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公开(公告)号：US07349581B2
公开(公告)日：2008-03-25
申请号：US11750565
申请日：2007-05-18
IPC分类号： G06K9/36
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的对应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得相似度D和 获得的相似度P均为参考平面区域， 在差异K大的位置处，当没有相似度等于或大于预先设定的关于所有图像的垂直方向的阈值的相似度K时，没有障碍物，并且检测 当在图像的垂直方向存在等于或大于阈值的相似度的差异K时存在障碍。
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公开(公告)号：US07317474B2
公开(公告)日：2008-01-08
申请号：US10919285
申请日：2004-08-17
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.
摘要翻译： 多个照相机分别从不同的照相机位置输入图像。 多个相机位于移动物体上。 图像存储器存储由多个摄像机输入的多个图像。 图像变换单元使用每个表示预定平面，第一照相机和第二照相机之间的几何关系的多个变换参数中的每一个变换由第一照相机输入的一个图像，并且从视点位置生成多个变换图像 的第二台相机。 匹配处理单元将每个变换图像与由第二相机输入的每个区域由像素组成的另一图像进行比较，并且计算每个变换图像与另一图像之间的每个区域的一致度。 障碍物检测单元从另一图像检测由各自具有低于阈值的重合度的区域组成的障碍物区域。
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公开(公告)号：US20070222857A1
公开(公告)日：2007-09-27
申请号：US11750560
申请日：2007-05-18
IPC分类号： H04N7/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras of three or more cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on the degree of similarity D and the degree of similarity P on a reference plane region, and selecting and outputting either a result of detection of a plurality of the obstacles or a position of an obstacle detected as being the closest to the three or more cameras.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，其在由计算机执行时分别执行包括从三个或更多个摄像机的两个摄像机输入第一图像和第二图像的步骤，将第一图像变换为变换图像 获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第一图像中的图像之间的相似度的相似度P 在第二图像中建立的处理区域和在变换图像中建立的相应处理区域中的图像，基于参考平面区域上的相似度D和相似度P来检测障碍物，并且选择并输出结果 多个障碍物的检测或被检测为障碍物的障碍物的位置 最接近三个或更多相机。
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公开(公告)号：US07242817B2
公开(公告)日：2007-07-10
申请号：US11223977
申请日：2005-09-13
IPC分类号： G06K9/64
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A system for realizing support of safety driving or automatic driving is provided, in which a vehicle-mounted stereo camera is used to detect obstacles on a road surface such as vehicles going ahead and pedestrians with a high accuracy even in a situation in which a reflected image of an obstacle or a surrounding structure is appeared under a wet road condition in rainy weather. The system includes an image capture section 12 capturing images from two cameras, an image transforming section 14 transforming a first camera's image by image transform T that transforms any given pixel in a road surface region in the first camera's image to a corresponding pixel in a second camera's image, a lane detecting section 16 detecting a traffic lane on a road on the basis of characteristics of the image obtained from the second camera, a similarity calculating section 18 sequentially establishing processing regions, each having a base formed by one of image lines in a region within a lane, for carrying out inter-image arithmetic operations between the first camera's image and the second camera's image and between the second camera's image and the transformed image on the assumption that an obstacle stands from a contact line on a road surface as an image line, and obtaining respective degrees of similarity between the first camera's image and the second camera's image and between the second camera's image and the transformed image, and an obstacle judging section 20 detecting the object from a difference between the two kinds of degrees of similarity on the road region sequentially obtained by the similarity calculating section 18.
