公开(公告)号：US07672481B2

公开(公告)日：2010-03-02

申请号：US11289119

申请日：2005-11-29

申请人： Kazunori Kanai ,  Nobuharu Nagaoka

发明人： Kazunori Kanai ,  Nobuharu Nagaoka

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  B60K2350/2013

摘要： An image information processing system permits stable display of image information regarding an object on an image display device even if an image area of the object recognized through an infrared camera is unstable. In the image information processing system, a first image area recognition unit recognizes a first image area associated with an object on the basis of a second variable based on the position of the object measured through the infrared camera. Further, a second image area recognition unit estimates the first image area on the basis of a first variable and a second variable based on the running mode of an automobile, and recognizes the estimated image area as a second image area. Then, an image information control unit causes a head-up display to display one or both of the first image information associated with the first image area and the second image information associated with the second image area.

摘要翻译： 即使通过红外线摄像机识别的物体的图像区域不稳定，图像信息处理系统也可以稳定地显示关于图像显示装置上的对象的图像信息。 在图像信息处理系统中，第一图像区域识别单元基于通过红外线照相机测量的对象的位置，基于第二变量来识别与对象相关联的第一图像区域。 此外，第二图像区域识别单元基于汽车的行驶模式，基于第一变量和第二变量来估计第一图像区域，并将估计图像区域识别为第二图像区域。 然后，图像信息控制单元使平视显示器显示与第一图像区域相关联的第一图像信息和与第二图像区域相关联的第二图像信息中的一个或两个。

公开(公告)号：US07403709B2

公开(公告)日：2008-07-22

申请号：US11243204

申请日：2005-10-04

申请人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Nobuharu Nagaoka ,  Yoshitaka Katashima

发明人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Nobuharu Nagaoka ,  Yoshitaka Katashima

IPC分类号： G03B35/00 ,  G03B35/18 ,  G03B29/00

CPC分类号： G03B29/00 ,  B60R11/04 ,  B60R2011/0038

摘要： A structure for attaching a stereoscopic camera to a vehicle, by which a plurality of cameras are attached to a body frame of the vehicle in order to stereoscopically capture images surrounding the vehicle; and the same structure includes a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras on the body frame, which are provided at a plurality of points, spaced from each other, of the lateral stay, or at the plurality of cameras fixed on the lateral stay; wherein the rigidity of at least a part of the brackets is lower than the bending rigidity of the lateral stay.

摘要翻译： 一种用于将立体摄像机附接到车辆的结构，通过该结构，多个照相机附接到车辆的车身框架，以便立体地捕获车辆周围的图像; 并且相同的结构包括用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支撑件或多个相机固定在主体框架上的支架，其设置在横向支架的彼此间隔开的多个点处，或者固定在横向支架上的多个相机处; 其中所述托架的至少一部分的刚度低于所述横向拉杆的弯曲刚度。

公开(公告)号：US20060115144A1

公开(公告)日：2006-06-01

申请号：US11288695

申请日：2005-11-29

申请人： Kazunori Kanai ,  Nobuharu Nagaoka

发明人： Kazunori Kanai ,  Nobuharu Nagaoka

IPC分类号： G06K9/00

CPC分类号： G06K9/00362 ,  G06K9/00805

摘要： A system and the like capable of stably displaying image information according to an object shot by infrared cameras by offsetting disadvantages of two-dimensional image processing and three-dimensional image processing. According to an image information processing system 100 of the present invention, a weighting factor calculation unit 140 calculates a first weighting factor C1 (0≦C1≦1) and a second weighting factor C2 (=1−C1), on the basis of a measured value of a variable according to a distance between infrared cameras 210 and an object. Moreover, a composite image recognition unit 150 recognizes a composite image area A composed of a first image area A1 recognized by a first image area recognition unit 110 through the infrared camera 210 by performing the two-dimensional image processing and the second image area A2 recognized by a second image area recognition unit 120 through the infrared cameras 210 by performing the three-dimensional image processing, with being weighted by the first weighting factor C1 and the second weighting factor C2, respectively. Then, the image information control unit 160 causes the HUD 110 to display a frame enclosing the composite image area A.

