EP1908286A1 - Procede de transmission analogique d'un signal video - Google Patents

Procede de transmission analogique d'un signal video

Info

Publication number
EP1908286A1
EP1908286A1 EP05775861A EP05775861A EP1908286A1 EP 1908286 A1 EP1908286 A1 EP 1908286A1 EP 05775861 A EP05775861 A EP 05775861A EP 05775861 A EP05775861 A EP 05775861A EP 1908286 A1 EP1908286 A1 EP 1908286A1
Authority
EP
European Patent Office
Prior art keywords
video
image
sequence
image resolution
frames
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP05775861A
Other languages
German (de)
English (en)
Inventor
Thomas Frommann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Bayerische Motoren Werke AG
Original Assignee
Bayerische Motoren Werke AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Bayerische Motoren Werke AG filed Critical Bayerische Motoren Werke AG
Publication of EP1908286A1 publication Critical patent/EP1908286A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/40—Client devices specifically adapted for the reception of or interaction with content, e.g. set-top-box [STB]; Operations thereof
    • H04N21/43—Processing of content or additional data, e.g. demultiplexing additional data from a digital video stream; Elementary client operations, e.g. monitoring of home network or synchronising decoder's clock; Client middleware
    • H04N21/44—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs
    • H04N21/4402—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display
    • H04N21/440263—Processing of video elementary streams, e.g. splicing a video clip retrieved from local storage with an incoming video stream or rendering scenes according to encoded video stream scene graphs involving reformatting operations of video signals for household redistribution, storage or real-time display by altering the spatial resolution, e.g. for displaying on a connected PDA
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/23—Processing of content or additional data; Elementary server operations; Server middleware
    • H04N21/234—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs
    • H04N21/2343—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs involving reformatting operations of video signals for distribution or compliance with end-user requests or end-user device requirements
    • H04N21/234363—Processing of video elementary streams, e.g. splicing of video streams or manipulating encoded video stream scene graphs involving reformatting operations of video signals for distribution or compliance with end-user requests or end-user device requirements by altering the spatial resolution, e.g. for clients with a lower screen resolution
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N21/00—Selective content distribution, e.g. interactive television or video on demand [VOD]
    • H04N21/20—Servers specifically adapted for the distribution of content, e.g. VOD servers; Operations thereof
    • H04N21/25—Management operations performed by the server for facilitating the content distribution or administrating data related to end-users or client devices, e.g. end-user or client device authentication, learning user preferences for recommending movies
    • H04N21/266—Channel or content management, e.g. generation and management of keys and entitlement messages in a conditional access system, merging a VOD unicast channel into a multicast channel
    • H04N21/2662—Controlling the complexity of the video stream, e.g. by scaling the resolution or bitrate of the video stream based on the client capabilities

