公开(公告)号：US08050456B2

公开(公告)日：2011-11-01

申请号：US11919554

申请日：2006-05-18

申请人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

发明人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06K9/4652

摘要： A vehicle and road sign recognition device each includes: image capturing means (2) which captures a color image of a road via imaging means (6); feature value calculation means (4) which calculates a feature value of each pixel corresponding to the color of a road sign on the road from the color components of each pixel in the color image so as to reduce the effect of brightness on the color components; and road sign detection means (5) which detects the road sign on the road from the feature image in which the feature value of each pixel in the color image is arranged so as to match with the position of each pixel in the color image. Thus, it is possible to accurately detect a road sign such as a lane mark from the color image of the road captured via the imaging means such as a camera even if the road illumination state is partially different.

摘要翻译： 车辆和道路标识识别装置，每个都包括：图像捕捉装置，其通过成像装置捕获道路的彩色图像; 特征值计算装置（4），其从彩色图像中的每个像素的颜色分量计算与道路上的道路标志的颜色相对应的每个像素的特征值，以减少亮度对颜色分量的影响; 以及道路标志检测装置（5），其从其中布置彩色图像中的每个像素的特征值的特征图像检测道路上的道路标志，以便与彩色图像中的每个像素的位置相匹配。 因此，即使道路照明状态部分不同，也可以从通过诸如照相机的摄像装置拍摄的道路的彩色图像中准确地检测路标等路标。

公开(公告)号：US07970529B2

公开(公告)日：2011-06-28

申请号：US11919634

申请日：2006-06-20

申请人： Naoki Mori ,  Sachio Kobayashi

发明人： Naoki Mori ,  Sachio Kobayashi

IPC分类号： G08G1/00

CPC分类号： G08G1/167 ,  B60W30/12 ,  B60W2050/046 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/20061 ,  G06T2207/30256

摘要： A lane recognizing device comprises: an image processing means which performs a process of estimating a lane of a road by processing an image of the road and outputs a result of the process as first lane information; a lane estimating means which performs a process of estimating the lane using a map data of the road and the current position information of a vehicle and outputs a result of the process as second lane information; and an actual lane recognizing means which recognizes an actual lane of the road on the basis of the first lane information and the second lane information. Thereby, even if there is an unpredictable skid mark or road repaired part, it is possible to detect the lane accurately while increasing the opportunities for detecting the lane as much as possible by processing the road image and obtaining the road information and the map data.

摘要翻译： 车道识别装置包括：图像处理装置，其通过处理道路的图像来执行估计道路的车道的处理，并将处理的结果作为第一车道信息输出; 车道估计装置，其使用道路的地图数据和车辆的当前位置信息执行估计车道的处理，并将处理的结果作为第二车道信息输出; 以及根据第一车道信息和第二车道信息识别道路的实际车道的实际车道识别装置。 因此，即使存在不可预测的滑行标记或道路修理部分，也可以通过处理道路图像并获得道路信息和地图数据，尽可能多地检测车道，同时增加检测车道的机会。

公开(公告)号：US07933434B2

公开(公告)日：2011-04-26

申请号：US11918453

申请日：2006-04-18

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G08G1/16 ,  G08G1/167

摘要： A vehicle capable of preventing detection of stud-type lane marks from being impossible and a vehicle having a lane mark recognizer are provided. The vehicle includes installation interval recognizing means (21) which recognizes an interval (L) between Botts Dots, vehicle speed recognizing means (22) which recognizes a traveling speed (v) of the vehicle, image synthesizing means (13) which generates synthesized image data (M3) by combining image data (M1) stored in an image memory (11) through an image input circuit (10) and image data (M2) stored in an image memory (12) through the same, imaging timing determining means (20) which determines the timing of imaging by a camera (2) on the basis of the interval (L) and the traveling speed (v) when acquiring the image data (M1, M2) in such a way that the positions of the Botts Dots in the image data (M1, M2) are different therebetween, and Botts Dots detecting means (14) which detects the Botts Dots from the synthesized image data (M3).