摘要翻译： 能够通过抵消二维图像处理和三维图像处理的缺点，能够根据红外线摄像机拍摄的物体稳定地显示图像信息的系统等。 根据本发明的图像信息处理系统100，加权系数计算单元140计算第一加权因子C 1（0 <= C 1 <= 1）和第二加权因子C 2（= 1-C 1） 基于红外摄像机210与物体之间的距离的变量的测量值。 此外，合成图像识别单元150通过执行二维图像处理和第二图像区域A A，通过红外线摄像机210识别由第一图像区域识别单元110识别的第一图像区域A 1构成的合成图像区域A 2通过红外摄像机210通过执行三维图像处理被第二图像区域识别单元120识别，分别由第一加权因子C 1和第二加权因子C 2加权。 然后，图像信息控制单元160使HUD 110显示包围合成图像区域A的帧。

公开(公告)号：US20060115114A1

公开(公告)日：2006-06-01

申请号：US11287749

申请日：2005-11-28

申请人： Nobuharu Nagaoka ,  Masahito Watanabe ,  Hiroshi Hattori

发明人： Nobuharu Nagaoka ,  Masahito Watanabe ,  Hiroshi Hattori

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  B60W30/08 ,  G01S3/7864 ,  G06K9/00651 ,  G06K9/00805 ,  G06T7/215 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10016 ,  G06T2207/10048 ,  G06T2207/20068 ,  G06T2207/30261

摘要： A vehicle surroundings monitoring apparatus having an infrared imaging device including a binarized object extraction device that extracts binarized object from image data obtained by binarizing gray scale image; a region setting device that sets a region including the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; a luminance distribution status quantity calculation device that calculates luminance distribution status quantity relating to the luminance distribution in the region based on the luminance status quantity, in which the luminance status quantity is equal to or greater than a predetermined value; a luminance distribution status quantity determination device that determines whether or not the luminance distribution quantity exceeds a predetermined value; and an object type determination device that determines the type of the object based on the determination result of the luminance distribution status quantity determination device.

公开(公告)号：US20050276447A1

公开(公告)日：2005-12-15

申请号：US11150733

申请日：2005-06-10

申请人： Fuminori Taniguchi ,  Nobuharu Nagaoka

发明人： Fuminori Taniguchi ,  Nobuharu Nagaoka

IPC分类号： B60R21/00 ,  B60R1/00 ,  G06K9/00 ,  G06T1/00 ,  G06T5/00 ,  G06T7/00 ,  G06T7/60 ,  H04N7/18

CPC分类号： G06K9/00362 ,  G06K9/00651 ,  G06K9/00785 ,  G06K9/00805 ,  G06T7/66 ,  G06T2207/10048 ,  G06T2207/30261

摘要： A vehicle surroundings monitoring apparatus recognizes a pedestrian from existence of a leg, in the case in which a width in real space of a binarized object is suitable as a pedestrian's leg, the binarized object has longwise shape, the lower end position of the binarized object exists in the lower part (lower half) of a gray scale object region, and a serial luminance transition exists in the binarized object. The vehicle surroundings monitoring apparatus also recognizes a pedestrian from existence of an umbrella held up by the pedestrian, in the case in which an umbrella region with a low temperature exists above the binarized object, the width of the umbrella region is suitable as a pedestrian's umbrella, and, the spatial correlation between the centroid position of the umbrella region and the centroid position of the binarized object is suitable as a spatial relationship between a pedestrian and his/her umbrella.

