公开(公告)号：US09672432B2

公开(公告)日：2017-06-06

申请号：US14114665

申请日：2012-05-23

申请人： Kinji Yamamoto ,  Kazuya Watanabe ,  Shoko Takeda ,  Kenji Miura ,  Jun Kadowaki

发明人： Kinji Yamamoto ,  Kazuya Watanabe ,  Shoko Takeda ,  Kenji Miura ,  Jun Kadowaki

IPC分类号： G06K9/00 ,  G08G1/16 ,  G06T3/00 ,  G06T11/00 ,  G06T15/20 ,  H04N7/18

CPC分类号： G06K9/00805 ,  B60R2300/607 ,  G06K9/00255 ,  G06T3/00 ,  G06T11/001 ,  G06T15/205 ,  G08G1/166 ,  H04N7/18

摘要： An image generation device that enhances visual recognizability between a recognized 3D (three-dimensional) object and a substitute image synthesized in an area of a 3D object image which is a photographed image of the 3D object includes an image synthesis section that recognizes a 3D object present in the peripheral area of a vehicle and outputs 3D object attribute information indicative of attributes of this 3D object, determines a 3D object image area as an image area of the 3D object in the photographed image based on position information included in the 3D object attribute information, outputs at least one of a substitute image of the 3D object applied with a color based on the color information and a substitute image of the 3D object under a specified directional posture of the 3D object specified based on type information and directional posture information and generates a bird's-eye view image with a substitution image in which the substitution image outputted from a substitution image output section is synthesized at the position of the 3D object image area.

公开(公告)号：US20140063197A1

公开(公告)日：2014-03-06

申请号：US14114665

申请日：2012-05-23

申请人： Kinji Yamamoto ,  Kazuya Watanabe ,  Shoko Takeda ,  Kenji Miura ,  Jun Kadowaki

发明人： Kinji Yamamoto ,  Kazuya Watanabe ,  Shoko Takeda ,  Kenji Miura ,  Jun Kadowaki

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  B60R2300/607 ,  G06K9/00255 ,  G06T3/00 ,  G06T11/001 ,  G06T15/205 ,  G08G1/166 ,  H04N7/18

摘要： An image generation device that enhances visual recognizability between a recognized 3D (three-dimensional) object and a substitute image synthesized in an area of a 3D object image which is a photographed image of the 3D object includes an image synthesis section that recognizes a 3D object present in the peripheral area of a vehicle and outputs 3D object attribute information indicative of attributes of this 3D object, determines a 3D object image area as an image area of the 3D object in the photographed image based on position information included in the 3D object attribute information, outputs at least one of a substitute image of the 3D object applied with a color based on the color information and a substitute image of the 3D object under a specified directional posture of the 3D object specified based on type information and directional posture information and generates a bird's-eye view image with a substitution image in which the substitution image outputted from a substitution image output section is synthesized at the position of the 3D object image area.

摘要翻译： 增强识别的3D（三维）物体与在3D物体的拍摄图像的3D对象图像的区域中合成的替代图像之间的视觉识别性的图像生成装置包括识别3D对象的图像合成部 存在于车辆的周边区域并输出指示该3D对象的属性的3D对象属性信息，基于3D对象属性中包含的位置信息，将3D对象图像区域确定为拍摄图像中的3D对象的图像区域 信息，基于颜色信息输出应用了颜色的3D对象的替代图像和基于类型信息和方位姿势信息指定的3D对象的指定方向姿势下的3D对象的替代图像中的至少一个，以及 用替代图像生成鸟瞰图，其中替代图像从替代图像输出 在3D对象图像区域的位置处合成图像输出部。

公开(公告)号：US08605156B2

公开(公告)日：2013-12-10

申请号：US13265103

申请日：2010-02-18

申请人： Shoko Takeda ,  Kazuya Watanabe ,  Tadashi Asano ,  Yukiko Donishi ,  Kinji Yamamoto

发明人： Shoko Takeda ,  Kazuya Watanabe ,  Tadashi Asano ,  Yukiko Donishi ,  Kinji Yamamoto

IPC分类号： H04N17/00 ,  H04N17/02 ,  G06K7/00

CPC分类号： H04N17/002 ,  G06K9/00791 ,  G06T7/80 ,  G06T2207/20068 ,  G06T2207/30204 ,  G06T2207/30252 ,  H04N5/2351 ,  H04N5/2353

摘要： There is disclosed a calibration target detection apparatus that can be obtained at a low cost and without increasing storage capacity, is the apparatus being provided with: a light measurement region setting unit for setting a long light measurement region; a light-measuring unit for detecting light measurement information of the light measurement region; a profile generation unit for generating a first profile, wherein the long light measurement region taking a predetermined one direction as a long direction is scanned along the other direction orthogonal to the one direction, and the change in the light measurement information in the other direction is shown; and a second profile, wherein the long light measurement region taking the other direction as the long direction is scanned along the one direction, and the change in the light measurement information in the one direction is shown; and a position calculation unit for calculating, on the basis of a characteristic point of the first and second profiles, a position of a calibration target or a position of a predetermined location of the calibration target, the calibration target being used for calibrating an onboard camera, and the calibration target being included in a captured image acquired by the onboard camera.