Definitions

  • the present invention relates to a method for analog transmission of a video signal from a video source to a video sink, in which the video signal comprises a sequence of frames which are at a first image resolution and a first frame rate at the video source, wherein the sequence of frames is physical Transmission into a sequence of image segments having a second image resolution that is less than the first image resolution, and at a frame rate that is higher than the first frame rate, is implemented, in which the sequence of image segments is transmitted from the video source to the video sink and at which reconstructs a sequence of frames having the first image resolution from the transmitted sequence of image segments at the video sink.
  • the present invention further relates to a video source for use in such a method.
  • the present invention further relates to a preprocessor for use in such a method.
  • the present invention further relates to a video sink for use in such a method.
  • the present invention further relates to a post processor for use in such a method.
  • Video signals can in principle be transmitted in an analogue or digital way.
  • an analogue image transmission is more susceptible to interference in some respects than a digital image transmission.
  • an analog image transmission is usually less expensive to implement.
  • the importance of the susceptibility to interference takes a back seat when a wired transmission over short distances is to be realized. This corresponds for example to the task with regard to many Applications in modern motor vehicles, which is why in the automotive sector mainly analogue methods for image transmission are used.
  • CVBS composite video originally developed for television technology, which uses a luminance signal (luminance or Y) and a modulated color subcarrier signal (chrominance or C) to transmit the image information .
  • luminance or Y luminance or Y
  • C modulated color subcarrier signal
  • both signals on the transmitter side are combined into a composite video signal and separated on the receiver side. Since the separation of the signals is technically not trivial and associated with quality losses, the signals in the wired studio technology and in the professional home user area are often transmitted separately (Y / C) through separate lines.
  • RGB three individual component signals
  • the upper bound of the frequency band (eg 6.75 MHz) defines an upper bound on the achievable local resolution of the transmitted video signal.
  • the individual frames are transmitted as fields with half the number of lines.
  • Some lines and samples per line are not used for actual image data but for the transmission of synchronization signals (HSYNC, VSYNC), which in NTSC about an active image resolution of 720x480 pixels per frame or 720x240 pixels per field result.
  • Object of the present invention is to provide a simple method of the type mentioned for the transmission of video signals in sufficient image quality for high-resolution video sinks.
  • Another object of the invention is to provide a preprocessor for use in such a method.
  • Another object of the invention is to provide a video source for use in such a method.
  • Another object of the invention is to provide a post processor for use in such a method.
  • Another object of the invention is to provide a video tray for use in such a method.
  • the first object is achieved by a method in which the first image resolution is greater than the image resolution of a frame according to a video standard and in which the second image resolution is equal to the image resolution of a full or half frame according to said video standard.
  • a method which is basically similar to the preamble of claim 1, is known for analog recording, transmission and display of interlaced images.
  • a frame is divided into two line-interlaced fields, which are transmitted one after the other.
  • source format, transmission format, and display format are typically the same - recording, transmission, and display are always half frames at a time.
  • a frame is subsequently reconstructed from the transmitted fields, even in such methods.
  • the conversion of two fields into a full image for example in a car communication computer (CCC) according to the prior art or in progressive-scan displays, represents only a necessary adaptation of the source format (fields) to the presentation format (frames). and transmission format are the same here as well.
  • the inventive method uses the "field transfer" to effectively transfer another, higher quality, in particular higher resolution, source format and to use in the video sink, for example to bring to display.
  • the method used according to the invention differs from known methods by the characterizing features of patent claim 1.
  • the actual difference of the invention with the methods known from the prior art is due to the different boundary conditions and objectives already described in the preceding paragraph and also in the following paragraph beyond the mere addition of the characteristic features.
  • the features of the preamble of claim 1 serve there for a completely different purpose than in the invention. While in a prior art method, by dividing the frames, it is desirable to increase the display frequency of the video sink, this aspect is considered peripheral in the invention. On the contrary, depending on the embodiment, in many cases the invention even comes at the expense of the display frequency. Instead of the display frequency in the invention, however, already sought by the features of the preamble of claim 1, to increase the image resolution of the effectively transmitted video signal. By combining the features of the preamble with the additional features of claim 1 then arise the advantages of the invention described below.
  • the main advantage of the invention is that with the cost-effective image transmission method already available according to the state of the art, a higher image resolution, meaning the spatial resolution usually given in pixels, of the video signal effectively transmitted to the video sink is achieved.
  • the high demands of many applications on the quality of image transmission are thus met at no extra cost or at extremely low cost.
  • a high-resolution display unit can be better utilized in this way.
