公开(公告)号：US08620025B2

公开(公告)日：2013-12-31

申请号：US13059741

申请日：2009-06-24

申请人： Mirai Higuchi ,  Ryo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Ryo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tatsuhiko Monji

IPC分类号： G06K9/00 ,  G06K9/36 ,  G06K9/32

CPC分类号： G06K9/00798 ,  B60W30/14 ,  B60W30/143 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/42 ,  B60W2550/142 ,  G08G1/165 ,  G08G1/167

摘要： In order to perform vehicle control, a warning process, and the like which do not give a driver an uncomfortable feeling in speed adjustment, a warning process, and the like corresponding to a road shape such as a curve, it is necessary to recognize not only a near road shape but also a far road shape with high accuracy. A traveling environment recognition device includes: a measurement unit which measures a target object; a three-dimensional object detection unit which detects a three-dimensional object on the basis of a signal acquired by the measurement unit; a road shape prediction unit which predicts a road shape on which a target vehicle is traveling; a three-dimensional object selection unit which selects, from among the three-dimensional objects detected by the three-dimensional object detection unit, only a three-dimensional object within a predetermined range from a point of the road predicted by the road shape prediction unit; and a road shape estimation unit which estimates the road shape on the basis of position information of the three-dimensional object selected by the three-dimensional object selection unit.

摘要翻译： 为了执行车辆控制，警告处理等，其不给驾驶员在与曲线等道路形状对应的速度调节，警告处理等中感到不舒适的感觉，因此不需要识别 只有近路形状，但也具有高精度的远道形状。 行驶环境识别装置包括：测量目标物体的测量单元; 三维物体检测单元，其基于由测量单元获取的信号来检测三维物体; 道路形状预测单元，其预测目标车辆行驶的道路形状; 三维物体选择单元，从三维物体检测单元检测到的三维物体中，仅从道路形状预测单元预测的道路上的预定范围内的三维物体中， ; 以及道路形状估计单元，其基于由三维物体选择单元选择的三维物体的位置信息来估计道路形状。

公开(公告)号：US08548226B2

公开(公告)日：2013-10-01

申请号：US12711787

申请日：2010-02-24

申请人： Morihiko Sakano ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

发明人： Morihiko Sakano ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

IPC分类号： G06K9/00 ,  G06K9/44

CPC分类号： G06T7/593 ,  G06T2207/10012

摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.

摘要翻译： 在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。 然而，这需要很高的计算成本。 因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据来设置每个像素的匹配区域， 从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配 控制单元103来计算视差数据。

公开(公告)号：US20110222732A1

公开(公告)日：2011-09-15

申请号：US13059741

申请日：2009-06-24

申请人： Mirai Higuchi ,  Rayo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tasuhiko Monji

发明人： Mirai Higuchi ,  Rayo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tasuhiko Monji

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/14 ,  B60W30/143 ,  B60W40/072 ,  B60W40/076 ,  B60W2420/42 ,  B60W2550/142 ,  G08G1/165 ,  G08G1/167

摘要： In order to perform vehicle control, a warning process, and the like which do not give a driver an uncomfortable feeling in speed adjustment, a warning process, and the like corresponding to a road shape such as a curve, it is necessary to recognize not only a near road shape but also a far road shape with high accuracy. A traveling environment recognition device includes: a measurement unit which measures a target object; a three-dimensional object detection unit which detects a three-dimensional object on the basis of a signal acquired by the measurement unit; a road shape prediction unit which predicts a road shape on which a target vehicle is traveling; a three-dimensional object selection unit which selects, from among the three-dimensional objects detected by the three-dimensional object detection unit, only a three-dimensional object within a predetermined range from a point of the road predicted by the road shape prediction unit; and a road shape estimation unit which estimates the road shape on the basis of position information of the three-dimensional object selected by the three-dimensional object selection unit.

摘要翻译： 为了执行车辆控制，警告处理等，其不给驾驶员在与曲线等道路形状对应的速度调节，警告处理等中感到不舒适的感觉，因此不需要识别 只有近路形状，但也具有高精度的远道形状。 行驶环境识别装置包括：测量目标物体的测量单元; 三维物体检测单元，其基于由测量单元获取的信号来检测三维物体; 道路形状预测单元，其预测目标车辆行驶的道路形状; 三维物体选择单元，从三维物体检测单元检测到的三维物体中，仅从道路形状预测单元预测的道路上的预定范围内的三维物体中， ; 以及道路形状估计单元，其基于由三维物体选择单元选择的三维物体的位置信息来估计道路形状。

公开(公告)号：US20100328427A1

公开(公告)日：2010-12-30

申请号：US12711787

申请日：2010-02-24

申请人： Morihiko SAKANO ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

发明人： Morihiko SAKANO ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

IPC分类号： H04N13/02 ,  H04N13/00

CPC分类号： G06T7/593 ,  G06T2207/10012

摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.

