公开(公告)号：US20180181819A1

公开(公告)日：2018-06-28

申请号：US15845416

申请日：2017-12-18

Applicant: DENSO CORPORATION

Inventor： Taiki Kawano ,  Naoki Kawasaki ,  Naoki Nitanda ,  Kenta Hoki

IPC: G06K9/00 ,  B60W30/12 ,  B60R1/00 ,  B60R11/04

CPC classification number: G06K9/00798 ,  B60R1/00 ,  B60R11/04 ,  B60R2300/804 ,  B60W30/12

Abstract: The demarcation line recognition device determines the line type and line color of the extracted candidate line, and the presence or absence of an influence of backlight, and determines whether the extracted candidate line constitutes a part of a multiple line. The demarcation line recognition device selects a candidate line corresponding to a demarcation line from extracted candidate lines, using the line type and line color determined, and the determination result of the multiple line determination, and according to the rules of the driving region. When a candidate line determined to be under the influence of backlight constitutes a part of a multiple line, the demarcation line recognition device compares the color information of the candidate lines constituting that multiple line with each other and re-determines the line color of the candidate line determined to be under the influence of backlight.

公开(公告)号：US20170039433A1

公开(公告)日：2017-02-09

申请号：US15230208

申请日：2016-08-05

Applicant: DENSO CORPORATION

Inventor： Taiki Kawano ,  Naoki Kawasaki ,  Naoki Nitanda ,  Kenta Hoki

IPC: G06K9/00 ,  G06K9/46 ,  H04N5/232

CPC classification number: G06K9/00791 ,  G06K9/4671 ,  H04N5/232 ,  H04N5/23229

Abstract: In a pitch angle estimation apparatus, an image acquirer sequentially acquires images in a forward or rearward direction of a vehicle. Each image is referred to as a frame. A movement amount calculator extracts a feature point from each of the images acquired by the image acquirer and calculates an amount of movement of the feature point in a vertical direction of the image. A pitch angle calculator calculates a pitch angle of the vehicle based on the amount of movement of the feature point. An output unit outputs the pitch angle calculated by the pitch angle calculator. A low frequency component calculator calculates a low frequency component of the pitch angle calculated by the pitch angle calculator. An output determiner determines whether to output the pitch angle based on the magnitude of the low frequency component calculated by the low frequency component calculator.

Abstract translation: 在俯仰角估计装置中，图像获取器顺序地获取车辆前后方向的图像。 每个图像被称为帧。 移动量计算器从由图像获取器获取的每个图像中提取特征点，并计算特征点在图像的垂直方向上的移动量。 俯仰角计算器基于特征点的移动量来计算车辆的俯仰角。 输出单元输出由俯仰角计算器计算的俯仰角。 低频分量计算器计算由俯仰角计算器计算的俯仰角的低频分量。 输出确定器基于由低频分量计算器计算的低频分量的幅度来确定是否输出音调角度。

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

IPC: H04N13/00 ,  H04N13/02 ,  G06K9/62

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。