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1.发明授权VEHICLE, IMAGE PROCESSING SYSTEM, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, STRUCTURE SYSTEM OF IMAGE PROCESSING SYSTEM 有权车辆，图像处理系统，图像处理，机器视觉系统的图像处理程序结构系统
公开(公告)号：EP1914700B1
公开(公告)日：2010-06-02
申请号：EP06767923.3
申请日：2006-07-06
CPC分类号： G06K9/00798 , G06T7/12 , G06T7/90 , G06T2207/10016 , G06T2207/30256
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公开(公告)号：EP1898357B1
公开(公告)日：2010-12-15
申请号：EP06766951.5
申请日：2006-06-20
CPC分类号： G06K9/00798 , B60W30/12 , B60W2420/42 , G08G1/167
摘要： A lane recognition device has an image acquisition means (2) that acquires an color image of a road via an imaging means (9) mounted on a vehicle (8); lane mark detection means (3, 4) that detect lane marks of different predetermined colors on the road based on color information of the color image and outputs the result of the detection as lane mark candidate data; and a selection means (6) that selects, among the lane mark candidate data of the predetermined colors outputted from at least the lane mark detection means (3, 4), lane mark candidate data corresponding to the lane mark defining the actual lane where the vehicle (8) is traveling, and determines and outputs lane data representing information on the actual lane. Even if lane marks with different colors are present on a road, a lane mark of each color can be appropriately identified by a color image of the road obtained via an imaging means such as a camera.
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公开(公告)号：EP2605506B1
公开(公告)日：2019-04-10
申请号：EP11840713.9
申请日：2011-11-09
发明人： MORI, Naoki
IPC分类号： G06T7/32
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公开(公告)号：EP1901259A1
公开(公告)日：2008-03-19
申请号：EP06766969.7
申请日：2006-06-20
发明人： MORI, Naoki , KOBAYASHI, Sachio
CPC分类号： G08G1/167 , B60W30/12 , B60W2050/046 , G06K9/00798 , G06T7/12 , G06T2207/20061 , G06T2207/30256
摘要： A lane recognizing device comprises: an image processing means (2) which performs a process of estimating a lane of a road by processing an image of the road obtained via an imaging means (8) and outputs a result of the process as first lane information; a holding means (3) which holds map data of the road; a position information obtaining means (4) which obtains the current position information of a vehicle; a lane estimating means (5) which performs a process of estimating the lane of the road using the map data and the current position information and outputs a result of the process as second lane information; and an actual lane recognizing means (6) which recognizes an actual lane of the road on the basis of the first lane information and the second lane information. Thereby, even if there is an unpredictable skid mark or road repaired part, it is possible to detect the lane accurately while increasing the opportunities for detecting the lane as much as possible by processing the road image obtained via the imaging means such as a camera and obtaining the road information from a GPS or the like and the map data.
摘要翻译： 一种车道识别装置，包括：图像处理装置（2），其通过处理经由成像装置（8）获得的道路的图像来执行估计道路的车道的处理，并将处理结果作为第一车道信息 ; 保持装置（3），其保持道路的地图数据; 位置信息获取装置（4），其获取车辆的当前位置信息; 车道估计装置（5），其使用地图数据和当前位置信息来执行估计道路车道的处理，并将处理结果作为第二车道信息输出; 以及基于第一车道信息和第二车道信息识别道路的实际车道的实际车道识别装置（6）。 因此，即使存在不可预知的打滑标记或道路修复部分，也可以通过处理经由诸如照相机的成像装置获得的道路图像，尽可能地增加检测车道的机会，同时精确地检测车道，并且 从GPS等获得道路信息和地图数据。
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5.发明公开DISPLACEMENT MAGNITUDE DETECTION DEVICE FOR VEHICLE-MOUNTED CAMERA 审中-公开胡椒ÜUNG UNG A A A A A A A A A A A A A A A
公开(公告)号：EP2605506A1
公开(公告)日：2013-06-19
申请号：EP11840713.9
申请日：2011-11-09
发明人： MORI, Naoki
CPC分类号： H04N5/23254 , G06T7/20 , G06T7/32 , G06T2207/10016 , G06T2207/20068 , G06T2207/30244 , G06T2207/30248 , G06T2207/30252
摘要： A displacement magnitude calculation device for a vehicle-mounted camera includes a reference value calculating unit 12 which divides, in an image taken by a vehicle-mounted camera 20, a region for measurement Ea into a plurality of measurement unit regions D0 to DN, calculates an average of a luminance value of pixels inside each measurement unit region as reference values re(0,t), re(1,t), ..., re(N,1) of each measurement unit region, and sets a luminance vector VEC(t) indicating a distribution manner in a vertical direction of each reference value, and a camera displacement magnitude calculating unit 13 which calculates a degree of correlation between a luminance vector VEC(t 1 ) of an image taken at t 1 and a luminance vector VEC(t 2 ) of an image taken at t 2 by shifting the vertical luminance vector VEC(t 2 ) in a vertical direction (y direction), and obtains the displacement magnitude of the camera 20 from t 1 to t 2 , on the basis of a shift amount in which the degree of correlation became the highest.