  • Image-processing video sinks for example for a camera-based driver assistance system, can also be supplied by the invention with little effort with high-quality input video signals.
  • the first image resolution is greater than the image resolution of one frame according to the NTSC or PAL standard and the second image resolution is equal to the image resolution of one field according to the corresponding video standard, ie NTSC or PAL.
  • the NTSC or PAL standard mostly fields are transmitted. Devices and methods which are suitable for the transmission of fields of these widely used video standards are therefore particularly cost-effective.
  • the transmitted NTSC or PAL fields are usually row-linked in pairs. However, this is by no means absolutely necessary for the use of the available transmission technology.
  • the methods and devices available for physical transmission can be used in the same way for the transmission of arbitrary image segments, as long as they have the data format of an NTSC or PAL field. Accordingly, according to the embodiments of the invention discussed herein, the high-resolution frames present at the video source are divided into image segments having the data format of such a field.
  • the image resolution of the transmitted image segments equal to the image resolution of a PAL-standard frame as long as suitable means for transmitting PAL frames are available.
  • the image resolution of the image segments match the image resolution of the video standard used for transmission.
  • the second frame rate i. H. the frame rate of the transmitted image segments, equal to the typical frame rate for transmission of
  • Image segments equal to the image resolution of a field after said Video standard is, as the second frame rate
  • the typical frame rate for transmitting fields according to the said video standard is particularly advantageous. If the second image resolution is equal to the image resolution of one frame according to said video standard, the typical frame rate for transmitting frames according to the said video standard is particularly advantageous as a second frame rate.
  • transmission means are also used for the physical transmission, which are designed for the transmission of such a data format.
  • the sequence of image segments is transmitted over a standardized transmission link designed for the transmission of frames with the second image resolution and the second image frequency.
  • the sequence of frames reconstructed at the video sink may be equal to the sequence of frames initially present at the video source, in particular both sequences may have the same frame rate.
  • the latter embodiment is particularly useful if always after the transmission of all image segments, from which a new complete frame is reconstructed, reconstructs a new frame and is used by the video sink, for example, is displayed by a display unit.
  • the video frame reconstructed sequence of frames may have a higher frame rate than the sequence of frames initially present at the video source, in particular, the frame rate of the reconstructed sequence may be equal to the frame rate of the physically transmitted sequence of picture segments.
  • the latter embodiment is particularly useful if, after the transmission of each individual image segment, a new frame is reconstructed and used by the video sink.
  • the reconstructed frame sequence may be captured by a video sink, typically a display unit either in its own frame rate or in a preferred one Frame rate of the video sink are processed.
  • a video sink typically a display unit either in its own frame rate or in a preferred one Frame rate of the video sink are processed.
  • the reconstructed frame sequence is reconstructed at a preferred frame rate of the video sink and displayed. In this way, the video sink is used optimally and unnecessary reconstruction effort is avoided.
  • the preferred frame rate of the video sink exceeds the frame rate of the reconstructed frame sequence, individual or all of the reconstructed frames may be repeatedly displayed to maintain the preferred frame rate of the video sink.
  • the inventive method provides a decoupling between the data format (in particular image resolution and optionally frame rate) of the present at the video source image units, here frames, and the data format of the physically transmitted over the transmission link image units, here the image segments.
  • the increase in the image resolution according to the invention is at the expense of the frame rate of the effectively transmitted frame sequence.
  • this is tolerable in many applications, especially in the display of standing or slow-moving image content, without loss of quality or with only very low quality losses.
  • the invention takes into account the fact that in many modern applications of image display in motor vehicles (eg display of navigation maps, web browsers, text displays, characteristics and symbol fades in camera images) exactly such standing or only slowly moving image contents are displayed.
  • the modern applications of image display in automobiles differ significantly from the typical non-automotive image display applications herein.
  • the invention is preferably applied to the transmission of a video signal in a motor vehicle.
  • the disadvantage of the reduced frame rate is further reduced in the automotive environment by the typical usage behavior of the users of display units in motor vehicles.
  • Display units in motor vehicles are - in contrast to display units outside of motor vehicles - usually only relatively briefly considered by the user. For example, taking a look at a navigation map, by which a driver controls his own position on a route, usually only a few seconds. With such a short duration of observation, a picture flow that slightly jerks through the reduced frame rate is subjectively hardly perceived as disturbing by the observer, which is why, according to the invention, more emphasis can be placed on the image resolution which is significantly more important for a shorter viewing time.
  • new data is available anyway only at an update rate which is far lower than the frame rate of the display unit or as the frame rate of the effectively transferable full-screen sequence.
  • the pixels of the high-resolution frame present at the video source can be arbitrarily distributed to the individual transmitted image segments.
  • the high-resolution frame only needs to be reconstructed from the image segments.
