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公开(公告)号：US10885354B2
公开(公告)日：2021-01-05
申请号：US16328465
申请日：2017-08-03
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa
Abstract: A perimeter monitoring device is applied to a vehicle comprising a distance measuring sensor for transmitting a probing wave and receiving a reflected wave of the probing wave and an imaging device for capturing an image of the surroundings of the vehicle. The perimeter monitoring device comprises: an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in the vicinity of the vehicle as detection information of the object provided by the distance measuring sensor; an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit; and an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object.
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公开(公告)号：US11750768B2
公开(公告)日：2023-09-05
申请号：US17346662
申请日：2021-06-14
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa , Muneaki Matsumoto
CPC classification number: H04N5/44504 , B60R1/00 , G06T1/00 , G06T7/13 , G06V20/58 , H04N5/2628 , H04N5/272 , H04N7/18 , B60R2300/304 , G06T2207/30261 , G06V2201/08
Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.
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公开(公告)号：US11258963B2
公开(公告)日：2022-02-22
申请号：US17011763
申请日：2020-09-03
Applicant: DENSO CORPORATION
Inventor： Yoshinori Ozaki , Hirohiko Yanagawa
IPC: H04N5/262 , H04N13/156 , G06K9/00 , G06K9/46 , H04N7/18
Abstract: An aspect of the present disclosure is an image creation device installed in a vehicle. The image creation device includes an image capture section and a bird's-eye view image creation section. The image capture section acquires a captured image within a peripheral range around the vehicle. The bird's-eye view image creation section creates a bird's-eye view image. The bird's-eye view image creation section includes a contour extraction section, a region discrimination section, a first creation section, a second creation section, and an image combining section. The contour extraction section extracts the contour shape of an object in the captured image. The region discrimination section judges whether the contour region is a three-dimensional object region or a road surface region. The first creation section creates a stereoscopic image, and the second creation section creates a planar view image. The image combining section combines the stereoscopic image and the planar view image.
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公开(公告)号：US11064151B2
公开(公告)日：2021-07-13
申请号：US16096042
申请日：2017-04-25
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Taketo Harada , Mitsuyasu Matsuura , Hirohiko Yanagawa , Muneaki Matsumoto
Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.
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公开(公告)号：US10706292B2
公开(公告)日：2020-07-07
申请号：US16082395
申请日：2017-03-06
Applicant: DENSO CORPORATION
Inventor： Nobuyuki Yokota , Hirohiko Yanagawa
IPC: G06K9/00 , B60R1/00 , H04N7/18 , B60W40/105 , G06T15/20
Abstract: An information processing apparatus includes a status determining unit, a speed detecting unit, and a display controlling unit. The status determining unit determines a control status of control performed by an output control apparatus controlling an output direction of a driving force for a vehicle. The speed detecting unit detects a traveling speed of the vehicle. The display controlling unit allows a display apparatus to display one or more surrounding images included in a plurality of surrounding images and determined according to the control status determined by the status determining unit and the traveling speed detected by the speed detecting unit, the plurality of surrounding images being images which show surroundings of the vehicle based on images captured by one or more cameras capturing images of the surroundings of the vehicle and which differ from one another in at least one of a viewpoint and a display range.
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Patent Agency Ranking
公开(公告)号：US09967526B2
公开(公告)日：2018-05-08
申请号：US14421204
申请日：2013-08-23
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC.
Inventor： Bingchen Wang , Hirohiko Yanagawa , Masakazu Takeichi , Masayuki Imanishi
CPC classification number: H04N7/183 , B60R1/00 , B60R2300/402 , G06T3/4038
Abstract: An image processing device includes an image input section inputting images taken by a vehicle camera, a calibration target specifying section specifying a calibration target included both in a first image and in a second image, a vehicle information input section inputting information indicating travel distance and orientation change of the vehicle, a calculation section, and a storing control section. The calculation section converts the first and the second images to the first and second bird's-eye view images, respectively, arranges the first and the second birds-eye view images on common coordinate system with consideration of corresponding image taking positions and image taking orientations, and calculates at least one orientation parameter of the camera which minimizes position difference and rotation angle difference between the two calibration targets included in the first and second birds-eye view images. The storing control section stores the orientation parameter in storage.