摘要翻译： 在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。 然而，这需要很高的计算成本。 因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据和每个像素设置匹配区域， 从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配 控制单元103来计算视差数据。

公开(公告)号：US20120288154A1

公开(公告)日：2012-11-15

申请号：US13519347

申请日：2010-08-09

申请人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

发明人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

IPC分类号： G06K9/62

CPC分类号： G06T7/0081 ,  B60W30/12 ,  G06K9/00798 ,  G06T7/11 ,  G06T7/136 ,  G06T7/174 ,  G06T2207/10021 ,  G06T2207/30256 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.

摘要翻译： 公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆 路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部 关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

公开(公告)号：US08873803B2

公开(公告)日：2014-10-28

申请号：US13519347

申请日：2010-08-09

申请人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

发明人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

IPC分类号： G06K9/00 ,  G06T7/00 ,  B60W30/12 ,  G08G1/16

CPC分类号： G06T7/0081 ,  B60W30/12 ,  G06K9/00798 ,  G06T7/11 ,  G06T7/136 ,  G06T7/174 ,  G06T2207/10021 ,  G06T2207/30256 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.

摘要翻译： 公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆 路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部 关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

公开(公告)号：US08411900B2

公开(公告)日：2013-04-02

申请号：US12920405

申请日：2009-06-10

申请人： Takuya Naka ,  Tatsuhiko Monji

发明人： Takuya Naka ,  Tatsuhiko Monji

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/12 ,  G06K9/00208

摘要： There is provided a road boundary detection/judgment device resistant to environmental change and capable of detecting even a road boundary demarcated by a three-dimensional object in the distance. The device is provided with: an image acquisition section having two or more cameras for image-capturing the road area; a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section; a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same. If it is judged that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.

摘要翻译： 提供了一种能够抵抗环境变化的道路边界检测/判断装置，并能够检测距离上的三维物体所划定的道路边界。 该设备具有：图像获取部分，具有用于图像捕获道路区域的两个或更多个相机; 距离数据获取部分，基于由图像获取部分获得的图像获取关于图像拍摄区域的三维距离信息; 道路边界检测部，根据距离数据取得部获取的三维距离信息，检测道路区域中存在的三维物体的高度，检测道路边界; 以及对于可以检测与道路边界相对应的三维物体的高度的第一道路区域和与道路对应的三维物体的高度的第二道路区域相同的边界判断部分，对图像进行变换 无法检测到边界，并且判断与第一道路区域对应的三维物体和与第二道路区域对应的三维物体是否相同。 如果判断与第一和第二道路区域边界相对应的三维物体相同，则将第二道路区域复位为第一道路区域。

公开(公告)号：US20110063097A1

公开(公告)日：2011-03-17

申请号：US12920405

申请日：2009-06-10

申请人： Takuya Naka ,  Tatsuhiko Monji

发明人： Takuya Naka ,  Tatsuhiko Monji

IPC分类号： B60Q1/00 ,  H04N7/18

CPC分类号： G06K9/00798 ,  B60W30/12 ,  G06K9/00208

摘要： There is provided a road boundary detection/judgment device resistant to environmental change and capable of detecting even a road boundary demarcated by a three-dimensional object in the distance. The device is provided with: an image acquisition section having two or more cameras for image-capturing the road area; a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section; a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same. If it is judged that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.

摘要翻译： 提供了一种能够抵抗环境变化的道路边界检测/判断装置，并能够检测距离上的三维物体所划定的道路边界。 该设备具有：图像获取部分，具有用于图像捕获道路区域的两个或更多个相机; 距离数据获取部分，基于由图像获取部分获得的图像获取关于图像拍摄区域的三维距离信息; 道路边界检测部，根据距离数据取得部获取的三维距离信息，检测道路区域中存在的三维物体的高度，检测道路边界; 以及对于可以检测与道路边界相对应的三维物体的高度的第一道路区域和与道路对应的三维物体的高度的第二道路区域相同的边界判断部分，对图像进行变换 无法检测到边界，并且判断与第一道路区域对应的三维物体和与第二道路区域对应的三维物体是否相同。 如果判断与第一和第二道路区域边界相对应的三维物体相同，则将第二道路区域复位为第一道路区域。

