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    In-Vehicle Camera and In-Vehicle Camera System
    1.
    发明申请
    In-Vehicle Camera and In-Vehicle Camera System 有权
    车载相机和车载相机系统

    公开(公告)号：US20130335561A1

    公开(公告)日：2013-12-19

    申请号：US13983289

    申请日：2012-03-01

    申请人： Naoki Kourogi ,  Tatsuhiko Monji

    发明人： Naoki Kourogi ,  Tatsuhiko Monji

    IPC分类号： H04N7/18

    CPC分类号： H04N7/18 ,  B60R21/0134 ,  G08G1/165

    摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.

    摘要翻译： 在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离， 图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。 因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

    Load Sign Recognition Apparatus and Load Sign Recognition Method
    4.
    发明申请
    Load Sign Recognition Apparatus and Load Sign Recognition Method 审中-公开
    负载符号识别装置和载荷识别方法

    公开(公告)号：US20100040289A1

    公开(公告)日：2010-02-18

    申请号：US12370073

    申请日：2009-02-12

    申请人： Kota IRIE ,  Masahiro KIYOHARA ,  Naoki KOUROGI

    发明人： Kota IRIE ,  Masahiro KIYOHARA ,  Naoki KOUROGI

    IPC分类号： G06K9/36 ,  G06K9/62 ,  G06K9/46

    CPC分类号： G01C21/26 ,  G06K9/00798

    摘要： A road sign recognition apparatus generates a mosaic image formed by connecting accumulated images from a camera in time-series order, determines multiple road signs contained in the mosaic image by template matching, and generates positional information for the use of knowing a relative position of a vehicle to the road sign.

    摘要翻译： 路标识别装置生成通过以时间顺序连接来自摄像机的累积图像形成的马赛克图像，通过模板匹配来确定包含在马赛克图像中的多个道路标志，并生成用于知道马赛克的相对位置的位置信息 车辆到路标。

    Image recognition apparatuses, methods and programs
    5.
    发明申请
    Image recognition apparatuses, methods and programs 有权
    图像识别装置，方法和程序

    公开(公告)号：US20090174577A1

    公开(公告)日：2009-07-09

    申请号：US12292887

    申请日：2008-11-28

    申请人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Kota Irie ,  Naoki Kourogi ,  Takeshi Shima ,  Masahiro Kiyohara

    发明人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Kota Irie ,  Naoki Kourogi ,  Takeshi Shima ,  Masahiro Kiyohara

    IPC分类号： G08G1/123 ,  G06K9/00

    CPC分类号： G06K9/00798

    摘要： Image information apparatuses, methods, and programs acquire image information of a plurality of frames of images sensed at predetermined regular time intervals. The apparatuses, methods, and programs detect a leading and trailing end of a lane mark included in a detection area defined in each frame of the image information. The apparatuses, methods, and programs detect a detected distance from one of the leading and trailing end of the lane mark to the other one as a detected distance based on the speed of the vehicle and the number of frames between a frame in which one of the leading end and the trailing end of the lane mark is detected and a frame in which the other one of the leading end and the trailing end of the lane mark is detected and determine a lane mark type of the lane mark on the basis of the detected distance.

    摘要翻译： 图像信息装置，方法和程序获取以预定的规则时间间隔感测的多个图像帧的图像信息。 设备，方法和程序检测包括在图像信息的每个帧中定义的检测区域中的车道标记的前端和后端。 装置，方法和程序根据车辆的速度和帧之间的帧数检测从车道标记的前端和后端之一到另一车道标记的检测距离， 检测车道标记的前端和尾端，并且检测车道标记的前端和后端中的另一个被检测到的帧，并基于该车道标记确定车道标记的车道标记类型 检测距离。

    Three-Dimensional Object Detecting Device
    6.
    发明申请
    Three-Dimensional Object Detecting Device 失效
    三维物体检测装置

    公开(公告)号：US20090226035A1

    公开(公告)日：2009-09-10

    申请号：US12223638

    申请日：2007-02-07

    申请人： Akira Iihoshi ,  Yasushi Ueda ,  Satoko Furuki ,  Zhencheng Hu ,  Keiichi Uchimura ,  Naoki Kourogi

    发明人： Akira Iihoshi ,  Yasushi Ueda ,  Satoko Furuki ,  Zhencheng Hu ,  Keiichi Uchimura ,  Naoki Kourogi

    IPC分类号： G06K9/00

    CPC分类号： G06K9/00234 ,  G06K9/00255 ,  G06T7/521 ,  G06T7/74 ,  G06T2207/30196 ,  G06T2207/30268

    摘要： A three-dimensional-object can be effectively detected. A pair of image capture devices capture a three-dimensional-object and calculate disparity component data of subdivided-image regions, respectively. On a basis of the disparity component data, gray scale values indicative of distances from the image capture device are calculated and a gray scale image in which each region has its corresponding gray scale value is generated. A model of the three-dimensional-object is defined and correlation values is calculated to show the degree of a similarity between the model and the image subdivided regions in the gray scale image. The model is a two-dimensional image with a shaping characteristic when the three-dimensional object is viewed from positions of the image capture devices while each subdivided region of the two-dimensional image has a gray scale value indicative of a distance from the image capture device at a portion corresponding to the three-dimensional object. The correlation values are calculated on a basis of gray scale values of the model and those of the image region in the gray scale image. The model and an image region with the highest correlation value are detected in the gray scale image, so that a three-dimensional image is detected.

