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公开(公告)号：US09074906B2
公开(公告)日：2015-07-07
申请号：US13387137
申请日：2010-07-23
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译： 提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。 道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。 因此，可以精确地识别从短到长的距离。
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公开(公告)号：US08675047B2
公开(公告)日：2014-03-18
申请号：US13094239
申请日：2011-04-26
申请人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
CPC分类号： G01C11/06 , G06T5/006 , G06T7/33 , G06T7/73 , G06T7/97 , G06T2207/10012 , G06T2207/10021 , G06T2207/30252 , H04N13/133
摘要： A detection device of a planar area is provided. The detection device includes an image obtaining section for obtaining a left image and a right image; a planar area aligning section for setting given regions of interest to the obtained left image and the right image, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image; and a planar area detecting section for detecting a planar area based on the geometric transform image and the region of interest of the right image. The planar area aligning section sets the planar area detected by the planar area detecting section as a given region of interest.
摘要翻译： 提供平面区域的检测装置。 检测装置包括用于获得左图像和右图像的图像获取部分; 平面区域对准部分，用于为所获得的左图像和右图像设置感兴趣的区域，并且通过使用与右图像的关注区域与左图像的感兴趣区域匹配的几何变换函数，执行 几何变换生成几何变换图像; 以及平面区域检测部分，用于基于几何变换图像和右图像的感兴趣区域来检测平面区域。 平面区域对准部将由平面区域检测部检测出的平面区域设定为给定的感兴趣区域。
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公开(公告)号：US20130033600A1
公开(公告)日：2013-02-07
申请号：US13550970
申请日：2012-07-17
申请人： Mirai HIGUCHI , Takehito Ogata , Takeshi Shima
发明人： Mirai HIGUCHI , Takehito Ogata , Takeshi Shima
IPC分类号： H04N7/18
CPC分类号： G06T7/204 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/248 , G06T2207/30252
摘要： An image processing device which performs a tracking control with respect to a moving object which is travelling forward, based on the controlled variable of the own vehicle includes, an image processing unit which specifies an area of a moving object from an input image, sets the specified area of the moving object as a reference image area after starting tracking control, and sets an area of the moving object after a predetermined time as a comparison image area; a comparison unit which compares the set reference image area and the comparison image area with each other, and calculates travelling information relating to the moving object; and a controlled variable calculation unit which calculates a controlled variable of the own vehicle from travelling information which is calculated in the comparison unit.
摘要翻译： 基于本车辆的控制变量对前进的运动物体进行跟踪控制的图像处理装置包括：图像处理单元，其从输入图像指定移动物体的区域， 在开始跟踪控制之后，移动物体的指定区域作为参考图像区域，并且将预定时间之后的移动物体的面积设置为比较图像区域; 比较单元，其将设定的参考图像区域和比较图像区域进行比较，并且计算与移动物体有关的行驶信息; 以及受控变量计算单元，其根据在比较单元中计算出的行驶信息来计算本车辆的受控变量。
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公开(公告)号：US20120327189A1
公开(公告)日：2012-12-27
申请号：US13577712
申请日：2010-08-13
申请人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
发明人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
IPC分类号： H04N13/02
CPC分类号： G06T7/593 , G01C3/06 , G06K9/00805 , G06T2207/10012 , G06T2207/20012 , G06T2207/30261 , G08G1/166
摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.
摘要翻译： 提供了一种立体相机装置，其通过根据距离物体的距离使得测量距离分辨率可变地稳定地且高精度地进行距离测量。 立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离 其中分辨率改变的每个图像。 因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。
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公开(公告)号：US20120224747A1
公开(公告)日：2012-09-06
申请号：US13474750
申请日：2012-05-18
申请人： Mirai HIGUCHI , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
发明人： Mirai HIGUCHI , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
IPC分类号： G06K9/62
CPC分类号： G08G1/16 , G06K9/00791 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。
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公开(公告)号：US08184860B2
公开(公告)日：2012-05-22
申请号：US11780995
申请日：2007-07-20
申请人： Shoji Muramatsu , Tstsuaki Nakamikawa , Takeshi Shima , Yuji Otsuka , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
发明人： Shoji Muramatsu , Tstsuaki Nakamikawa , Takeshi Shima , Yuji Otsuka , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
IPC分类号： G06K9/00
CPC分类号： H04N5/772 , H04N5/782 , H04N21/4223
摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.
摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。
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公开(公告)号：US20110267430A1
公开(公告)日：2011-11-03
申请号：US13094239
申请日：2011-04-26
申请人： Morihiko SAKANO , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko SAKANO , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
CPC分类号： G01C11/06 , G06T5/006 , G06T7/33 , G06T7/73 , G06T7/97 , G06T2207/10012 , G06T2207/10021 , G06T2207/30252 , H04N13/133
摘要： An object of the present invention is to provide a detection device of a planar area, which suppresses matching of luminance values in areas other than a planar area, and non-detection and erroneous detection of the planar area arising from an error in projection transform.The detection device of a planar area includes an image obtaining section for obtaining a left image 100 and a right image 110; a planar area aligning section 30 for setting given regions of interest to the obtained left image 100 and the right image 110, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image 130; and a planar area detecting section 55 for detecting a planar area 140 based on the geometric transform image 130 and the region of interest of the right image 110. The planar area aligning section 30 sets the planar area 140 detected by the planar area detecting section 55 as a given region of interest.
摘要翻译： 本发明的目的是提供一种平面区域的检测装置，其抑制平面区域以外的区域中的亮度值的匹配以及由投影变换中的误差引起的平面区域的非检测和错误检测。 平面区域的检测装置包括用于获得左图像100和右图像110的图像获取部分; 平面区域对准部分30，用于设置所获得的左图像100和右图像110的感兴趣区域，并且通过使用与右图像的感兴趣区域匹配的几何变换函数与左侧的关注区域 图像，执行几何变换以生成几何变换图像130; 以及用于基于几何变换图像130和右图像110的感兴趣区域来检测平面区域140的平面区域检测部分55.平面区域对准部分30设置由平面区域检测部分55检测到的平面区域140 作为一个给定的感兴趣的区域。
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公开(公告)号：US20110261168A1
公开(公告)日：2011-10-27
申请号：US13131426
申请日：2009-11-19
申请人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji
发明人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： H04N13/02
CPC分类号： H04N13/20 , B60T7/22 , B60T2201/16 , B60T2220/02 , B60T2260/08 , B60W10/06 , B60W10/18 , B60W10/20 , B60W30/18145 , B60W40/072 , G06K9/00798 , G06K9/00805 , G06T7/536 , G06T7/593 , G06T7/70 , G06T2207/10021 , G06T2207/30252 , G06T2207/30256
摘要： Provided is a camera device which is capable of estimating a road shape ahead of a target vehicle or capable of determining whether or not the target vehicle needs to be decelerated by controlling a brake before a curve, even in the situation where a white line of a traveling road or a roadside three-dimensional object is difficult to detect. A camera device 105 including a plurality of image capturing units 107 and 108 which each take an image of a traveling road ahead of a target vehicle 106, includes: a three-dimensional object ahead detection unit 114 which detects three-dimensional objects ahead 101 existing in a vicinity of a vanishing point of the traveling road 102 on the basis of the images picked up by the plurality of image capturing units 107 and 108; and a road shape estimation unit 113 which estimates a road shape of a distant portion on the traveling road 102 on the basis of a detection result detected by the three-dimensional object ahead detection unit 114.
摘要翻译： 提供一种相机装置，其能够估计目标车辆前方的道路形状，或者能够通过控制曲线前的制动器来确定目标车辆是否需要减速，即使在白线 行驶路或路边三维物体难以检测。 包括各自拍摄目标车辆106前方的行驶道路的图像的多个图像拍摄单元107和108的相机装置105包括：三维物体前进检测单元114，其检测前方的三维物体101 基于由多个图像拍摄单元107和108拾取的图像在行驶道路102的消失点附近; 以及道路形状估计单元113，其基于由三维物体前进检测单元114检测到的检测结果来估计行驶道路102上的远端部分的道路形状。
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公开(公告)号：US20080192984A1
公开(公告)日：2008-08-14
申请号：US12018649
申请日：2008-01-23
申请人： Mirai HIGUCHI , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
发明人： Mirai HIGUCHI , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
IPC分类号： G06K9/00
CPC分类号： G08G1/16 , G06K9/00791 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。
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公开(公告)号：US20080025597A1
公开(公告)日：2008-01-31
申请号：US11780995
申请日：2007-07-20
申请人： Shoji Muramatsu , Tstsuaki Nakamikawa , Takeshi Shima , Yuji Otsuka , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
发明人： Shoji Muramatsu , Tstsuaki Nakamikawa , Takeshi Shima , Yuji Otsuka , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
IPC分类号： G06K9/62
CPC分类号： H04N5/772 , H04N5/782 , H04N21/4223
摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.
摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。
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