摘要翻译： 公开了一种可以以低成本获得并且不增加存储容量的校准目标检测装置，该装置设置有：用于设置长光测量区域的光测量区域设置单元; 光测量单元，用于检测所述光测量区域的光测量信息; 用于产生第一轮廓的轮廓产生单元，其中沿着与所述一个方向正交的另一个方向扫描沿着与所述一个方向正交的另一个方向的长方向的长光测量区域，并且另一个方向上的光测量信息的变化是 显示; 以及第二轮廓，其中沿着所述一个方向扫描作为长方向的另一方向的长光测量区域，并且示出了所述一个方向上的光测量信息的变化; 以及位置计算单元，用于基于第一和第二轮廓的特征点，计算校准目标的位置或校准目标的预定位置的位置，校准目标被用于校准车载摄像机 并且校准目标被包括在由车载摄像机获取的捕获图像中。

公开(公告)号：US20120033087A1

公开(公告)日：2012-02-09

申请号：US13265103

申请日：2010-02-18

申请人： Shoko Takeda ,  Kazuya Watanabe ,  Tadashi Asano ,  Yukiko Donishi ,  Kinji Yamamoto

发明人： Shoko Takeda ,  Kazuya Watanabe ,  Tadashi Asano ,  Yukiko Donishi ,  Kinji Yamamoto

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G06K9/00791 ,  G06T7/80 ,  G06T2207/20068 ,  G06T2207/30204 ,  G06T2207/30252 ,  H04N5/2351 ,  H04N5/2353

摘要： There is disclosed a calibration target detection apparatus that can be obtained at a low cost and without increasing storage capacity, is the apparatus being provided with: a light measurement region setting unit for setting a long light measurement region; a light-measuring unit for detecting light measurement information of the light measurement region; a profile generation unit for generating a first profile, wherein the long light measurement region taking a predetermined one direction as a long direction is scanned along the other direction orthogonal to the one direction, and the change in the light measurement information in the other direction is shown; and a second profile, wherein the long light measurement region taking the other direction as the long direction is scanned along the one direction, and the change in the light measurement information in the one direction is shown; and a position calculation unit for calculating, on the basis of a characteristic point of the first and second profiles, a position of a calibration target or a position of a predetermined location of the calibration target, the calibration target being used for calibrating an onboard camera, and the calibration target being included in a captured image acquired by the onboard camera.

摘要翻译： 公开了一种可以以低成本获得并且不增加存储容量的校准目标检测装置，该装置设置有：用于设置长光测量区域的光测量区域设置单元; 光测量单元，用于检测所述光测量区域的光测量信息; 用于产生第一轮廓的轮廓产生单元，其中沿着与所述一个方向正交的另一个方向扫描沿着与所述一个方向正交的另一个方向的长方向的长光测量区域，并且另一个方向上的光测量信息的变化是 显示; 以及第二轮廓，其中沿着所述一个方向扫描作为长方向的另一方向的长光测量区域，并且示出了所述一个方向上的光测量信息的变化; 以及位置计算单元，用于基于第一和第二简档的特征点，计算校准对象的位置或校准对象的预定位置的位置，校准对象用于校准车载摄像机 并且校准目标被包括在由车载摄像机获取的捕获图像中。

公开(公告)号：US09467679B2

公开(公告)日：2016-10-11

申请号：US14234914

申请日：2012-08-21

申请人： Haruki Wakabayashi ,  Kosuke Sato ,  Kinji Yamamoto ,  Shoko Takeda

发明人： Haruki Wakabayashi ,  Kosuke Sato ,  Kinji Yamamoto ,  Shoko Takeda

IPC分类号： H04N7/18 ,  G06T3/00 ,  H04N13/02 ,  G08G1/16

CPC分类号： H04N13/207 ,  G06T3/00 ,  G06T3/005 ,  G08G1/168 ,  H04N7/18

摘要： A vehicle periphery monitoring device includes a first bird's-eye view image generation section generating a first bird's-eye view image through a two-dimensional plane projective transformation based on a photographed image acquired by an in-vehicle camera module, a second bird's-eye view image generation section generating a second bird's-eye view image through a three-dimensional plane projective transformation based on the photographed image, and a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first bird's-eye view image.

