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    VEHICLE-SURROUNDINGS RECOGNITION DEVICE
    2.
    发明公开
    VEHICLE-SURROUNDINGS RECOGNITION DEVICE 审中-公开
    ERKENNUNGSVORRICHTUNGFÜRFAHRZEUGUMGEBUNGEN

    公开(公告)号：EP3093820A4

    公开(公告)日：2017-08-16

    申请号：EP14877969

    申请日：2014-11-14

    申请人： CLARION CO LTD

    发明人： OGATA TAKEHITO ,  KIYOHARA MASAHIRO ,  IRIE KOTA ,  SAKATA MASAO ,  UCHIDA YOSHITAKA

    IPC分类号： G06K9/00 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G08G1/16

    CPC分类号： G06K9/00791 ,  G06K9/00362 ,  G06K9/00805 ,  G06T7/20 ,  G06T7/50 ,  G06T7/70 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

    摘要： Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example. In a case where a first state in which a first detection unit 12 and a second detection unit 13 detect first position information and second position information about an object and a second state in which only a second detection unit 13 detects second position information about the object occur in a time sequence, first position information interpolation information for interpolating the first position information about the object in the second state is calculated on the basis of the first position information and the second position information in the first state and the second position information in the second state, and a relative distance and a relative speed to the object are measured on the basis of the first position information and the first position information interpolation information.

    摘要翻译： 本发明提供一种车辆周边识别装置，即使在通过进行图像而得到的一部分图像中不能准确地检测出物体的情况下，也能够提高相对于行人等物体的相对位置和相对速度的运算精度 例如，在车辆周围俘获。 在第一检测单元12和第二检测单元13检测到关于对象的第一位置信息和第二位置信息的第一状态和仅第二检测单元13检测到关于对象的第二位置信息的第二状态的情况下 根据第一状态下的第一位置信息和第二位置信息以及第二状态下的第二位置信息来计算用于内插关于处于第二状态的对象的第一位置信息的第一位置信息内插信息 第二状态，并且基于第一位置信息和第一位置信息插值信息测量到物体的相对距离和相对速度。

    VEHICLE-MOUNTED DEVICE
    4.
    发明公开
    VEHICLE-MOUNTED DEVICE 审中-公开
    车载设备

    公开(公告)号：EP3023962A4

    公开(公告)日：2017-03-22

    申请号：EP14826384

    申请日：2014-06-13

    申请人： CLARION CO LTD

    发明人： TAKEMURA MASAYUKI ,  KIYOHARA MASAHIRO ,  MURAMATSU SHOJI ,  IRIE KOTA ,  AKIYAMA YASUHIRO

    IPC分类号： G08G1/16 ,  B60R11/04 ,  B60R21/00 ,  G06K9/00 ,  H04N5/225 ,  H04N7/18

    CPC分类号： G06K9/00791 ,  B60R11/04 ,  H04N5/225

    摘要： An in-vehicle device includes: an image acquisition unit that obtains a captured image from a camera that captures, via a camera lens, an image of a surrounding environment around a vehicle; an accumulation detection unit that individually detects a plurality of types of accumulation settled at the camera lens based upon the captured image; an image recognition unit that recognizes an object image, expressing a specific object present in the surrounding environment, in the captured image; a detection results integrating unit that calculates integrated detection results by integrating a plurality of sets of detection results based upon various sets of detection results pertaining to detection of the plurality of types of accumulation provided by the accumulation detection unit; and an operation control unit that controls operation executed by the image recognition unit based upon the integrated detection results.

