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1. 发明授权

US09378420B1 System for detecting an object of interest in a scene 有权
标题翻译：用于检测场景中的感兴趣对象的系统
公开(公告)号：US09378420B1
公开(公告)日：2016-06-28
申请号：US14292416
申请日：2014-05-30
申请人： HRL Laboratories, LLC
发明人： Terrell N. Mundhenk , A. Arturo Flores , Shinko Y Cheng , Howard Neely, III , Michael J. Daily
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06K9/00228 , G06K9/4642 , G06K9/4671 , G06K9/4676 , G06K9/6269
摘要： The present invention relates to a system for detecting an object of interest in a scene. The system operates by receiving an image frame of a scene and extracting features from the image frame, the features being descriptors. The descriptors are quantized to generate PHOW features. A sliding window protocol is implemented to slide a window over the image and analyze the PHOW features that fall inside the window. Finally, the system determines if the PHOW features represent the object of interest and, if so, then designates the window as a location in the image with a detected object of interest.
摘要翻译：本发明涉及一种用于检测场景中的感兴趣对象的系统。该系统通过接收场景的图像帧并从图像帧中提取特征来操作，特征是描述符。描述符被量化以产生PHOW特征。实现滑动窗口协议以将窗口滑过图像并分析落入窗口内的PHOW特征。最后，系统确定PHOW特征是否表示感兴趣的对象，如果是，则将窗口指定为图像中具有感兴趣对象的位置。

2. 发明授权

US11550321B1 System and method for classifying agents based on agent movement patterns 有权
公开(公告)号：US11550321B1
公开(公告)日：2023-01-10
申请号：US16530824
申请日：2019-08-02
申请人： HRL Laboratories, LLC
发明人： Terrell N. Mundhenk , Heiko Hoffmann
IPC分类号： G05D1/00 , B60W40/08 , G06N3/08 , B60W20/00 , G01S17/50
摘要： Described is a system and method for the classification of agents based on agent movement patterns. In operation, the system receives position data of a moving agent from a camera or sensor. Motion data of the moving agent is then extracted and used to generate a predicted future motion of the moving agent using a set of pre-calculated Echo State Networks (ESN). Each ESN represents an agent classification and generates a predicted future motion. A prediction error is generated for each ESN by comparing the predicted future motion for each ESN with actual motion data. Finally, the agent is classified based on the ESN having the smallest prediction error.

3. 发明授权

US10514694B1 System and method for classifying agents based on agent movement patterns 有权
公开(公告)号：US10514694B1
公开(公告)日：2019-12-24
申请号：US15216560
申请日：2016-07-21
申请人： HRL Laboratories, LLC
发明人： Terrell N. Mundhenk , Heiko Hoffmann
IPC分类号： G05D1/00 , G06N3/08 , B60W40/08 , G01S17/50
摘要： Described is a system and method for the classification of agents based on agent movement patterns. In operation, the system receives position data of a moving agent from a camera or sensor. Motion data of the moving agent is then extracted and used to generate a predicted future motion of the moving agent using a set of pre-calculated Echo State Networks (ESN). Each ESN represents an agent classification and generates a predicted future motion. A prediction error is generated for each ESN by comparing the predicted future motion for each ESN with actual motion data. Finally, the agent is classified based on the ESN having the smallest prediction error.