摘要翻译： 车辆外围监视装置包括：第一鸟瞰图图像生成部，其基于由车载摄像机模块获取的拍摄图像，通过二维平面投影变换来生成第一鸟瞰图图像;第二鸟瞰图 观看图像生成部，其通过基于拍摄图像的三维平面投影变换来生成第二鸟瞰图图像;以及显示图像生成部，其从第一鸟瞰图图像生成用于监视显示的第一显示图像， 从与第一鸟瞰图图像的预定区域相对应的第二鸟瞰图图像的预定区域，显示具有比第一显示图像更高的显示倍率的用于监视器显示的第二显示图像。

公开(公告)号：US20140152774A1

公开(公告)日：2014-06-05

申请号：US14234914

申请日：2012-08-21

申请人： Haruki Wakabayashi ,  Kosuke Sato ,  Kinji Yamamoto ,  Shoko Takeda

发明人： Haruki Wakabayashi ,  Kosuke Sato ,  Kinji Yamamoto ,  Shoko Takeda

IPC分类号： H04N13/02

CPC分类号： H04N13/207 ,  G06T3/00 ,  G06T3/005 ,  G08G1/168 ,  H04N7/18

摘要： A vehicle periphery monitoring device includes a first bird's-eye view image generation section generating a first bird's-eye view image through a two-dimensional plane projective transformation based on a photographed image acquired by an in-vehicle camera module, a second bird's-eye view image generation section generating a second bird's-eye view image through a three-dimensional plane projective transformation based on the photographed image, and a displaying image generation section generating a first displaying image for monitor displaying from the first bird's-eye view image and a second displaying image for monitor displaying having a higher displaying magnification than the first displaying image, from a predetermined area of the second bird's-eye view image corresponding to a predetermined area of the first bird's-eye view image.

摘要翻译： 车辆外围监视装置包括：第一鸟瞰图图像生成部，其基于由车载摄像机模块获取的拍摄图像，通过二维平面投影变换来生成第一鸟瞰图图像;第二鸟瞰图 观看图像生成部，其通过基于拍摄图像的三维平面投影变换来生成第二鸟瞰图图像;以及显示图像生成部，其从第一鸟瞰图图像生成用于监视显示的第一显示图像， 从与第一鸟瞰图图像的预定区域相对应的第二鸟瞰图图像的预定区域，显示具有比第一显示图像更高的显示倍率的用于监视器显示的第二显示图像。

公开(公告)号：US09308863B2

公开(公告)日：2016-04-12

申请号：US13636041

申请日：2011-02-02

申请人： Hidehiko Miyoshi ,  Noboru Nagamine ,  Kenji Miura ,  Kinji Yamamoto ,  Kenjiro Goto

发明人： Hidehiko Miyoshi ,  Noboru Nagamine ,  Kenji Miura ,  Kinji Yamamoto ,  Kenjiro Goto

IPC分类号： B60R1/00 ,  H04N7/18

CPC分类号： B60R1/002 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/307 ,  B60R2300/607 ,  G06F3/0412 ,  G06F3/04845 ,  G06F3/04886 ,  G06F2203/04803 ,  G06F2203/04806 ,  G06K9/00805 ,  G06T3/40 ,  H04N7/18 ,  H04N7/181

摘要： Provided is a device whereby it is possible to accurately recognize which area has been enlarged when part of an overhead image displayed on a monitor is displayed as enlarged. When any one area of a plurality divided areas (D1-D4) is indicated, the divided areas being a result of dividing an overhead image displayed on a monitor (21), an image of the indicated divided area (D1-D4) is set as an image to be enlarged, and an auxiliary display area (21B) is set as an enlarged display area. Enlarged display unit forms a plurality of intermediate images (M) of an intermediate size between the size of the indicated divided area (D2) and the size of the enlarged display area, and the intermediate images are sequentially displayed beginning with the smallest intermediate image (M), using the indicated divided area (D2) as an origin point.