    SURROUNDING ENVIRONMENT RECOGNITION DEVICE
    7.
    发明公开
    SURROUNDING ENVIRONMENT RECOGNITION DEVICE 审中-公开
    VORRICHTUNG ZUR ERKENNUNG EINER UMGEBUNG

    公开(公告)号：EP3070928A4

    公开(公告)日：2017-06-21

    申请号：EP14861644

    申请日：2014-10-15

    申请人： CLARION CO LTD

    发明人： TAKEMURA MASAYUKI ,  KIYOHARA MASAHIRO ,  IRIE KOTA ,  SAKATA MASAO ,  UCHIDA YOSHITAKA

    IPC分类号： H04N5/232 ,  G03B15/00 ,  G03B17/02 ,  G06K9/00 ,  G06T1/00 ,  H04N5/225 ,  H04N7/18

    CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/8093 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/16 ,  H04N5/2171 ,  H04N7/18

    摘要： A surrounding environment recognition device includes: an image acquisition unit that obtains a photographic image from a camera for capturing, via a camera lens, an image of a surrounding environment around a mobile object; an image recognition unit that recognizes an object image of an object present in the surrounding environment based upon the photographic image obtained by the image acquisition unit; an accumulation detection unit that detects accumulation settled on the camera lens based upon the photographic image obtained by the image acquisition unit; a suspension decision-making unit that makes a decision, based upon detection results provided by the accumulation detection unit, whether or not to suspend operation of the image recognition unit; a tracking unit that detects a characteristic quantity in a tracking target image from a specific area in an image captured by the image acquisition unit for a reference frame, determines through calculation an estimated area where the characteristic quantity should be detected in an image captured by the image acquisition unit for a later frame relative to the reference frame and makes a decision as to whether or not the characteristic quantity for the tracking target image is also present in the estimated area; and a resumption decision-making unit that makes a decision, based upon at least decision-making results provided by the tracking unit and indicating whether or not the characteristic quantity for the tracking target image is present, as to whether or not to resume the operation of the image recognition unit currently in a suspended state.

    摘要翻译： 周围环境识别装置包括：图像获取单元，用于从照相机获取拍摄图像，以通过照相机镜头拍摄移动物体周围的周围环境的图像; 图像识别单元，其基于由图像获取单元获得的摄影图像来识别存在于周围环境中的对象的对象图像; 累积检测单元，其基于由图像获取单元获得的摄影图像来检测在照相机镜头上确定的累积量; 暂停判定单元，其基于由所述累积检测单元提供的检测结果来判定是否暂停所述图像识别单元的操作; 追踪单元，其从由图像获取单元针对参考帧捕获的图像中的特定区域检测追踪对象图像中的特征量，通过计算确定在由该图像捕获单元捕获的图像中应该检测特征量的估计区域 图像获取单元，该图像获取单元用于相对于参考帧的稍后帧，并且判定跟踪目标图像的特征量是否也存在于估计区域中; 以及恢复决策单元，其至少基于由跟踪单元提供的并且指示是否存在跟踪目标图像的特征量的决策结果来做出决定，决定是否恢复操作 图像识别单元当前处于暂停状态。

    APPROACHING-OBJECT DETECTION SYSTEM AND VEHICLE
    8.
    发明公开
    APPROACHING-OBJECT DETECTION SYSTEM AND VEHICLE 审中-公开
    检测系统为自己近似物体和车辆

    公开(公告)号：EP3018645A4

    公开(公告)日：2017-02-22

    申请号：EP14820079

    申请日：2014-05-29

    申请人： CLARION CO LTD

    发明人： NAKAMURA KATSUYUKI ,  AKIYAMA YASUHIRO ,  IRIE KOTA

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R2300/30 ,  G06K9/00825 ,  G06K2009/363 ,  G06T2207/30261

    摘要： An approaching-object detection system detects an approaching object based on images captured by an imaging device. The approaching-object detection system comprises an extraction unit, a distortion correction unit, an object detection unit, and an approaching-object classification unit. The extraction unit extracts a partial image of one far side and a partial image of the other far side from each of the images. The distortion correction unit corrects distortion of the partial images. The object detection unit detects an object from the corrected partial images through pattern matching with reference to preinstalled image information on the object. The approaching-object classification unit classifies the detection result of the object detection unit as an approaching object or not.