摘要翻译： 车辆周围环境监视装置识别行人与腿的存在，在二值化对象的实际空间中的宽度适合作为行人腿的情况下，二值化对象具有长方形，二值化对象的下端位置 存在于灰度对象区域的下半部分（下半部分）中，并且在二值化对象中存在串行亮度转换。 车辆周边监视装置还识别行人在存在由行人保持的伞的情况下，在二值化物体上方存在低温伞形区域的情况下，伞形区域的宽度适合作为行人伞 并且，伞形区域的重心位置与二值化对象的重心位置之间的空间相关性适合作为行人与其伞之间的空间关系。

公开(公告)号：US20110234805A1

公开(公告)日：2011-09-29

申请号：US13124171

申请日：2009-10-08

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Izumi Takatsudo

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Izumi Takatsudo

IPC分类号： H04N5/33

CPC分类号： B60R1/00 ,  B60R2300/105 ,  B60R2300/205 ,  B60R2300/301 ,  B60R2300/307 ,  B60R2300/70 ,  B60R2300/8033 ,  G06K9/00369 ,  G06K9/00805 ,  G06K2209/07 ,  G06T7/11 ,  G06T7/136 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30196 ,  G06T2207/30261

摘要： Provided is a device for monitoring the surrounding area of a vehicle. The device separates and extracts an object around the vehicle in better precision from the background. The device detects the ambient temperature of the vehicle, and determines a temperature difference between the ambient temperature and an object surface temperature estimated on the basis of the ambient temperature. On the basis of the brightness value of the background of a captured image obtained by an infrared camera and a brightness difference corresponding to the temperature difference, the brightness value of the object is calculated. The captured image is binarized by using the brightness value of the object as a threshold value, and the object is extracted. Since the binary threshold value is set on the basis of the relation between the ambient temperature and the object surface temperature, the object can be separated and extracted in the better precision from the background.

摘要翻译： 提供了用于监视车辆的周围区域的装置。 该设备从背景中更精确地分离并提取车辆周围的物体。 该装置检测车辆的环境温度，并且确定环境温度和基于环境温度估计的物体表面温度之间的温度差。 基于由红外线摄像机获得的拍摄图像的背景的亮度值和对应于温度差的亮度差，计算对象的亮度值。 通过使用对象的亮度值作为阈值对拍摄图像进行二值化处理，并提取对象。 由于根据环境温度和物体表面温度之间的关系来设定二值阈值，所以可以从背景中以更好的精度分离和提取物体。

公开(公告)号：US07974445B2

公开(公告)日：2011-07-05

申请号：US12809874

申请日：2008-10-07

申请人： Nobuharu Nagaoka ,  Yuji Yokochi

发明人： Nobuharu Nagaoka ,  Yuji Yokochi

IPC分类号： G06K9/00

CPC分类号： B60R1/00 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G06K9/00369 ,  G06K9/00805 ,  G06K9/3241 ,  G06K2209/23 ,  G06T7/136 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30261

摘要： A vehicle periphery monitoring device which determines type of an object with high accuracy, wherein the size of object regions that are set in each of the image representing the peripheral condition of the vehicle in each of two different points in time and that include the identical objects, are aligned on the basis of the distance from the vehicle to the object in each of the two different point in time. Further, local regions with the same arrangement pattern are set taking each of the object regions with aligned size as reference. Still further, the object is classified into the object class which corresponds to the arrangement pattern in the case where the degree of correlation between the local regions becomes equal to or larger than a threshold value.

摘要翻译： 一种车辆周边监视装置，其以高精度确定对象的类型，其中，在两个不同时间点中的每一个中表示车辆的周边状态的每个图像中设置的对象区域的大小，并且包括相同对象 在两个不同时间点的每一个中基于从车辆到物体的距离对准。 此外，以具有对准尺寸的每个对象区域作为参考，设置具有相同布置图案的局部区域。 此外，在本地区域之间的相关程度变得等于或大于阈值的情况下，将对象分类为与布置模式对应的对象类别。

公开(公告)号：US20100283845A1

公开(公告)日：2010-11-11

申请号：US12812080

申请日：2008-11-18

申请人： Yuji Yokochi ,  Nobuharu Nagaoka ,  Fuminori Taniguchi

发明人： Yuji Yokochi ,  Nobuharu Nagaoka ,  Fuminori Taniguchi

IPC分类号： H04N7/18 ,  G06T7/00 ,  G06K9/00

CPC分类号： B60R1/00 ,  G06K9/00805

摘要： A vehicle periphery monitoring device comprising a distance detecting unit which detects the distance between cameras and an object, an object image extracting unit which extracts a first image portion of the object from the acquired image, a filtering unit which performs a filtering process to the acquired image, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the predetermined direction, and an object type identifying unit which identifies, on the basis of a shape of a second image portion extracted by the filtering process, whether or not the type of the object in real space corresponding to the second image portion is the specific type.