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公开(公告)号：US11467281B2
公开(公告)日：2022-10-11
申请号：US16854023
申请日：2020-04-21
Applicant: DENSO CORPORATION
Inventor： Yohei Suzuki , Mitsuyasu Matsuura , Taketo Harada , Hirohiko Yanagawa
Abstract: In an object detection device to be installed to a vehicle and detect an object outside the vehicle, a position calculator sets multiple candidate points representing a candidate position of the object, based on positions of feature points extracted from a first image captured at a first time. The multiple candidate points are set to be denser within a detection range set based on a distance to the object detected by the ultrasonic sensor than outside the detection range. The position calculator estimates positions of the multiple candidate points at a second time which is after the first time, based on the positions of the multiple candidate points and movement information of the vehicle, and calculates the position of the object by comparing the estimated positions of the multiple candidate points at the second time and the positions of the feature points extracted from a second image captured at the second time.
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公开(公告)号：US10885356B2
公开(公告)日：2021-01-05
申请号：US16442799
申请日：2019-06-17
Applicant: DENSO CORPORATION
Inventor： Yu Maeda , Mitsuyasu Matsuura , Hirohiko Yanagawa , Hideki Otsuka
Abstract: A parking assisting apparatus includes an imaging unit acquiring image information corresponding to an image of surroundings of a vehicle, an image processing section recognizing a feature shape in the image by processing the image information, an obstacle detecting section acquiring positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around a parking space, and a manner-of-parking selecting section selecting a manner of parking the vehicle in the parking space from manner candidates including perpendicular parking and parallel parking based on the feature shape and the positional-relationship information. The manner-of-parking selecting section selects the manner of parking from the manner candidates by integrating a likelihood of each of the manner candidates based on the positional-relationship information with a likelihood of the manner candidate based on a recognition result to calculate final likelihoods of the respective manner candidates, and by comparing the calculated final likelihoods.
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公开(公告)号：US11863900B2
公开(公告)日：2024-01-02
申请号：US17357745
申请日：2021-06-24
Applicant: DENSO CORPORATION
Inventor： Shingo Imura , Hirohiko Yanagawa , Woocheol Shin
IPC: H04N5/262 , G06T7/70 , B60R1/00 , G06T7/20 , G06T15/60 , H04N5/272 , H04N7/18 , G06V20/56 , G06V20/64 , G06V40/10
CPC classification number: H04N5/2628 , B60R1/00 , G06T7/20 , G06T7/70 , G06T15/60 , G06V20/56 , G06V20/64 , G06V40/103 , H04N5/272 , H04N7/181 , B60R2300/304 , B60R2300/607 , G06T2207/30252 , G06V2201/08
Abstract: In an image generation apparatus, an image acquisition unit is configured to acquire, from at least one camera operable to capture an image of surroundings of a vehicle, a captured image. A bird's-eye view image generation unit is configured to generate a bird's-eye view image from the captured image. A three-dimensional object recognition unit is configured to recognize a three-dimensional object in the captured image. A superimposition-image acquisition unit is configured to acquire a superimposition image that represents the three-dimensional object recognized by the three-dimensional object recognition unit, by performing a process depending on a type of the three-dimensional object recognized by the three-dimensional object recognition unit. A superimposition unit is configured to superimpose, onto the bird's-eye view image, the superimposition image acquired by the superimposition-image acquisition unit, at a position where the three-dimensional object is present in the bird's-eye view image.
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公开(公告)号：US11458892B2
公开(公告)日：2022-10-04
申请号：US16986587
申请日：2020-08-06
Applicant: DENSO CORPORATION
Inventor： Shogo Omiya , Hirohiko Yanagawa
Abstract: An embodiment of the present disclosure relates to an image generation device including an image acquisition unit, a position recognition unit, a boundary line setting unit, and an image compositing unit. The image acquisition unit is mounted to a vehicle, and configured to acquire a plurality of captured images in which the periphery of the vehicle is imaged by a plurality of imaging units having an overlap region where imaging regions thereof partially overlap with each other. The position recognition unit is configured to recognize positions of specific obstacles which are one or more obstacles positioned in the overlap region. The boundary line setting unit is configured to set the boundary line so that each of the specific obstacles is contained in the image captured by the imaging unit which is closest in distance to the specific obstacle, among the plurality of imaging units. The image compositing unit is configured to generate a composite image in which the plurality of captured images are combined, using the boundary line as a boundary when combining the plurality of captured images.
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