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    Travelable area recognition system, travelable area recognition method, travelable area recognition program executed on the travelable area recognition system, and recording medium storing travelable area recognition program
    1.
    发明公开
    Travelable area recognition system, travelable area recognition method, travelable area recognition program executed on the travelable area recognition system, and recording medium storing travelable area recognition program 审中-公开
    系统，用于检测可通行区域，用于检测行驶区域，一个系统上，用于检测用于检测行驶区域和记录介质的驱动范围程序来执行方法，具有存储在其上的程序，用于检测行驶可能范围

    公开(公告)号：EP2674893A2

    公开(公告)日：2013-12-18

    申请号：EP13171342.2

    申请日：2013-06-11

    Applicant: Ricoh Company, Ltd.

    Inventor： Xue, Li

    IPC: G06K9/00 ,  G06K9/20

    CPC classification number: G06K9/00798 ,  G06K9/209

    Abstract: A travelable area recognition system (1) and a travelable area recognition method, installed in a moving body (100) for traveling on a travelable area, operatively connected to multiple imaging devices (110A, 110B) that capture multiple images of the area surrounding the moving body (100), to recognize a travelable image area in the captured image, each of which includes indexed image generator (122A, 122B) to generate multiple indexed images from the multiple captured images acquired by the imaging devices (110A, 110B) installed in the moving body (100), the indexed images having pixels corresponding to indexes calculated based on multiple polarization components having different polarization directions respectively; a parallax calculator (121) to calculate parallaxes for each of the pixels, based on the indexed images generated by the indexed image generators (122A, 122B) from the multiple captured images; and a travelable area recognition processor (142) to recognize the travelable image area based on the parallaxes calculated by the parallax calculator (121).

    Abstract translation: 一种行驶能够区域识别系统（1）和行驶能够区域识别方法，安装在移动体（100），用于在旅行能够区行进时，可操作地连接到多个成像装置（110A，110B）确实捕捉包围的区域的多个图像 移动体（100）所拍摄的图像，其中的每一个包括索引图像生成器（122A，122B），以产生从所述多个多索引图像中识别一个旅游能够图像区域捕获的由成像设备（110A，110B）所获取的图像安装 在所述移动体（100），具有对应于索引的像素被索引的图像计算基于分别具有不同偏振方向的多个偏振分量; 视差计算部（121）来计算视差针对每个像素的基础上，通过来自所述多个拍摄图像的索引图像生成器（122A，122B）中产生的索引图像; 和行驶能够区域识别处理器（142）来识别基于由视差计算器（121）计算值视差行驶时髦图像区域。

    Object identification device, moving object controlling apparatus having object identification device and information presenting apparatus having object identification device
    2.
    发明公开
    Object identification device, moving object controlling apparatus having object identification device and information presenting apparatus having object identification device 有权
    与该对象识别装置对象识别装置可移动物体控制装置，以及与所述对象识别装置的信息提示装置

    公开(公告)号：EP2439716A2

    公开(公告)日：2012-04-11

    申请号：EP11180655.0

    申请日：2011-09-09

    Applicant: Ricoh Company, Ltd.

    Inventor： Xue, Li ,  Hirai, Hideaki

    IPC: G08G1/16 ,  G01J4/00 ,  G06K9/20 ,  G01N21/21 ,  G06T5/00

    CPC classification number: G08G1/16 ,  G01J3/0229 ,  G01J3/28 ,  G01J3/447 ,  G01J3/453 ,  G01J9/0246 ,  G01N21/314 ,  G06K9/00798 ,  G06K9/00805 ,  G06K9/00825 ,  G06K9/2018 ,  G06T5/002 ,  G06T5/50 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

    Abstract: An object identification device includes an image capturing device to capture images polarized in different directions for an object; a noise removal unit to remove noise in the polarized images using a noise removing parameter; an index value computing unit to compute an object identification index value for identification-processing areas in the polarized images using noise removed polarized images data; an object identification processing unit that conducts an object identification by determining identification processing areas corresponding to an identification target object based on the object identification index value; an environment information obtaining unit to obtain environment information of the object; an environmental condition determination unit to determine an environmental condition of the object based on the environment information; and a parameter storage unit to store noise removing parameters prepared for mutually exclusive environmental conditions. The noise removal unit reads a noise removing parameter from the parameter storage unit to conduct a noise removing.

    Abstract translation: 对象识别装置包括：图像捕获装置以捕获在不同的方向对到对象的偏振图像; 噪声去除单元，其在利用噪声去除参数偏振图像中去除噪声; 到索引值计算单元计算对在使用噪声除去偏振图像数据的偏振图像进行识别处理的区域的对象识别索引值; 到物体识别处理部做了通过在基于对象识别索引值识别targetObject对应于确定性采矿识别处理区域的对象识别行为; 关于环境信息获取单元，用于获得所述对象的环境信息; 环境条件确定单元，基于所述环境信息的对象的环境条件确定性矿上; 和参数存储单元，存储用于相互排斥的环境条件制备噪声去除参数。 噪声去除单元读取的噪声从参数存储单元去除参数进行噪声去除。

    Travelable area recognition system, travelable area recognition method, travelable area recognition program executed on the travelable area recognition system, and recording medium storing travelable area recognition program
    4.
    发明公开
    Travelable area recognition system, travelable area recognition method, travelable area recognition program executed on the travelable area recognition system, and recording medium storing travelable area recognition program 审中-公开
    系统，用于检测可通行区域，用于检测行驶区域，一个系统上，用于检测用于检测行驶区域和记录介质的驱动范围程序来执行方法，具有存储在其上的程序，用于检测行驶可能范围

    公开(公告)号：EP2674893A3

    公开(公告)日：2016-11-09

    申请号：EP13171342.2

    申请日：2013-06-11

    Applicant: Ricoh Company, Ltd.

    Inventor： Xue, Li

    IPC: G06K9/00 ,  G06K9/20

    CPC classification number: G06K9/00798 ,  G06K9/209

    Abstract: A travelable area recognition system (1) and a travelable area recognition method, installed in a moving body (100) for traveling on a travelable area, operatively connected to multiple imaging devices (110A, 110B) that capture multiple images of the area surrounding the moving body (100), to recognize a travelable image area in the captured image, each of which includes indexed image generator (122A, 122B) to generate multiple indexed images from the multiple captured images acquired by the imaging devices (110A, 110B) installed in the moving body (100), the indexed images having pixels corresponding to indexes calculated based on multiple polarization components having different polarization directions respectively; a parallax calculator (121) to calculate parallaxes for each of the pixels, based on the indexed images generated by the indexed image generators (122A, 122B) from the multiple captured images; and a travelable area recognition processor (142) to recognize the travelable image area based on the parallaxes calculated by the parallax calculator (121).

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