    摘要翻译： 可以有效地检测三维物体。 一对图像捕获装置捕获三维对象并分别计算细分图像区域的视差分量数据。 在视差分量数据的基础上，计算指示与图像拍摄装置的距离的灰度值，并生成其中每个区域具有其对应的灰度值的灰度图像。 定义三维对象的模型，并计算相关值，以显示灰度图像中模型与图像细分区域之间的相似度。 该模型是当从图像捕获装置的位置观看三维物体时具有成形特征的二维图像，而二维图像的每个细分区域具有指示距离图像捕获的距离的灰度值 设备在对应于三维物体的部分。 基于灰度图像的灰度值和图像区域的灰度值计算相关值。 在灰度图像中检测出具有最高相关值的模型和图像区域，从而检测出三维图像。

    Image recognition apparatuses, methods and programs
    7.
    发明授权
    Image recognition apparatuses, methods and programs 有权
    图像识别装置，方法和程序

    公开(公告)号：US07948397B2

    公开(公告)日：2011-05-24

    申请号：US12292887

    申请日：2008-11-28

    申请人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Kota Irie ,  Naoki Kourogi ,  Takeshi Shima ,  Masahiro Kiyohara

    发明人： Masaki Nakamura ,  Tomoaki Ishikawa ,  Osamu Aisaka ,  Kota Irie ,  Naoki Kourogi ,  Takeshi Shima ,  Masahiro Kiyohara

    IPC分类号： G08G1/16

    CPC分类号： G06K9/00798

    摘要： Image information apparatuses, methods, and programs acquire image information of a plurality of frames of images sensed at predetermined regular time intervals. The apparatuses, methods, and programs detect a leading and trailing end of a lane mark included in a detection area defined in each frame of the image information. The apparatuses, methods, and programs detect a detected distance from one of the leading and trailing end of the lane mark to the other one as a detected distance based on the speed of the vehicle and the number of frames between a frame in which one of the leading end and the trailing end of the lane mark is detected and a frame in which the other one of the leading end and the trailing end of the lane mark is detected and determine a lane mark type of the lane mark on the basis of the detected distance.

    摘要翻译： 图像信息装置，方法和程序获取以预定的规则时间间隔感测的多个图像帧的图像信息。 设备，方法和程序检测包括在图像信息的每个帧中定义的检测区域中的车道标记的前端和后端。 装置，方法和程序根据车辆的速度和帧之间的帧数检测从车道标记的前端和后端之一到另一车道标记的检测距离， 检测车道标记的前端和尾端，并且检测车道标记的前端和后端中的另一个被检测到的帧，并基于该车道标记确定车道标记的车道标记类型 检测距离。

    In-vehicle camera and in-vehicle camera system
    8.
    发明授权
    In-vehicle camera and in-vehicle camera system 有权
    车载摄像头和车载摄像头系统

    公开(公告)号：US08878935B2

    公开(公告)日：2014-11-04

    申请号：US13983289

    申请日：2012-03-01

    申请人： Naoki Kourogi ,  Tatsuhiko Monji

    发明人： Naoki Kourogi ,  Tatsuhiko Monji

    IPC分类号： H04N7/18 ,  G06K9/00 ,  H04N5/225 ,  G08G1/16 ,  B60R21/0134

    CPC分类号： H04N7/18 ,  B60R21/0134 ,  G08G1/165

    摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.

    摘要翻译： 在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离， 图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。 因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

    Three-dimensional object detecting device
    9.
    发明授权
    Three-dimensional object detecting device 失效
    三维物体检测装置

    公开(公告)号：US08396283B2

    公开(公告)日：2013-03-12

    申请号：US12223638

    申请日：2007-02-07

    申请人： Akira Iihoshi ,  Yasushi Ueda ,  Satoko Furuki ,  Zhencheng Hu ,  Keiichi Uchimura ,  Naoki Kourogi

    发明人： Akira Iihoshi ,  Yasushi Ueda ,  Satoko Furuki ,  Zhencheng Hu ,  Keiichi Uchimura ,  Naoki Kourogi

    IPC分类号： G06K9/00 ,  G06K9/32

    CPC分类号： G06K9/00234 ,  G06K9/00255 ,  G06T7/521 ,  G06T7/74 ,  G06T2207/30196 ,  G06T2207/30268

    摘要： A three-dimensional-object can be effectively detected. A pair of image capture devices capture a three-dimensional-object and calculate disparity component data of subdivided-image regions, respectively. On a basis of the disparity component data, gray scale values indicative of distances from the image capture device are calculated and a gray scale image in which each region has its corresponding gray scale value is generated. A model of the three-dimensional-object is defined and correlation values is calculated to show the degree of a similarity between the model and the image subdivided regions in the gray scale image. The model is a two-dimensional image with a shaping characteristic when the three-dimensional object is viewed from positions of the image capture devices while each subdivided region of the two-dimensional image has a gray scale value indicative of a distance from the image capture device at a portion corresponding to the three-dimensional object. The correlation values are calculated on a basis of gray scale values of the model and those of the image region in the gray scale image. The model and an image region with the highest correlation value are detected in the gray scale image, so that a three-dimensional image is detected.

    摘要翻译： 可以有效地检测三维物体。 一对图像捕获装置捕获三维对象并分别计算细分图像区域的视差分量数据。 在视差分量数据的基础上，计算指示与图像拍摄装置的距离的灰度值，并生成其中每个区域具有其对应的灰度值的灰度图像。 定义三维对象的模型，并计算相关值，以显示灰度图像中模型与图像细分区域之间的相似度。 该模型是当从图像捕获装置的位置观看三维物体时具有成形特征的二维图像，而二维图像的每个细分区域具有指示距离图像捕获的距离的灰度值 设备在对应于三维物体的部分。 基于灰度图像的灰度值和图像区域的灰度值计算相关值。 在灰度图像中检测出具有最高相关值的模型和图像区域，从而检测出三维图像。