  • each image segment contains portions of only a single frame present at the video source.
  • individual image segments contain parts of a plurality of video images present in the video source.
  • each image segment includes at least one contiguous portion of a high resolution frame present at the video source.
  • each image segment consists of a single contiguous portion of a high-resolution frame present at the video source.
  • the transmitted image segments may contain disjoint image information. In this way, especially a lot of image information, ie very large frames, can be transmitted from the video source to the video sink.
  • the image segments may contain redundant information. For example, the parts of the high-resolution frame contained in different image segments may overlap each other in full screen.
  • a respective full frame present at the video source is divided into at least three image segments.
  • an increase in the image resolution of the effectively transmitted by the inventive method frames is already possible by each one present at the video source frame is divided into at least two image segments.
  • the video source has a sequence of high resolution frames of 1440x480 image resolution, each frame present at the video source is divided into four image segments with NTSC video frame resolution and the NHSC field resolution image segments Video standards are transmitted physically.
  • a technically particularly simple division of the high-resolution frame on the four image segments by a simpleêtung the present at the video source frames is possible.
  • the image resolution of the frames that can be effectively transferred by the method according to the invention is at least as large as the image resolution required in the video sink.
  • 1440x480 on a display unit with 1440x480 pixels are displayed directly, if such a display unit is available.
  • a display unit with a number of pixels is often available which lies between the image resolution of the frames which can be effectively transmitted by the method according to the invention and the image resolution of a video standard.
  • modern automobiles often strive to display on a 1280x480 pixel display unit.
  • a full-screen sequence with a higher image resolution can be transmitted by the method according to the invention.
  • the reconstructed frames can then either be trimmed or scaled to the image resolution of the display unit.
  • an adaptation to the preferred image resolution of the video sink can take place already during the reconstruction.
  • the inventive method can be realized by additional programming on many known from the prior art and inexpensive graphics processors available.
  • the invention can also be realized by a comparatively simple interconnection in future graphics processors.
  • the second object of the invention is achieved by a video source capable of converting an incoming sequence of frames having an image resolution greater than the image resolution of a frame according to a video standard into an outgoing sequence of image segments having an image resolution. which is equal to the image resolution of a field or field of the said video standard to implement.
  • the video source may contain a preprocessor for this purpose. This can also be carried out separately.
  • the third object of the invention is accordingly solved by a preprocessor which is adapted to convert an incoming sequence of frames having an image resolution greater than the image resolution of a frame according to a video standard into an outgoing sequence of image segments having an image resolution equal to that of Image resolution of a field or field of the said video standard is to implement.
  • Such a video source or preprocessor can be made by minor modification of a prior art graphics processor.
  • a video source provides an image n for transmission until a new image n + 1 has been completely created.
  • all even-numbered and then all odd-numbered lines of the image n are alternately transmitted as fields or "fields" in the interlaced process.
  • the transmission of these fields from an image memory only requires setting a start address and line length of the first pixel of the first line of a field.
  • the output of the remaining pixels and lines of a field is done automatically by appropriate Addressinkrementer. This process can be easily modified so that the start address and line length are set sequentially to the first pixel of the first row of the individual image segments of a high-resolution frame.
  • the transmission of the remaining pixels and lines of a picture segment is then analogous to the transmission of individual fields.
  • the fourth object of the invention is achieved, as described above, by a video sink capable of selecting, from an incoming sequence of image segments having an image resolution equal to the image resolution of a full or half frame of a video standard, a sequence of frames having an image resolution. which is greater than the image resolution of a frame of said video standard, to reconstruct.
  • the video sink may contain a post processor for this purpose. This can also be carried out separately. Accordingly, the fifth object of the present invention is achieved by a post processor capable of selecting, from an incoming sequence of image segments having an image resolution equal to the image resolution of a full or half frame of a video standard, a sequence of frames having an image resolution which is larger as the image resolution of a frame of said video standard.
  • Such a video sink or postprocessor can be made by slight modification of a prior art graphics processor.
  • Conventional graphics processors offer the possibility of storing incoming pixels of a field in a picture memory. The contents of this image memory can then be further processed and / or displayed.
  • Graphics processors already support the display of full-screen images (progressive displays) as well as the reconstruction of a full-frame from two fields (so-called de-interlacing after the BOB or WEAVE method). These methods either add two fields already when saving the incoming pixels together or bring in the output of the frame alternately odd and even lines for display.
  • layer parameters are set statically or dynamically by means of a freely programmable processor which may be implemented as part of the graphics processor or as an additional processor.