摘要翻译： 一种车辆周边监视装置，包括：检测摄像机和物体之间的距离的距离检测单元;从所获取的图像中提取对象的第一图像部分的对象图像提取单元，对所获取的图像执行滤波处理的滤波单元; 图像，其中当宽度的假定值较小并且距离更长时，目标边缘宽度被设置为较窄，并且其中目标边缘方向被设置为与预定方向正交的方向，并且对象类型 识别单元，其基于由所述滤波处理提取的第二图像部分的形状来识别与所述第二图像部分相对应的实际空间中的对象的类型是否是特定类型。

公开(公告)号：US07567688B2

公开(公告)日：2009-07-28

申请号：US11287552

申请日：2005-11-23

申请人： Nobuharu Nagaoka ,  Fuminori Taniguchi ,  Masahito Watanabe

发明人： Nobuharu Nagaoka ,  Fuminori Taniguchi ,  Masahito Watanabe

IPC分类号： G06K9/00 ,  G06K9/62 ,  H04N7/18

CPC分类号： G06T5/50 ,  G06T7/337 ,  G06T2207/10048 ,  G06T2207/20216 ,  G06T2207/30261

摘要： The luminance signal of a reference image obtained by an infrared camera is adjusted such that the luminance signal of the reference image obtained is greater at all times than the luminance signal of a searching image obtained by an infrared camera. Correlative calculations are performed on the reference image and the searching image to detect one object in the reference image and the searching image without detecting the background of the images in error.

摘要翻译： 调整由红外线摄像机获得的参考图像的亮度信号，使得获得的参考图像的亮度信号总是比由红外相机获得的搜索图像的亮度信号更大。 对参考图像和搜索图像进行相关计算，以检测参考图像中的一个对象和搜索图像，而不检测图像的背景错误。

公开(公告)号：US07221777B2

公开(公告)日：2007-05-22

申请号：US10607647

申请日：2003-06-27

申请人： Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayui Tsuji ,  Hiroshi Hattori ,  Izumi Takatsudo

发明人： Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayui Tsuji ,  Hiroshi Hattori ,  Izumi Takatsudo

IPC分类号： G06K9/00

CPC分类号： B60Q9/008 ,  B60W2420/42 ,  B60W2520/14 ,  G06K9/00651 ,  G06K9/00805 ,  G06K9/3241 ,  G06K2209/23 ,  G06T7/593 ,  G06T7/74 ,  H04N5/33 ,  H04N13/204

摘要： An image analysis device installed on a vehicle for detecting objects that are likely to affect the vehicle. An image processing unit included in the image analysis device sets a seeking area in a left-hand image of the field, and calculates a moving increment for seeking “Step” using a variable “n”. A correlation calculation process is sequentially executed in the seeking area set in the left-hand image of the field while moving a reference image stepwise at the moving increment “Step” so as to obtain a correlation area that gives the highest degree of correlation, and then a new seeking area is set, which consists of the correlation area and horizontally arranged two areas that sandwich the correlation area, and the moving increment “Step” is decreased in order to reduce the amount of calculation.

摘要翻译： 安装在车辆上用于检测可能影响车辆的物体的图像分析装置。 包括在图像分析装置中的图像处理单元设置场景的左侧图像中的寻找区域，并且使用变量“n”来计算用于寻找“步骤”的移动增量。 在移动增量“步”中逐步移动参考图像的同时，在设置在场左手图像中的寻找区域中依次执行相关计算处理，以获得给出最高相关度的相关区域，以及 然后设置一个新的寻找区域，其包括相关区域和水平布置的两个相关区域的区域，并且减少移动增量“步骤”以减少计算量。