公开(公告)号：US20110140919A1

公开(公告)日：2011-06-16

申请号：US12963924

申请日：2010-12-09

申请人： Yoshitaka HARA ,  Takuya Naka ,  Saku Egawa ,  Masashi Koga

发明人： Yoshitaka HARA ,  Takuya Naka ,  Saku Egawa ,  Masashi Koga

IPC分类号： G08G1/095

CPC分类号： G08G1/005 ,  B60Q1/50 ,  B60Q1/525 ,  B60T7/22 ,  G08G1/163 ,  G08G1/166

摘要： A vehicle support system for supporting a man in safely crossing a road without crosswalks installed is provided. The vehicle support system includes a man-detecting unit detecting a man, a subject-vehicle-position detecting unit detecting a position of a vehicle, a man-position/waiting-score calculating unit determining the detected man to be a potential-crossing-man who may cross the road, calculating an absolute position of the potential-crossing-man, measuring waiting time of the potential-crossing-man to cross the road, calculating a waiting score, and storing the result in a man-position/waiting-score storing unit, a stopping-vehicle determining unit determining whether or not the vehicle should be stopped based on the position and the waiting score of the potential-crossing-man, a travelling controller stopping the vehicle when the vehicle should be stopped, and a pedestrian-crossing-signal display unit displaying information indicating whether or not crossing the road is safe based on an instruction of the stopping-vehicle determining unit.

摘要翻译： 提供一种车辆支援系统，用于支持一名男子安全地穿过没有人行横道的道路。 车辆支撑系统包括检测人的人检测单元，检测车辆位置的对象车位置检测单元，人员位置/等待评分计算单元，确定检测到的人是潜在交叉点， 可能穿越道路的人，计算潜在交叉人的绝对位置，计算跨过马路过马路的等待时间，计算等待分数，并将结果存储在人员等待中 分档存储单元，停车车辆确定单元，基于所述跨越者的位置和等待得分来确定所述车辆是否应该停止，所述行驶控制器在所述车辆停止时停止所述车辆;以及 基于停车确定单元的指示，显示指示是否过马路的信息是安全的行人交叉信号显示单元。

公开(公告)号：US08749401B2

公开(公告)日：2014-06-10

申请号：US12963924

申请日：2010-12-09

申请人： Yoshitaka Hara ,  Takuya Naka ,  Saku Egawa ,  Masashi Koga

发明人： Yoshitaka Hara ,  Takuya Naka ,  Saku Egawa ,  Masashi Koga

IPC分类号： G08G1/095

CPC分类号： G08G1/005 ,  B60Q1/50 ,  B60Q1/525 ,  B60T7/22 ,  G08G1/163 ,  G08G1/166

摘要： A vehicle support system for supporting a man in safely crossing a road without crosswalks installed is provided. The vehicle support system includes a man-detecting unit detecting a man, a subject-vehicle-position detecting unit detecting a position of a vehicle, a man-position/waiting-score calculating unit determining the detected man to be a potential-crossing-man who may cross the road, calculating an absolute position of the potential-crossing-man, measuring waiting time of the potential-crossing-man to cross the road, calculating a waiting score, and storing the result in a man-position/waiting-score storing unit, a stopping-vehicle determining unit determining whether or not the vehicle should be stopped based on the position and the waiting score of the potential-crossing-man, a travelling controller stopping the vehicle when the vehicle should be stopped, and a pedestrian-crossing-signal display unit displaying information indicating whether or not crossing the road is safe based on an instruction of the stopping-vehicle determining unit.

摘要翻译： 提供一种车辆支援系统，用于支持一名男子安全地穿过没有人行横道的道路。 车辆支撑系统包括检测人的人检测单元，检测车辆位置的对象车位置检测单元，人员位置/等待评分计算单元，确定检测到的人是潜在交叉点， 可能穿越道路的人，计算潜在交叉人的绝对位置，计算跨过马路过马路的等待时间，计算等待分数，并将结果存储在人员等待中 分档存储单元，停车车辆确定单元，基于所述乘客的位置和所述等待得分来确定所述车辆是否应该被停止，所述行驶控制器在所述车辆停止时停止所述车辆;以及 基于停车确定单元的指示，显示指示是否过马路的信息是安全的行人交叉信号显示单元。