  • the display of a reconstructed frame may then be realized by a program which at the beginning of a display cycle (VSYNC) programs the layer parameters such that each layer displays an associated image segment at the appropriate location.
  • VSYNC display cycle
  • the layer parameters can be changed from the image segments of the image n to the image segments n + 1.
  • New image segments of the image n + 2 are stored in parallel in the image memory.
  • the memory used for the image segments of the image n can be released to later accommodate the image segments of the image n + 3, etc. (ring buffer method).
  • the inventive method holds the actual physical transmission of the image information an existing video standard. It thus allows a cost-effective overall system in which video signals can be transmitted jointly according to existing video standards and high-resolution image content.
  • the method according to the invention is based on existing cost-optimized methods for video transmission and thus avoids additional costs of more complex transmission methods. It allows an increase in image quality and readability of high-resolution image content over prior art methods.
  • Fig. 2 shows the division according to the invention of a transmitted frame in four image segments
  • FIG 3 shows a section of the time profile of the occupancy of a transmission path used.
  • Fig. 1 the basic sequence of a method according to the invention is illustrated.
  • the method according to the invention which is described in more detail below with reference to a preferred embodiment of the invention comprises the conversion of a high-resolution sequence of frames 10 into a sequence of image segments 11 and the reconstruction of a sequence of frames 12 to be displayed.
  • a sequence of high-resolution frames 10 (image resolution 1440x480).
  • the preprocessor 2 integrated in the video source 1 decomposes each of these frames 10 into individual image segments 11 even before the physical transmission.
  • the image segments 11 have the image resolution of an NTSC field (720 ⁇ 240 pixels).
  • Each frame 10 is decomposed into four image segments 11.
  • FIG. Fig. 2 shows a schematic total of a frame 10 of the image resolution 1440x480. This is surrounded by the solid line in Fig. 2.
  • the dashed lines in Fig. 2 indicate the division of the frame into image segments 11a, 11b, 11c, and 11d.
  • Each image segment contains a contiguous portion of the frame 10.
  • the sequence of image segments 11 resulting from the division of the sequence of frames 10 has the quadruple frame rate of the sequence of frames 10.
  • the sequence of frames 10 has a frame rate of 15 Hz.
  • the sequence of image segments 11 accordingly has a frame rate of 60 Hz.
  • the image resolution of the image segments 11 correspond to the image resolution of an NTSC field.
  • the frame rate of the sequence of image segments 11 also corresponds to the frame rate with which NTSC fields are transmitted according to the NTSC video standard.
  • the sequence of image segments 11 can thus be transmitted without problems over a standardized transmission link which is designed for the transmission of NTSC fields according to the NTSC video standard.
  • the available transmission link 3 fulfills these requirements.
  • the sequence of the image segments 11 is transmitted to the video sink 4 physically via the transmission path 3 by means of the existing NTSC method.
  • the transmission of the four image segments of a frame takes place, for example, in the order a, b, c, d.
  • Fig. 3 shows a section of the time course of the occupancy of the transmission path 3. Between the two dashed lines, packed in four image segments 11, the information of a complete frame 10 is transmitted.
  • the video sink 4 contains a post-processor 5 which receives the sequence of image segments 11 and reassembles it into a sequence of frames 12 of the image resolution 1440x480.
  • a frame 12 is reconstructed from four image segments into which a frame has been split by the preprocessor 2.
  • the reconstructed frames 12 are substantially identical to the frames 10 previously present in the video source.
  • the task of the post-processor may be to adopt a slightly modified graphics processor according to the prior art. Such graphics processors are usually available at low cost.
  • the frames 12 may be assembled, for example, by concerted storage in corresponding areas of the graphics memory of the graphics processor. Otherwise, the physical reception process of the post-processor can take place in exactly the manner known from the prior art.
  • the task of the preprocessor 2 in the video source 1 can take over a slightly modified graphics processor according to the prior art.
  • the physical transmission process of the preprocessor can be done in exactly the manner known from the prior art. Also for this is usually therefore inexpensive hardware available.
  • the video sink 4 displays the reconstructed sequence of frames 12 at the refresh rate of the display unit (here 60 Hz), i. H. each frame 12 is displayed four times.
  • the effective frame rate of the transmitted video signal is reduced by the inventive method to the field rate of the transmission method (here NTSC 60 Hz) divided by the number (here four) of the image segments per high-resolution frame. In the present case, this results in an effective frame rate of 15 Hz.
  • the video sink 4 is designed in the present embodiment as a display unit with a resolution of 1280x480 pixels and a preferred display frequency of 60 Hz. In direct conversion of the pixels of the effectively transmitted video signal to the pixels of the display unit of the displayed image stream is thus cut on both sides.
  • the full resolution of a 1280x480x60Hz display unit can be driven by a conventional 720x240x60Hz Y / C video signal by adding a 1440x480 frame to the physical Transmission into four 720x240 image segments is decomposed.
  • the effective frame rate is lowered to 15 frames per second, which in many applications, especially in motor vehicles, but no or only minor disadvantages.
  • the advantages of transmitting high-resolution frames through a conventional 720x240x60Hz Y / C video signal and thus using conventional hardware components outweigh the benefits.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Databases & Information Systems (AREA)
  • Television Systems (AREA)
  • Two-Way Televisions, Distribution Of Moving Picture Or The Like (AREA)