摘要翻译： 提供能够防止螺柱式车道标记的检测不可能的车辆和具有车道标识识别器的车辆。 车辆包括识别出点数之间的间隔（L）的安装间隔识别装置（21），识别车辆的行驶速度（v）的车速识别装置（22），产生合成图像的图像合成装置 数据（M3）通过组合通过图像输入电路（10）存储在图像存储器（11）中的图像数据（M1）和通过其存储在图像存储器（12）中的图像数据（M2），成像定时确定装置 20），其基于当获取图像数据（M1，M2）时的间隔（L）和行进速度（v），以相对于所述图像数据（B）的位置的方式确定摄像机（2）的成像定时 图像数据（M1，M2）中的点不同，以及从合成图像数据（M3）检测Botts点的Botts点检测装置（14）。

公开(公告)号：US20100231718A1

公开(公告)日：2010-09-16

申请号：US12715898

申请日：2010-03-02

申请人： Takuma NAKAMORI ,  Tomoyoshi AOKI ,  Jun TANAKA ,  Sachio KOBAYASHI

发明人： Takuma NAKAMORI ,  Tomoyoshi AOKI ,  Jun TANAKA ,  Sachio KOBAYASHI

IPC分类号： H04N7/18

CPC分类号： G06K9/00798

摘要： The lane mark recognition device is equipped with a lane mark detecting unit which executes a lane mark detection process in each predetermined control cycle, and adds a detection presence/absence data to a ring buffer, a detection presence/absence data addition inhibiting unit which inhibits addition of the detection presence/absence data to the ring buffer when the vehicle is traveling in the intersection, and a lane mark position recognizing unit which recognizes a relative position of the vehicle and the lane mark, when the lane mark is detected in the situation where a lane mark detection rate calculated from the data of the ring buffer is higher than a reliability threshold value.

摘要翻译： 车道标识识别装置配备有车道标识检测单元，其在每个预定控制周期中执行车道标记检测处理，并将检测有/无数据添加到环形缓冲器，检测有无数据添加禁止单元，其抑制 当车辆在交叉路口行驶时，将检测有无数据加到环形缓冲器;以及车道标识位置识别单元，其在该情况下检测到车道标记时识别车辆和车道标记的相对位置 其中根据环形缓冲器的数据计算的车道标记检测率高于可靠性阈值。

公开(公告)号：US20100014707A1

公开(公告)日：2010-01-21

申请号：US11919554

申请日：2006-05-18

申请人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

发明人： Takuma Nakamori ,  Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G06K9/4652

摘要： A vehicle and road sign recognition device each includes: image capturing means (2) which captures a color image of a road via imaging means (6); feature value calculation means (4) which calculates a feature value of each pixel corresponding to the color of a road sign on the road from the color components of each pixel in the color image so as to reduce the effect of brightness on the color components; and road sign detection means (5) which detects the road sign on the road from the feature image in which the feature value of each pixel in the color image is arranged so as to match with the position of each pixel in the color image. Thus, it is possible to accurately detect a road sign such as a lane mark from the color image of the road captured via the imaging means such as a camera even if the road illumination state is partially different.

摘要翻译： 车辆和道路标识识别装置，每个都包括：图像捕捉装置，其通过成像装置捕获道路的彩色图像; 特征值计算装置（4），其从彩色图像中的每个像素的颜色分量计算与道路上的道路标志的颜色相对应的每个像素的特征值，以减少亮度对颜色分量的影响; 以及道路标志检测装置（5），其从其中布置彩色图像中的每个像素的特征值的特征图像检测道路上的道路标志，以便与彩色图像中的每个像素的位置相匹配。 因此，即使道路照明状态部分不同，也可以从通过诸如照相机的摄像装置拍摄的道路的彩色图像中准确地检测路标等路标。

公开(公告)号：US20090123065A1

公开(公告)日：2009-05-14

申请号：US11994940

申请日：2006-06-23

申请人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

发明人： Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G08G1/167 ,  G06K9/00798 ,  G06K9/38 ,  G06T7/11 ,  G06T7/90 ,  G06T2207/10016 ,  G06T2207/30256

摘要： A lane mark recognition apparatus includes an image capturing means (30) which captures a color image (IM—0) of a road via a color video camera (10), a specific-color-extracted image generating means (31) which generates a luminance-extracted image (IM—1) obtained by extracting white-color data from the color image (IM—0) and a yellow-color-extracted image (IM—2) obtained by extracting yellow-color data from the color image (IM—0), and a lane mark detection means (50a) which detects a white line and a yellow line from a composite image (IM_C) formed from the luminance-extracted image (IM—1) and the yellow-color-extracted image (IM—2) and outputs position data (Pd1) of the white line and position data (Pd2) of the yellow line.

