equal to a predetermined threshold among the plurality of pieces of measured data, and then calculates a position of the carrier main body by matching a straight line connecting a plurality of the sets to a straight line of the map data using the center points.
    Type: Grant
    Filed: August 24, 2015
    Date of Patent: March 7, 2017
    Assignee: MURATA MACHINERY, LTD.
    Inventor: Norihiko Suyama
  • Patent number: 9569962
    Abstract: The invention relates to a method for assigning an identity certificate (I1, I2) transmitted by a vehicle (16, 18) to an object (O1, O2, O3, O4), which is detected by a sensor device (28) in identification apparatus (22) external to the vehicle. To this end, the identification apparatus receives the identity certificate (I1, I2), measures by means of the sensor device (28) a first value (V1) relating to at least one operating parameter of the object, receives a second value (V1, V2) of the vehicle (16, 18) relating to the at least one operating parameter and determined by the vehicle (16, 18) itself, compares the first value and the second value of each operating parameter with each other and assigns the identity certificate (I1) to the object (O1) if the two values for each operating parameter match.
    Type: Grant
    Filed: October 29, 2013
    Date of Patent: February 14, 2017
    Assignee: AUDI AG
    Inventor: Florian Schuller
  • Patent number: 9552657
    Abstract: According to an aspect, a mobile electronic device includes: an imaging unit for capturing a map image; a processing unit for acquiring information for a specific image corresponding to the map image based on information included in the map image captured by the imaging unit; and an image projecting unit for projecting the specific image to a projection area.
    Type: Grant
    Filed: August 19, 2011
    Date of Patent: January 24, 2017
    Assignee: KYOCERA CORPORATION
    Inventors: Yasuhiro Ueno, Shigeki Tanabe
  • Patent number: 9532504
    Abstract: Present invention is an adjustable transfer device for unloading processed crop onto a container of a transport vehicle including a control arrangement with an electronic control unit, among other integrated components. Electronic control unit calculates position of expected point of incidence of crop flow on the container within field of view of optical image capture device, displays image of container together with symbol representing calculated expected point of incidence of crop flow on container on display, receives adjustment inputs from user interface for adjusting position of actuator and thus of adjustable transfer device, updates position of symbol in image on display, receives confirmation input from user interface once symbol in image on display is in appropriate position, derives at least one feature in image representing container, and tracks container within output signal of image processing system based on retrieved image feature and controls actuator accordingly to fill container with crop.
    Type: Grant
    Filed: March 9, 2016
    Date of Patent: January 3, 2017
    Assignees: CARNEGIE MELLON UNIVERSITY, DEERE & COMPANY
    Inventors: Herman Herman, Zachary T. Bonefas, Carlos Vallespi-Gonzalez, Johannes Josef Zametzer
  • Patent number: 9534910
    Abstract: An automated driving system and methods are disclosed. The automated driving system includes a perception system disposed on an autonomous vehicle. The automated driving system can detect an intersection including a yield scenario and identify a check point between the autonomous vehicle and the yield scenario. Prior to the autonomous vehicle reaching the check point, the automated driving system can send a command to one or more vehicle systems to control the autonomous vehicle to stop at the yield scenario. After the autonomous vehicle reaches the check point, the automated driving system can detect, using the perception system, information for the intersection. If the information indicates clear passage through the intersection for the autonomous vehicle, the automated driving system can send a command to the one or more vehicle systems to drive the autonomous vehicle through the intersection.
    Type: Grant
    Filed: December 9, 2014
    Date of Patent: January 3, 2017
    Assignee: Toyota Motor Engineering & Manufacturing North America, Inc.
    Inventor: Bunyo Okumura
  • Patent number: 9517668
    Abstract: A hitch angle warning system includes a camera-based hitch angle sensor that senses a hitch angle between a vehicle and a trailer. The hitch angle warning system also includes a controller that estimates an amount of time for the hitch angle to reach a threshold angle based on a rate of change of the hitch angle. The threshold angle may be set to a maximum hitch angle controllable by the vehicle based on a length of the trailer. The controller thereby generates a warning signal when the amount of time is less than a threshold time, which is configured to be greater or equal to than a response time of a driver of the vehicle to make a corrective action. The warning signal may be deactivated when the amount of time is greater than a second time that is greater than the threshold time.
    Type: Grant
    Filed: March 25, 2015
    Date of Patent: December 13, 2016
    Assignee: Ford Global Technologies, LLC
    Inventor: Erick Michael Lavoie
  • Patent number: 9489576
    Abstract: In one example, a method includes receiving, by a computing device, data for a region of interest that includes growing crops. The received data for the region of interest can include image data for the region of interest. The method further includes identifying, by the computing device based on the received image data, rows of crops within the region of interest. The method further includes determining, by the computing device based on the received data for the region of interest associated with portions of the region of interest included in the identified rows of crops and excluding portions of the region of interest outside the identified rows of crops, a stand status of the growing crops within the region of interest. The stand status includes a quantity status corresponding to a population of crops within the region of interest.
