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公开(公告)号：US06327536B1
公开(公告)日：2001-12-04
申请号：US09590980
申请日：2000-06-09
IPC分类号： G06F778
CPC分类号： B60R1/00 , B60Q9/008 , B60R11/04 , B60R2300/105 , B60R2300/106 , B60R2300/107 , B60R2300/205 , B60R2300/30 , B60R2300/305 , B60R2300/307 , B60R2300/8053 , B60R2300/8093 , B60T2201/08 , B60T2201/082 , B60T2201/089 , G08G1/166
摘要： A vehicle environment monitoring system for an automotive vehicle is capable of accurately detecting the movement of an object existing in an environment of the vehicle, and determining the possibility of collision between the object and the vehicle, thereby appropriately warning the driver. A relative position of the object to the automotive vehicle is detected from the image obtained by a camera mounted on the vehicle to obtain position data. Positions of the object in a real space are calculated based on a plurality of time series items of the position data detected on the object, and a movement vector of the object is calculated based on the positions in the real space. It is determined based on the movement vector whether or not the object has a high possibility of collision against the automotive vehicle.
摘要翻译： 用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的环境中的物体的移动，并且确定物体与车辆之间的碰撞的可能性，从而适当地警告驾驶员。 从安装在车辆上的相机获得的图像中检测物体对机动车辆的相对位置，以获得位置数据。 基于在物体上检测到的位置数据的多个时间序列项目来计算物体在真实空间中的位置，并且基于实际空间中的位置来计算物体的运动矢量。 基于运动矢量确定物体是否具有与机动车辆碰撞的高可能性。
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公开(公告)号：US08144195B2
公开(公告)日：2012-03-27
申请号：US12287433
申请日：2008-10-09
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译： 从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置 通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构 人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。
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公开(公告)号：US20090046151A1
公开(公告)日：2009-02-19
申请号：US12287433
申请日：2008-10-09
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译： 从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置 通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构 人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。
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公开(公告)号：US20080212076A1
公开(公告)日：2008-09-04
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译： 一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。
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公开(公告)号：US20070053584A1
公开(公告)日：2007-03-08
申请号：US11554292
申请日：2006-10-30
IPC分类号： G06K9/00
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译： 图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。 如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算 可以确定各分割区域L_b，R_b的视差。 然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别， 并且独立地计算到各个对象的距离。
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公开(公告)号：US07141796B2
公开(公告)日：2006-11-28
申请号：US10273314
申请日：2002-10-17
IPC分类号： G06F17/00
CPC分类号： G06K9/00805 , G06K9/00651 , G06T7/254
摘要： A vehicle information providing apparatus determines and displays the range of presence of a person or other object based on the characteristics of images recorded by infrared cameras. An image processing unit carries out brightness change search processing in the infrared camera image zone represented by a gray scale using a search area wherein the size of a first detected area detected by binarization and correlation operation serves as the reference. In addition, the parallax between the first detected area and the searched area having a change in brightness is compared, a search area having a parallax that differs from that of the first searched area is eliminated, and a search area having a parallax identical to that of the first searched area is provided a highlighted display as an object identical to that of the first detected area.
摘要翻译： 车辆信息提供装置基于由红外线摄像机记录的图像的特性来确定和显示人物或其他物体的存在范围。 图像处理单元使用搜索区域进行由灰度表示的红外线摄像机图像区域中的亮度变化搜索处理，其中通过二值化和相关操作检测到的第一检测区域的大小用作参考。 此外，比较第一检测区域和具有亮度变化的搜索区域之间的视差，消除了具有与第一搜索区域不同的视差的搜索区域，并且具有与之相同的视差的搜索区域 提供第一搜索区域作为与第一检测区域相同的对象的突出显示。
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公开(公告)号：US08077909B2
公开(公告)日：2011-12-13
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译： 一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。
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公开(公告)号：US07418127B2
公开(公告)日：2008-08-26
申请号：US10675348
申请日：2003-09-30
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G06K9/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a front plate which has holes arranged in line, and which is adapted to emit an amount of infrared light; and a back plate which is disposed in parallel to and behind the front plate as viewed from infrared cameras to be tested, and which is adapted to emit a different amount of infrared light when compared with the front plate. The back plate is disposed at lower portions of pillars. On the other hand, the front plate is made vertically movable in front of the back plate and along the pillars. By being controlled by a controller, the front plate is movable from the ground height to a level corresponding to approximately two times the height of the back plate.
摘要翻译： 一种用于测试红外摄像机的装置，包括：前板，其具有排列成行的孔，并且适于发射一定数量的红外光; 以及从要被测试的红外摄像机观察时平行于前板的后板设置的背板，并且与前板相比适于发射不同量的红外光。 后板设置在柱的下部。 另一方面，前板在后板的前面和支柱上可竖直移动。 通过由控制器控制，前板可从地面高度移动到相当于背板高度的大约两倍的水平。
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公开(公告)号：US07158664B2
公开(公告)日：2007-01-02
申请号：US10286541
申请日：2002-11-01
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译： 图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。 如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算 可以确定各分割区域L_b，R_b的视差。 然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别， 并且独立地计算到各个对象的距离。
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公开(公告)号：US06789015B2
公开(公告)日：2004-09-07
申请号：US10102572
申请日：2002-03-20
IPC分类号： G05D100
CPC分类号： G01S11/12 , B60R21/013 , B60W30/09 , B60W2550/20 , G06T7/20 , G08G1/166
摘要： A vehicle environment monitoring system for an automotive vehicle, is capable of accurately detecting the movement of an object existing in an external environment of the vehicle, and determining the probability of collision between the object and the vehicle, thereby appropriately warning the driver. A running speed of the vehicle is detected, and a distance between the object and the vehicle is calculated, based on the image obtained by the imaging device. A relative speed between the object and the vehicle is calculated according to the calculated distance. It is determined whether or not there is a significant probability that the vehicle may collide with the object, based on the running speed of the vehicle and the distance therebetween on condition that the relative speed is in the vicinity of the running speed of the vehicle.
摘要翻译： 一种用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的外部环境中的物体的移动，并且确定物体与车辆之间的碰撞概率，从而适当地警告驾驶员。 检测车辆的运行速度，并且基于由成像装置获得的图像来计算物体与车辆之间的距离。 根据计算的距离计算物体与车辆之间的相对速度。 在相对速度处于车辆行驶速度附近的条件下，基于车辆的行驶速度和其间的距离来确定车辆是否可能与物体发生碰撞的可能性很大。
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