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公开(公告)号：US20150199817A1
公开(公告)日：2015-07-16
申请号：US14414347
申请日：2013-04-25
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC. , NAGOYA INSTITUTE OF TECHNOLOGY
Inventor： Kazuhisa Ishimaru , Masayuki Imanishi , Jun Sato
IPC: G06T7/00
CPC classification number: G06T7/262 , G01S5/16 , G06T7/593 , G06T2200/04 , G06T2207/10012 , G06T2207/10021 , G06T2207/20048 , G06T2207/20076 , G06T2207/20081 , G06T2207/30252
Abstract: A position detection device obtains image coordinate groups representing a coordinate of a target object in each acquired image having first and second acquired image groups. The first acquired image group has acquired images obtained at an image acquiring timing in a reference period. The second acquired image group has acquired images obtained at an image acquiring timing in the reference period, which is delayed from the image acquiring timing of the first acquired image group by an asynchronous time. The device performs a Fourier transformation of each of a first locus and a second locus, and calculates a first frequency waveform based on the first locus and a second frequency waveform based on the second locus. The device calculates a position of the target object based on a relationship in which the frequency waveforms are delayed relative to each other by a phase corresponding to the asynchronous time.
Abstract translation: 位置检测装置获取表示具有第一和第二获取图像组的每个获取图像中的目标对象的坐标的图像坐标组。 第一获取图像组已经获取了在参考周期中的图像获取定时获得的图像。 第二获取图像组已经获取了在参考周期中获得的图像获取定时中获得的图像，该参考周期从第一获取图像组的图像获取定时延迟异步时间。 设备执行第一轨迹和第二轨迹中的每一个的傅立叶变换，并且基于第一轨迹和基于第二轨迹的第二频率波形来计算第一频率波形。 该设备基于频率波形相对于彼此相对于异步时间的相位的延迟的关系来计算目标对象的位置。
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公开(公告)号：US11928871B2
公开(公告)日：2024-03-12
申请号：US18069018
申请日：2022-12-20
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Shunya Kumano , Yuusuke Matsumoto
CPC classification number: G06V20/588 , G06T7/60 , G06V10/761 , G06T2207/30256 , G06V2201/07
Abstract: A vehicle position estimation device is configured to acquire a distance from a road edge to a subject vehicle using at least one of an imaging device or a distance measuring sensor, acquire position information of lane boundary lines detected by analyzing the images captured by the imaging device; acquire map information including a lane quantity of a traveling road of the subject vehicle from a map storage, calculate, as a roadside area width, a lateral direction distance between an outermost detection line, which is an outermost boundary line among the detected boundary lines, and the road edge, and specify a traveling lane of the subject vehicle based on (i) the distance from the road edge to the subject vehicle, (ii) the roadside area width, and (iii) the lane quantity included in the acquired map information.
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公开(公告)号：US10043106B2
公开(公告)日：2018-08-07
申请号：US15171606
申请日：2016-06-02
Applicant: DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
CPC classification number: G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
Abstract: A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.
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公开(公告)号：US10012722B2
公开(公告)日：2018-07-03
申请号：US14905951
申请日：2014-06-25
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Kiyokazu Takagi , Naoki Kawasaki
CPC classification number: G01S7/4802 , G01S7/4873 , G01S17/42 , G01S17/936 , G08G1/16
Abstract: A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.
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公开(公告)号：US09672429B2
公开(公告)日：2017-06-06
申请号：US14783060
申请日：2014-04-04
Applicant: DENSO CORPORATION
Inventor： Kazuhisa Ishimaru , Shunsuke Suzuki , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06T7/12 , G06T2207/20076 , G06T2207/30256 , G08G1/167 , H04N7/183
Abstract: This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.
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Patent Agency Ranking
16.发明授权公开(公告)号：US09626765B2
公开(公告)日：2017-04-18
申请号：US14414347
申请日：2013-04-25
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC. , NAGOYA INSTITUTE OF TECHNOLOGY
Inventor： Kazuhisa Ishimaru , Masayuki Imanishi , Jun Sato
CPC classification number: G06T7/262 , G01S5/16 , G06T7/593 , G06T2200/04 , G06T2207/10012 , G06T2207/10021 , G06T2207/20048 , G06T2207/20076 , G06T2207/20081 , G06T2207/30252
Abstract: A position detection device obtains image coordinate groups representing a coordinate of a target object in each acquired image having first and second acquired image groups. The first acquired image group has acquired images obtained at an image acquiring timing in a reference period. The second acquired image group has acquired images obtained at an image acquiring timing in the reference period, which is delayed from the image acquiring timing of the first acquired image group by an asynchronous time. The device performs a Fourier transformation of each of a first locus and a second locus, and calculates a first frequency waveform based on the first locus and a second frequency waveform based on the second locus. The device calculates a position of the target object based on a relationship in which the frequency waveforms are delayed relative to each other by a phase corresponding to the asynchronous time.