    Type: Grant
    Filed: March 25, 2015
    Date of Patent: November 8, 2016
    Assignee: F12 Solutions, LLC.
    Inventors: Jerome D. Johnson, Tyler John Nigon, Mohammad Abouali
  • Patent number: 9469307
    Abstract: A vehicle, vehicle system and method for increasing at least one of safety and comfort during autonomous driving is provided. The vehicle system includes an autonomous drive arrangement with multiple sensors, and a vehicle control arrangement. The vehicle system is configured to determine an estimated probability that at least one sensor will become unavailable, or an estimated time/distance ahead until at least one sensor is determined to become unavailable. The vehicle system is further configured to activate at least one countermeasure based on at least one of the estimated probability, the estimated time and the estimated distance.
    Type: Grant
    Filed: March 11, 2015
    Date of Patent: October 18, 2016
    Assignee: Volvo Car Corporation
    Inventors: Stefan Solyom, Erik Coelingh, Mattias Erik Brannstrom
  • Patent number: 9465390
    Abstract: Example methods and systems may provide for a system that includes a control system communicatively coupled to a first robotic device and a second robotic device. The control system may identify a collaborative operation to be performed by a first robotic device and a second robotic device that is based on a relative positioning between the first robotic device and the second robotic device. The control system may also determine respective locations of the first robotic device and the second robotic device. The control system may further initiate a movement of the first robotic device along a path from the determined location of the first robotic device towards the determined location of the second robotic device. The first robotic device and the second robotic device may then establish a visual handshake that indicates the relative positioning between the first robotic device and the second robotic device for the collaborative operation.
    Type: Grant
    Filed: November 11, 2014
    Date of Patent: October 11, 2016
    Assignee: Google Inc.
    Inventors: Julian Mason, Kurt Konolige
  • Patent number: 9423797
    Abstract: Disclosed are a robot cleaner and a method for controlling the same. Firstly, an obstacle may be detected by using a light pattern sensor, and a user's inconvenience due to irradiation of a light pattern may be solved. Secondly, an obstacle may be precisely detected in a three dimensional manner by using the light pattern sensor. This may allow precise creation of a cleaning map. Thirdly, a user's eyes may be prevented from being continuously exposed to a light source. This may enhance the user's convenience.
    Type: Grant
    Filed: April 11, 2012
    Date of Patent: August 23, 2016
    Assignee: LG Electronics Inc.
    Inventors: Seongsoo Lee, Dongki Noh, Chulmo Sung, Seungmin Baek, Jeongsuk Yoon
  • Patent number: 9415777
    Abstract: Systems and methods use cameras to provide autonomous navigation features. In one implementation, a driver assist navigation system for a primary vehicle may include at least one image capture device configured to acquire a plurality of images of an area in a vicinity of the primary vehicle; a data interface; and at least one processing device. The at least processing device may be configured to: receive the plurality of images via the data interface; identify a target object within the plurality of images; monitor, via the plurality of images, a motion of the target object and a distance between the primary vehicle and the target object; determine an indicator of an intercept time between the primary vehicle and the target object based on the monitored motion and the distance between the primary vehicle and the target object; and cause a response in the primary vehicle based on a comparison of the intercept time to a plurality of predetermined intercept thresholds.
    Type: Grant
    Filed: September 14, 2015
    Date of Patent: August 16, 2016
    Assignee: MOBILEYE VISION TECHNOLOGIES LTD.
    Inventors: Anna Clarke, Eyal Bagon
  • Patent number: 9410813
    Abstract: Course-based place searching systems and methods are described. In an embodiment, a system for performing a course-based place search may include a navigation device, a processing device, and a display. The navigation device may be configured to track a location and a course of the vehicle. The processing device may be communicatively coupled to the navigation device and may be configured to request places from a resource based at least in part on the location of the vehicle and the search criterion and to return a first one or more places received from the resource to an occupant of the vehicle. The first one or more places may be based at least in part on the course of the vehicle. The display may be communicatively coupled to the processing device. The first one or more places may be displayed on the display.
    Type: Grant
    Filed: March 24, 2015
    Date of Patent: August 9, 2016
    Assignee: CLOUDCAR, INC.
    Inventors: Peter Barrett, Bruce Leak, Konstantin Othmer, Zarko Draganic
  • Patent number: 9389085
    Abstract: The subject matter disclosed herein relates to systems, methods, apparatuses, devices, articles, and means for map handling for location based services in conjunction with localized environments.
    Type: Grant
    Filed: January 20, 2011
    Date of Patent: July 12, 2016
    Assignee: QUALCOMM Incorporated
    Inventors: Behrooz Khorashadi, Saumitra Mohan Das, Rajarshi Gupta