摘要翻译： 车道标识识别装置包括经由彩色摄像机（10）拍摄道路的彩色图像（IM-0）的图像拍摄装置（30），特定彩色提取图像生成装置（31），其生成 通过从彩色图像（IM-0）中提取白色数据而获得的亮度提取图像（IM-1）和通过从彩色图像中提取黄色数据而获得的黄色提取图像（IM-2） IM-0）和从由亮度提取图像（IM-1）和黄色提取图像形成的合成图像（IM_C）中检测白线和黄线的车道线检测装置（50a） （IM-2），并输出白线的位置数据（Pd1）和黄线的位置数据（Pd2）。

公开(公告)号：US20090041303A1

公开(公告)日：2009-02-12

申请号：US11918674

申请日：2006-05-22

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  G06K9/00798 ,  G06T7/73

摘要： An image processing system and the like capable of accurately recognizing lane edges defined by dotted lane marks are provided. According to an image processing system (100) of the present invention, a first processing unit (110) searches a road surface image captured by a vehicle-mounted camera for a “small area,” which is composed of high- or low-luminance pixels and satisfies “eligibility conditions” on the “size,” “shape,” and “arrangement” in the road surface image. Additionally, a second processing unit (120) recognizes “lane edges” of the lane along which the vehicle travels on the basis of the “small area.” Furthermore, a third processing unit (130) sets a “search range” of the small area searched by the first processing unit (110) on the basis of a result of the foregoing recognition of the lane edges by the second processing unit (120).

摘要翻译： 提供能够准确地识别由虚线标记定义的车道边缘的图像处理系统等。 根据本发明的图像处理系统（100），第一处理单元（110）搜索由车载摄像机拍摄的路面图像的“小区域”，其由高亮度或低亮度 并且满足路面图像中的“尺寸”，“形状”和“布置”的“合格条件”。 此外，第二处理单元（120）基于“小区域”识别车辆行驶的车道的“车道边缘”。 此外，第三处理单元（130）基于由第二处理单元（120）对上述的车道边缘的识别结果，设置由第一处理单元（110）搜索的小区域的“搜索范围” 。

公开(公告)号：US20070198146A1

公开(公告)日：2007-08-23

申请号：US11596900

申请日：2005-05-17

申请人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

发明人： Tetsuo Ikeda ,  Sachio Kobayashi ,  Kiyozumi Unoura

IPC分类号： G05D1/00

CPC分类号： G06T5/50 ,  B60W50/14 ,  B60W2420/403 ,  B60W2510/20 ,  B60W2520/14 ,  B60W2520/28 ,  B60W2710/20 ,  G06K9/00798 ,  G06T7/12 ,  G06T2207/10016 ,  G06T2207/20061 ,  G06T2207/30256 ,  H04N7/18

摘要： A traffic lane marking line recognition system for vehicle including a traffic lane marking line recognizing device configured to recognize at least a traffic lane marking line in broken (e.g., white) line on a road surface in a camera photographed image, and an image compositing device which composites images photographed at different time points to elongate the traffic lane marking line in the photographed image, wherein the images are composited in a processing stage in such a manner that no change will be imparted to at least a shape of the traffic lane marking line in the photographed image in a traffic lane marking line recognition processing, specifically in a processing stage prior to edge detection. With this, a distant traffic lane marking line is prevented from being chipped away when compositing the photographed images, thereby enabling accurate and unerring recognition of the traffic lane marking line.