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公开(公告)号：US20180295347A1
公开(公告)日：2018-10-11
申请号：US15944060
申请日：2018-04-03
Applicant: DENSO CORPORATION , NAGOYA INSTITUTE OF TECHNOLOGY
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Jun Sato , Fumihiko Sakaue
IPC: H04N13/246 , H04N13/271
Abstract: In a position measuring apparatus, a correspondence point detector detects, for each set of images at a respective one of time instants, correspondence points from the respective images of the set, where the correspondence points are points on respective image planes representing the same three-dimensional position. A projection point calculator calculates a projection point of each of the correspondence points detected at the respective time instants onto each of a plurality of common planes set at different depthwise positions in a world coordinate system using preset camera parameters. A reconstruction point calculator calculates a point at which distances to a plurality of rays each connecting the projection points of the correspondence point on a respective one of the image planes onto the plurality of common planes are minimized, as a reconstruction point representing a three-dimensional position of the correspondence point.
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公开(公告)号：US10054421B2
公开(公告)日：2018-08-21
申请号：US15611386
申请日：2017-06-01
Applicant: DENSO CORPORATION , NAGOYA INSTITUTE OF TECHNOLOGY
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Jun Sato , Fumihiko Sakaue
CPC classification number: G01B11/002 , G06K9/00791 , G06K9/46 , G06T7/70 , H04N5/247
Abstract: A position measuring apparatus detects, from respective first and second imaging planes of first and second captured images, first and second corresponding points estimated to represent a common three-dimensional position. The apparatus calculates first to fourth projected points. Each of the first and second projected points represents a projected point of the first corresponding point on a corresponding one of the first and second common planes. Each of the third and fourth projected points represents a projected point of the second corresponding point on a corresponding one of the first and second common planes. The apparatus calculates a first beam connecting the first and second projected points, a second beam connecting the third and fourth projected points, and a point having a minimum square distance relative to each of the first and second beams as a restored point representing the three-dimensional position of the first and second corresponding points.
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公开(公告)号：US20160358325A1
公开(公告)日：2016-12-08
申请号：US15171606
申请日：2016-06-02
Applicant: DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
CPC classification number: G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
Abstract: A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.
Abstract translation: 相应的点搜索方法通过使用预定的第一种方法（例如维特比算法）来搜索参考图像中的每个像素的车载相机获取的多个图像中的相应点。 该方法通过使用预定的第二方法（例如光流法）来搜索参考图像中的每个像素的多个图像中的对应点。 该方法检测在通过预定的第一方法获得的参考图像中划分的每个区域中的相应点的搜索精度是否不小于参考值。 当不小于参考值时，该方法选择通过预定的第一种方法获得的相应点。 当小于参考值时，搜索方法选择通过预定的第二方法获得的对应点。 搜索方法以高精度提供多个图像之间的对应点。
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公开(公告)号：US20160191890A1
公开(公告)日：2016-06-30
申请号：US14961465
申请日：2015-12-07
Applicant: DENSO CORPORATION
Inventor： Taiki Kawano , Masaki Masuda , Naoki Kawasaki , Kazuhisa Ishimaru
CPC classification number: H04N13/133 , G06K9/6202 , G06K9/6215 , G06T7/50 , G06T7/593 , G06T2207/30261 , H04N13/239 , H04N2013/0074
Abstract: In an image processing apparatus, an image acquiring unit acquires a first image and a second image that form stereoscopic images. A first sub-image extracting unit extracts first sub-images from the first image. A second sub-image extracting unit extracts second sub-images from the second image. A matching unit matches each pair of the first and second sub-images to determine a degree of similarity therebetween. A similar sub-image setting unit sets the second sub-image having a highest degree of similarity to the first sub-image to be a similar sub-image to the first sub-image. A brightness comparing unit compares in brightness each pair of the first and second sub-images. The matching unit is configured to, if a result of comparison made by the brightness comparing unit between a pair of the first and second sub-images is out of a predetermined brightness range, exclude such a pair of the first and second sub-images.
Abstract translation: 在图像处理装置中，图像获取单元获取形成立体图像的第一图像和第二图像。 第一子图像提取单元从第一图像提取第一子图像。 第二子图像提取单元从第二图像提取第二子图像。 匹配单元匹配每对第一和第二子图像以确定它们之间的相似程度。 类似的子图像设置单元将与第一子图像具有最高相似度的第二子图像设置为与第一子图像类似的子图像。 亮度比较单元比较每对第一和第二子图像的亮度。 如果由一对第一和第二子图像之间的亮度比较单元进行比较的结果超出预定的亮度范围，则匹配单元被配置为排除这样的第一和第二子图像。
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