摘要翻译： 提供一种用于实现安全驾驶或自动驾驶的支持的系统，其中使用车载立体摄像机，即使在反射的情况下也可以高精度地检测诸如前方的车辆等路面上的障碍物和行人 障碍物或周围结构的图像在雨天的湿路况下出现。 该系统包括从两个摄像机拍摄图像的图像捕获部分12，图像变换部分14，通过将第一相机图像中的路面区域中的任何给定像素转换成第二相机像素的图像变换T来变换第一相机的图像 相机图像，车道检测部分16，基于从第二相机获得的图像的特性来检测道路上的行车道;相似度计算部分18，顺序地建立处理区域，每个处理区域具有由图像行之一形成的基座 在车道内的区域，用于在第一相机的图像和第二相机的图像之间以及在第二相机的图像与变换的图像之间进行图像间算术运算，假设障碍物从路面上的接触线站立，作为 并且获得第一相机的图像和第二相机的图像之间的相似度的相似度，以及b 第二相机的图像和变换图像之间的障碍物判别部分20以及由相似度计算部分18顺序地获得的道路区域上的两种相似度之差的差异来检测对象。
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公开(公告)号：US07209031B2
公开(公告)日：2007-04-24
申请号：US11384314
申请日：2006-03-21
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus includes an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images, a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images, a feature comparing unit for comparing the feature quantities, and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result. The obstacle detecting apparatus can thus detect an obstacle present on the road by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle.
摘要翻译： 障碍物检测装置包括：图像输入单元，用于接收分别从多个摄像装置输入并累积输入图像的图像;特征计算单元，用于计算各个累积图像中的预定特定特征量;特征比较单元 用于比较特征量，以及结果判断单元，用于基于比较结果来判断障碍物的存在与否。 障碍物检测装置因此可以通过将障碍物与仅对物体隔离而不会阻碍车辆的行驶来检测存在于道路上的障碍物。
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公开(公告)号：US20070026150A1
公开(公告)日：2007-02-01
申请号：US10559669
申请日：2004-06-30
IPC分类号： C23C16/00 , H01L21/302
CPC分类号： C23C16/45593 , C23C16/4412 , C30B25/02 , H01L21/67017
摘要： A substrate processing system is provided, which efficiently utilizes reactive substances or carrier gases necessary for the surface processing of a substrate, simplifies equipment for the gas transfer and effects energy saving. This system comprises a gas supply source 12 for supplying a process gas containing a reactive substance, a reservoir tank 14 connected to the gas supply source 12 for reserving the process gas, a reactor 10 for exposing a substrate placed therein to the process gas, a first circulation pipe 38 for introducing the process gas inside the reactor 10 into the reservoir tank 14, a second circulation pipe 42 for introducing at least part of the process gas in the reservoir tank 14 into the reactor 10, and a flow regulating valve 44 disposed in the second circulation pipe 42 for regulating the amount of process gas to be introduced into the reactor 10.
摘要翻译： 提供了一种基板处理系统，其有效利用基板表面处理所需的反应物质或载气，简化了用于气体传递的设备并且实现了节能。 该系统包括用于供给含有反应性物质的处理气体的气体供给源12，与气体供给源12连接以用于储存处理气体的储存罐14，将放置在其中的基板暴露于处理气体的反应器10， 用于将反应器10内的处理气体引入储存槽14的第一循环管38，用于将储存罐14中的至少一部分处理气体引入反应器10的第二循环管42和设置在流化床 在第二循环管42中，用于调节要引入反应器10的工艺气体的量。
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97.发明申请公开(公告)号：US20060050338A1
公开(公告)日：2006-03-09
申请号：US11198215
申请日：2005-08-08
申请人： Hiroshi Hattori
发明人： Hiroshi Hattori
IPC分类号： G03H1/08
CPC分类号： G06T7/593 , G06T2207/10012
摘要： Apparatus includes unit configured to compute parallax search range in (x-y-d)three-dimensional space formed of three variables (x and y providing first point (x, y) on first image and parallax candidate d), similarity unit configured to compute degree-of-similarity C (x, y, d) between point (x, y) and second point (x′, y′) corresponding to point (x, y), using sum of products of brightness levels of corresponding pixel pairs between first window on first image and second window on second image, first window including first point (x, y) second window including second point (x′, y′) and unit configured to compute parallax D between first point (x, y) and second point (x′, y′), based on C (x, y, d), where similarity unit includes unit configured to store sum, which is used for computing C (x, y, d) between new first point on first image and new second point on second image.