摘要翻译： 提供了一种可以准确地识别当显示在监视器上的俯瞰图像的一部分被放大显示时哪个区域已被放大的装置。 当指示多个分割区域（D1-D4）中的任何一个区域时，划分的区域是对显示在监视器（21）上的俯瞰图像进行分割的结果，设置指示的划分区域（D1-D4）的图像 作为要放大的图像，并且将辅助显示区域（21B）设置为放大的显示区域。 放大的显示单元形成在指示的分割区域（D2）的大小和放大的显示区域的大小之间的中间大小的多个中间图像（M），并且中间图像以最小的中间图像（ M），使用指示的分割区域（D2）作为原点。

公开(公告)号：US09403481B2

公开(公告)日：2016-08-02

申请号：US13636080

申请日：2011-02-02

申请人： Hidehiko Miyoshi ,  Noboru Nagamine ,  Kenji Miura ,  Kinji Yamamoto ,  Kenjiro Goto

发明人： Hidehiko Miyoshi ,  Noboru Nagamine ,  Kenji Miura ,  Kinji Yamamoto ,  Kenjiro Goto

IPC分类号： H04N7/18 ,  B60R1/00

CPC分类号： B60R1/00 ,  B60R11/04 ,  B60R2300/105 ,  B60R2300/301 ,  B60R2300/303 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/602 ,  B60R2300/607 ,  B60R2300/806 ,  B60R2300/8093 ,  G06K9/00805 ,  G06T3/40 ,  G06T11/00 ,  H04N7/18 ,  H04N7/181

摘要： Provided is a device whereby the position of an obstacle can be perceived on a monitor without compromising the effectiveness of displaying an overhead image on the monitor. An overhead image generator generates an overhead image from images captured using multiple cameras, and the overhead image is displayed in an auxiliary display area of a monitor. When an obstacle detection part detects an obstacle in proximity to a vehicle, a specified information output unit emphasizes the display of a frame in the outer side of a divided area of the overhead image that contains the obstacle. Touching the auxiliary display area with a finger or the like during this emphasized display causes the captured image of the obstacle to be enlarged and displayed in the auxiliary display area.

摘要翻译： 提供了一种能够在监视器上感知障碍物的位置而不损害在显示器上显示俯瞰图像的有效性的装置。 架空图像生成器从使用多个摄像机捕获的图像生成开销图像，并且开销图像显示在监视器的辅助显示区域中。 当障碍物检测部分检测到车辆附近的障碍物时，指定信息输出单元强调在包含障碍物的俯仰图像的分割区域的外侧中的帧的显示。 在该强调显示期间用手指等触摸辅助显示区域会使捕捉到的障碍物的图像被放大并显示在辅助显示区域中。

公开(公告)号：USD689062S1

公开(公告)日：2013-09-03

申请号：US29387445

申请日：2011-03-14

申请人： Keigo Ikeda ,  Hiroshi Yamamoto ,  Kenji Miura ,  Kenjiro Goto ,  Noboru Nagamine ,  Hidehiko Miyoshi ,  Kinji Yamamoto

设计人： Keigo Ikeda ,  Hiroshi Yamamoto ,  Kenji Miura ,  Kenjiro Goto ,  Noboru Nagamine ,  Hidehiko Miyoshi ,  Kinji Yamamoto

公开(公告)号：US09050931B2

公开(公告)日：2015-06-09

申请号：US14131475

申请日：2012-07-12

申请人： Kinji Yamamoto ,  Kazuya Watanabe

发明人： Kinji Yamamoto ,  Kazuya Watanabe

IPC分类号： B60R1/00 ,  G06K9/00 ,  G06T3/40

CPC分类号： B60R1/00 ,  B60R2300/607 ,  G06K9/00791 ,  G06T3/4038

摘要： Provided is a vehicle periphery monitoring system that facilitates a driver's understanding about a photographing direction of an object which appears in an overlapping area of a bird's-eye view image generated from multiple photographed images. A displaying bird's-eye view image is generated by combining bird's-eye view image segments generated from the multiple photographed images photographed in a partially overlapping manner with superimposing mutually overlapped areas thereof. In displaying the displaying bird's-eye view image, a boundary-added bird's-eye view image formed by adding a boundary indicator to the overlapping area of the bird's-eye view image is displayed on a display unit; then, a merged superimposed image is displayed. The merged superimposed image is obtained by merging the overlapped areas of the bird's-eye view image according to a preset merger relationship.

摘要翻译： 提供了一种车辆周边监视系统，其便于驾驶员了解出现在从多个拍摄图像生成的鸟瞰图图像的重叠区域中的物体的拍摄方向。 通过将由以部分重叠的方式拍摄的多个拍摄图像生成的鸟瞰视图图像组合成叠加其相互重叠的区域来生成显示鸟瞰图图像。 在显示鸟瞰图图像中，在显示单元上显示通过将边界指示符添加到鸟瞰图图像的重叠区域而形成的加法鸟瞰图图像; 然后，显示合并的叠加图像。 通过根据预设的合并关系合并鸟瞰图图像的重叠区域来获得合并的叠加图像。