Abstract

L'invention concerne un procédé permettant la transmission analogique d'un signal vidéo entre une source vidéo et un récepteur vidéo, selon lequel le signal vidéo contient une séquence d'images, qui figurent dans une première résolution d'image et dans une première fréquence d'image dans la source vidéo. La séquence d'images est convertie, en vue de la transmission physique, en une séquence de segments d'images présentant une seconde résolution d'images, inférieure à la première résolution d'image, ainsi qu'une fréquence d'image supérieure à la première fréquence d'image. La séquence de segments d'image est transmise de la source vidéo au récepteur vidéo. Une séquence d'images est reconstituée à partir de la séquence de segments d'image transmise, dans le récepteur vidéo, avec la première résolution d'image. La première résolution d'image est supérieure à la résolution d'une image selon une norme vidéo et la seconde résolution d'image correspond à la résolution d'une image ou d'une trame selon la norme vidéo mentionnée. Outre ledit procédé, l'invention concerne une source vidéo, un récepteur vidéo, un préprocesseur et un postprocesseur, qui sont appropriés pour être utilisés dans un procédé selon l'invention.
EP05775861A 2005-07-27 2005-07-27 Procede de transmission analogique d'un signal video Withdrawn EP1908286A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2005/008128 WO2007012341A1 (fr) 2005-07-27 2005-07-27 Procede de transmission analogique d'un signal video

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EP1908286A1 true EP1908286A1 (fr) 2008-04-09

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US (1) US20080112480A1 (fr)
EP (1) EP1908286A1 (fr)
JP (1) JP5145222B2 (fr)
WO (1) WO2007012341A1 (fr)

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JP2009503960A (ja) 2009-01-29
JP5145222B2 (ja) 2013-02-13
WO2007012341A1 (fr) 2007-02-01

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