摘要翻译： 装置包括被配置为计算由三个变量（x和y在第一图像和视差候选d上提供第一点（x，y）的x和y）形成的（xyd）三维空间中的视差搜索范围的单元，被配置为计算 - 对应于点（x，y）的点（x，y）和第二点（x'，y'）之间的类似度C（x，y，d），使用第一窗口之间的对应像素对的亮度级的乘积之和 在第一图像和第二图像上的第二窗口上，第一窗口包括包括第二点（x'，y'）的第一点（x，y）第二窗口和被配置为计算第一点（x，y）和第二点 （x'，y'），基于C（x，y，d），其中相似度单位包括被配置为存储和的单元，其用于计算第一图像上的新的第一点与第一图像之间的C（x，y，d） 第二个图像的新的第二点。
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公开(公告)号：US06963661B1
公开(公告)日：2005-11-08
申请号：US09659815
申请日：2000-09-11
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
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公开(公告)号：US20050180077A1
公开(公告)日：2005-08-18
申请号：US11048866
申请日：2005-02-03
申请人： Hiroshi Hattori
发明人： Hiroshi Hattori
CPC分类号： G05F1/56
摘要： A power supply circuit for a load has a first differential amplifier circuit, a first voltage-current conversion circuit, a second voltage-current conversion circuit, a reference voltage circuit, a second differential amplifier circuit, and an overheat protection circuit. The power supply circuit is constructed as an integrated circuit. A current detector circuit and bipolar transistors are attached externally to the integrated circuit. The power supply circuit can increase its output current with the reliability ensured, thus becoming able to supply a wide range of output currents.
摘要翻译： 用于负载的电源电路具有第一差分放大器电路，第一电压 - 电流转换电路，第二电压 - 电流转换电路，参考电压电路，第二差分放大器电路和过热保护电路。 电源电路构成集成电路。 电流检测器电路和双极晶体管被附加到集成电路的外部。 电源电路可以保证输出电流的可靠性，从而能够提供宽范围的输出电流。
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公开(公告)号：US20050087372A1
公开(公告)日：2005-04-28
申请号：US10496396
申请日：2003-06-23
CPC分类号： G01G13/16
摘要： The object of the present invention is to provide a hopper having a simplified structure that can prevent fragments of component parts generated by vibrations and bolts, nuts, etc., that have fallen out of place from intermixing with the articles in the weighing hoppers or on the conveyor of a combination weighing apparatus. A link mechanism for opening and closing a gate is arranged on a plate provided on one side of the box-like body (20) of a pool hopper (7). A cover (25) that covers the entire link mechanism is provided and the cover (25) is configured such that it can be freely attached to and detached from the box-like body (20). An attachment/detachment mechanism (62) slides in the direction of arrows (O) and (P) inside a long hole (64) provided in a bulged part (63) of the cover main body (61). The attachment/detachment mechanism (62) is made up of a slide member (65), an attachment/detachment operating member (66) that is located on the outside of the cover main body (61) and coupled to the slide member (65), an engaging member (67) located on the inside of the cover main body, and nuts (69a, 69b) that are located on the plate side and serve to engage with the engaging member (67).
摘要翻译： 本发明的目的是提供一种具有简化结构的料斗，其可以防止由振动产生的部件碎片和螺母，螺母等已经脱落的位置与物料在计量料斗中的混合或者 组合称重装置的输送机。 用于打开和关闭闸门的连杆机构设置在设置在储料斗（7）的盒状主体（20）一侧的板上。 提供覆盖整个连杆机构的盖（25），并且盖（25）被构造成使得其能够自由地附接到盒状主体（20）并从箱体（20）拆卸。 安装/拆卸机构（62）沿设置在盖主体（61）的凸出部（63）的长孔（64）内沿箭头（O）和（P）的方向滑动。 安装/拆卸机构（62）由位于盖主体（61）的外侧并与滑动构件（65）连接的滑动构件（65），安装/拆卸操作构件（66） ），位于盖主体内侧的接合件（67）和位于板侧的用于与接合件（67）接合的螺母（69a，69b）。
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