    WATER DROPLET DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE USING SAID WATER DROPLET DETECTION DEVICE
    9.
    发明公开
    WATER DROPLET DETECTION DEVICE, AND THREE-DIMENSIONAL OBJECT DETECTION DEVICE USING SAID WATER DROPLET DETECTION DEVICE 审中-公开
    装置上使用此设备检测水滴用于检测三维物体水珠检测和设备

    公开(公告)号：EP2879369A4

    公开(公告)日：2016-09-07

    申请号：EP13822857

    申请日：2013-07-24

    申请人： NISSAN MOTOR ,  CLARION CO LTD

    发明人： HAYAKAWA YASUHISA ,  FUKATA OSAMU ,  TAKEMURA MASAYUKI ,  UTAGAWA AKIRA ,  MURAMATSU SHOJI ,  IRIE KOTA

    IPC分类号： H04N5/225 ,  B60R1/00 ,  B60R21/00 ,  G03B15/00 ,  G06T1/00 ,  G08G1/16 ,  H04N7/18

    CPC分类号： G06T7/2053 ,  B60S1/0844 ,  B60S1/0848 ,  B60S1/56 ,  G06K9/00825 ,  G06T7/174 ,  G06T7/254 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/20224 ,  G06T2207/30261 ,  G08G1/166 ,  G08G1/167 ,  H04N5/3595 ,  H04N7/18

    摘要： The present invention is provided with: an image capturing means (10) having an photographic optical system (11) and adapted for capturing an image of a predetermined area, an image conversion means (31) for viewpoint-converting an image obtained by the image capturing means to create a bird's-eye-view image; a water droplet detection means (40) for setting an arbitrary attention point in the image, a plurality of first reference points inside an imaginary circle of a predetermined radius having the attention point as the center thereof, and a plurality of second reference points corresponding to the first reference points outside the imaginary circle, detecting edge information between the first reference points and second reference points, and assessing the circularity strength of these edge information, thereby detecting water droplets attached to the photographic optical system; a first three-dimensional object detection means (33) for generating differential waveform information from the differential image of the bird's-eye-view images at different points in time obtained by the image conversion means and detecting a three-dimensional object based on the differential waveform information; a three-dimensional object assessment means (38) for assessing whether the three-dimensional object that has been detected by the first three-dimensional object detection means is another vehicle; a water droplet removal device (41) for removing water droplets attached to the photographic optical system; and a control unit (39) for operating the water droplet removal means in accordance with the water droplet attachment state detected by the water droplet detection means.

    VEHICLE-MOUNTED IMAGING DEVICE
    10.
    发明公开
    VEHICLE-MOUNTED IMAGING DEVICE 审中-公开

    公开(公告)号：EP3166302A4

    公开(公告)日：2018-05-30

    申请号：EP15815030

    申请日：2015-04-17

    申请人： CLARION CO LTD

    发明人： IRIE KOTA ,  FUKUDA DAISUKE ,  ITO KAZUHIKO

    IPC分类号： H04N5/225 ,  B60R1/00 ,  G01C21/26 ,  H04N5/232 ,  H04N17/00

    CPC分类号： B60R1/00 ,  G01C21/26 ,  H04N5/2171 ,  H04N5/225 ,  H04N5/232 ,  H04N17/002

    摘要： The present invention provides a vehicle-mounted imaging device that can notify a user of contamination, at a facility, a home or the vicinity thereof in which the user tends to easily eliminate the contamination on a lens or a protective glass of the lens of a camera. The vehicle-mounted imaging device includes: an accretion diagnosis unit 22 that diagnoses a state of the contamination that has been accreted on a lens of camera sections 11A, 11B, 11C, and 11D or on a protective glass of the lens; and a contamination notification determination unit 23 that determines the presence or absence of a notification of the contamination, on the basis of positional information on a predetermined type of facility that is obtained from a navigation device 31 having a database 31b containing a GPS 31a, a map and peripheral facility information, and of a vehicle, wherein when it has been determined by the accretion diagnosis unit 22 that a contamination level is a threshold value or higher, a route to a destination has been set by the navigation device 31, and it has been determined by the contamination notification determination unit 23 that the facility exists in a predetermined distance range from the route, the vehicle-mounted imaging device notifies the user that there is the contamination, by the display device 32 and/or a speaker device 33 provided in the vehicle.