摘要翻译： 一种用于车辆的行车线标识线识别系统，包括行车线标识线识别装置，被配置为至少识别摄像机拍摄图像中路面上的破碎（例如，白色）线中的行车道标线，以及图像合成装置 其复合在不同时间点拍摄的图像以延长拍摄图像中的行车线标记线，其中，图像在处理阶段被合成，使得不会对行车道标线的至少一个形状施加变化 在行车线标识线识别处理中的拍摄图像中，具体地在边缘检测之前的处理阶段。 由此，当合成拍摄的图像时，防止远距离的行车线标记线被切掉，从而使得能够准确和无意识地识别行车线标记线。

公开(公告)号：US6115652A

公开(公告)日：2000-09-05

申请号：US78486

申请日：1998-05-14

申请人： Masashi Sato ,  Eishi Jitsukata ,  Sachio Kobayashi ,  Kazuya Tamura

发明人： Masashi Sato ,  Eishi Jitsukata ,  Sachio Kobayashi ,  Kazuya Tamura

IPC分类号： E01F9/04 ,  B60W30/00 ,  E01F9/00 ,  E01F9/011 ,  E01F9/03 ,  G05D1/02 ,  G08G1/09 ,  G06F165/00

CPC分类号： B62D1/28 ,  B60W10/06 ,  B60W10/20 ,  B60W30/12 ,  G05D1/0248 ,  G08G1/042 ,  G08G1/096783 ,  G08G1/22 ,  B60W2550/20 ,  B60W2550/402 ,  B60W2720/10 ,  G05D2201/0213

摘要： A road system for an automatically traveling vehicle is provided, wherein the merging or diverging of the automatically traveling vehicle at a connection point of a road can be smoothly performed. An indicating means comprising a bar code is provided on each of a main lane and a branch lane at a location short of a merging point of a road by a predetermined distance (e.g., 500 m). Information relating to the distance from one vehicle to the merging point and information relating to the shape of the merging point are provided by viewing the indicating means with a CCD camera. The indicating means can be provided at a location short of a diverging point of the road, at the merging point of the road or at the diverging point of the road. The type of the indicating means is not limited to the bar code, and the indicating means may be a signpost, a line, magnetic nails or the like.

摘要翻译： 提供了一种用于自动行进车辆的道路系统，其中可以平稳地执行在道路的连接点处的自动行驶车辆的合并或分流。 在道路合并点不到预定距离（例如500m）的位置处，在主车道和分支车道的每一侧设置包括条形码的指示装置。 通过用CCD照相机观看指示装置来提供与一个车辆到合并点的距离的信息以及与合并点的形状有关的信息。 指示装置可以在道路的发散点，道路的合流点处或道路的分叉点处设置的位置。 指示装置的类型不限于条形码，并且指示装置可以是路标，线，磁指甲等。

公开(公告)号：US08724845B2

公开(公告)日：2014-05-13

申请号：US13109330

申请日：2011-05-17

申请人： Sachio Kobayashi

发明人： Sachio Kobayashi

IPC分类号： G06K9/00

CPC分类号： G06K9/00778

摘要： A non-transitory computer-readable medium storing a content determination program causes a computer to perform processes of detecting persons appearing in chronologically photographed images, detecting a position of each of the persons, calculating a moving velocity of each of the persons, setting a group including a part of the persons on the basis of the moving velocities and the positions, acquiring attribute information of the group on the basis of a person image corresponding to the each of the part of the persons included in the group, and determining, on the basis of a correspondence relationship between the attribute information of the group and attribute information of content images stored in a storage unit, one of the content images to be projected to a position which each of the part of the persons of the group recognizes.

摘要翻译： 存储内容确定程序的非暂时计算机可读介质使得计算机执行检测按时间顺序拍摄的图像中出现的人的检测，检测每个人的位置，计算每个人的移动速度，设定组 基于移动速度和位置来包括一部分人，基于与包括在组中的每个人的对应的人物图像获取组的属性信息，并且在 组的属性信息与存储在存储单元中的内容图像的属性信息之间的对应关系的基础，将要投影到该组中的每个人的每个部分的位置的一个内容图像识别。