摘要翻译： 用于车载照相机的位移量计算装置包括基准值计算单元12，其将由车载摄像机20拍摄的图像中的测量区域Ea划分为多个测量单位区域D0至DN，计算 每个测量单位区域内的像素的亮度值的平均值作为每个测量单位区域的参考值re（0，t），re（1，t），...，re（N，1），并且设置亮度 表示每个基准值的垂直方向的分布方式的矢量VEC（t）和摄像机位移量计算部13，计算在t 1拍摄的图像的亮度矢量VEC（t 1）与 通过在垂直方向（y方向）移位垂直亮度矢量VEC（t 2），在t 2拍摄的图像的亮度矢量VEC（t 2），并且从t 1到t 2获得照相机20的位移幅度， 基于相关程度的偏移量 成为最高的。
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公开(公告)号：EP1909230B1
公开(公告)日：2011-09-07
申请号：EP06767239.4
申请日：2006-06-23
CPC分类号： G08G1/167 , G06K9/00798 , G06K9/38 , G06T7/11 , G06T7/90 , G06T2207/10016 , G06T2207/30256
摘要： A lane mark recognition apparatus has an image acquisition means (30) for acquiring a color image (IM_0) of a road via a color video camera (10), a specific-color-extracted image creation means (31) for creating both a brightness-extracted image (IM_1) obtained by extracting white-color data from the color image (IM_0) and a yellow-color-extracted image (IM_2) obtained by extracting yellow-color data from the color image (IM_0), and a lane mark detection means (50a) detecting a while line and a yellow line from a composite image (IM_C) formed by the brightness-extracted image (IM_1) and the yellow-color-extracted image (IM_2) and outputting positional data (Pd1) of the white line and positional data (Pd2) of the yellow line.
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7.发明公开VEHICLE, IMAGE PROCESSING SYSTEM, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, STRUCTURE SYSTEM OF IMAGE PROCESSING SYSTEM 有权FAHRZEUG，BILDVERARBEITUNGSSYSTEM，BILDVERARBEITUNGSVERFAHREN，BILDVERARBEITUNGSPROGRAMM，STRUKTURSYSTEM EINES BILDVERARBEITUNGSSYSTEMS
公开(公告)号：EP1914700A1
公开(公告)日：2008-04-23
申请号：EP06767923.3
申请日：2006-07-06
CPC分类号： G06K9/00798 , G06T7/12 , G06T7/90 , G06T2207/10016 , G06T2207/30256
摘要： An image processing system and the like capable of recognizing a lane mark in a road image with high accuracy are provided even if a light illumination state on a road surface is partially different. According to the image processing system (100) mounted on a vehicle (10), a color component (Rij, Gij, Bij) of the first pixel (Pij) included in an area (Aij) set in the road image is corrected with reference to a color component (Rik, Gik, Bik) of a second pixel (Pik) in view of a fact that it is highly probable that the color component of the second pixel included in the area along with the first pixel is affected by a shadow or light on the road surface. This reduces the effect of the shadow or light on the road surface and the actual color of a road surface portion corresponding to the first pixel can be sufficiently reflected in the color components (Rij, Gij, Bij) of the first pixel (Pij) and consequently in a feature value (Qij). Therefore, a lane mark (M) and its edge (E) are recognized in the road image on the basis of the feature value (Qij) of each pixel (Pij) in the road image.
摘要翻译： 即使路面上的照明状态部分不同，也能够提供能够高精度地识别道路图像中的车道标记的图像处理系统等。 根据安装在车辆（10）上的图像处理系统（100），包含在道路图像中设置的区域（Aij）中的第一像素（Pij）的颜色分量（Rij，Gij，Bij）被校正参考 鉴于第二像素（Pik）的颜色分量（Rik，Gik，Bik），鉴于包括在第一像素中的区域中的第二像素的颜色分量很可能受到阴影的影响 或路面上的光线。 这样可以减小阴影或光线对路面的影响，并且可以将与第一像素对应的路面部分的实际颜色充分地反映在第一像素（Pij）的颜色分量（Rij，Gij，Bij）中，并且 因此在特征值（Qij）中。 因此，基于道路图像中的各像素（Pij）的特征量（Qij），在道路图像中识别车道标记（M）及其边缘（E）。
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