4. 发明授权

US09530218B2 Method for classification and segmentation and forming 3D models from images 有权
标题翻译：用于分类和分割并从图像形成3D模型的方法
公开(公告)号：US09530218B2
公开(公告)日：2016-12-27
申请号：US14677481
申请日：2015-04-02
申请人： HRL LABORATORIES LLC
发明人： Terrell N. Mundhenk , Heiko Hoffmann , Arturo Flores
IPC分类号： G06K9/34 , G06T7/00
CPC分类号： G06T7/0081 , G06T7/11 , G06T7/143 , G06T7/55 , G06T2207/20081
摘要： A method of classification and segmentation of an image using modules on a computer system includes receiving a plurality of models having features suitable for classifying each pixel of the image into a respective one of a plurality of categories, using a classifier to provide a score for each pixel in the image for each category and using a segmenter to segment the image into image segments, wherein each image segment is a contiguous set of pixels having at least one common feature. For each image segment a set of average probabilities for each category is determined, and for each image segment, a most likely category to which the image segment belongs is determined by the maximum average probability resulting in a labeled segment image, which is used to identify any empty areas as incorrect holes. Then any empty areas that are identified as incorrect holes are filled.
摘要翻译：使用计算机系统上的模块对图像进行分类和分割的方法包括：接收具有适合于将图像的每个像素分类为多个类别中的相应一个的特征的多个模型，使用分类器为每个分类器提供得分像素，并且使用分割器将图像分割成图像片段，其中每个图像片段是具有至少一个共同特征的连续的像素集合。对于每个图像段，确定每个类别的一组平均概率，并且对于每个图像片段，图像片段所属的最可能类别由导致用于识别的标记片段图像的最大平均概率确定任何空白区域作为不正确的孔。然后填写被识别为不正确孔的空白区域。

5. 发明授权

US08928815B1 System and method for outdoor scene change detection 有权
标题翻译：室外场景变化检测系统及方法
公开(公告)号：US08928815B1
公开(公告)日：2015-01-06
申请号：US14205362
申请日：2014-03-11
申请人： HRL Laboratories, LLC
发明人： Terrell N. Mundhenk , A. Arturo Flores
IPC分类号： H04N9/64 , H04N5/14 , H04N11/20
CPC分类号： H04N5/147 , G06T7/254 , G06T7/90
摘要： Described is a system for scene change detection. The system receives an input image (current frame) from a video stream. The input image is color conditioned to generate a color conditioned image. A sliding window is used to segment the input image into a plurality boxes. Descriptors are extracted from each box of the color conditioned image. Thereafter, differences in the descriptors are identified between a current frame and past frames. The differences are attenuated to generate a descriptor attenuation factor αi. Initial scores are generated for each box based on the descriptor attenuation factor αi. The initial scores are filtered to generate a set of conspicuity scores for each box, the set of conspicuity scores being reflective of the conspicuity of each box in the image. Finally, the conspicuity scores are presented to the user or provided to other systems for further processing.
摘要翻译：描述了用于场景变化检测的系统。系统从视频流接收输入图像（当前帧）。输入图像经过颜色调节以产生色彩图像。使用滑动窗口将输入图像分割成多个框。描述符是从色条图像的每个框中提取出来的。此后，在当前帧和过去帧之间识别描述符中的差异。差异被衰减以产生描述符衰减因子αi。基于描述符衰减因子αi为每个框生成初始分数。过滤初始分数以产生每个框的一组显着性分数，该显着性分数集反映了图像中每个框的显着性。最后，将显着性得分呈现给用户或提供给其他系统进行进一步处理。

6. 发明授权

US10002430B1 Training system for infield training of a vision-based object detector 有权
公开(公告)号：US10002430B1
公开(公告)日：2018-06-19
申请号：US15141416
申请日：2016-04-28
申请人： HRL Laboratories, LLC
发明人： Terrell N. Mundhenk , A. Arturo Flores , Howard Neely, III , Michael J. Daily
IPC分类号： G06T7/00 , G06N99/00
CPC分类号： G06N20/00 , G06K9/00771 , G06K9/4671 , G06K9/6265 , G06K9/6287 , G06T7/73 , G06T2207/20081
摘要： Described is a training system for training a vision-based object detector. The system is configured to run an object detector on an image of a cleared scene to detect objects in the cleared scene. The object detector includes a support vector machine (SVM) or similar classifier with a feature model to generate an SVM score for object features and a spatial bias threshold to generate augmented object scores. The system designated detected objects in the cleared scene as false detections and, based on that, updates at least one of the feature model and spatial bias threshold to designate the false detections as background. The updated feature model or updated spatial bias threshold are then stored for use in object detection.

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