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公开(公告)号：US10748028B2
公开(公告)日：2020-08-18
申请号：US15920951
申请日：2018-03-14
申请人： DENSO TEN Limited
摘要： An extraneous-matter detecting apparatus including a dividing unit that divides a captured image into a plurality of regions. The captured image is output from an image capturing device; a computing unit detecting luminance values of pixels included in each of the regions divided by the dividing unit, and computes, for each of target regions, an average value or a standard deviation of luminance values of the detected luminance values. The corresponding target region corresponds to the one or more regions; and a detection unit that extracts the target regions having the average values or the standard deviations of the luminance values computed by the computing unit, which are within a predetermined range, and detects, when the extracted target regions are adjacent to each other, the adjacent target regions as an extraneous-matter region. The extraneous-matter region is a region of the image capturing device to which an extraneous matter is adhered.
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公开(公告)号：US11747278B2
公开(公告)日：2023-09-05
申请号：US17016583
申请日：2020-09-10
申请人： DENSO TEN Limited
发明人： Tomokazu Oki , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Nobuhisa Ikeda , Teruhiko Kamibayashi
CPC分类号： G01N21/4738 , G06T7/0002 , G06T7/13 , G06T7/136 , G06T7/73 , G01N2021/4769
摘要： A deposit detection device according to an embodiment includes a calculation module, a detection module, an interpolation module, and a state management module. The calculation module calculates a region feature amount based on an edge vector of each pixel, for each unit region composed of a predetermined number of pixels included in a captured image. The detection module detects the unit region corresponding to a partial covering location and the unit region corresponding to a diffuse reflection location based on a detection condition and a second detection condition, respectively, the first detection condition and the second detection condition being based on the region feature amount. The interpolation module interpolates the area ratio of the partial covering location reduced due to the diffuse reflection location. The state management module controls state transitions of states related to interpolation of the area ratio, based on increase and decrease of the diffuse reflection location.
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公开(公告)号：US11568547B2
公开(公告)日：2023-01-31
申请号：US17019534
申请日：2020-09-14
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Daisuke Shiota , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes an adhesion detection module, a moving adhesion detection module, and a determination module. The adhesion detection module detects a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information of an image captured by the imaging device. The moving adhesion detection module detects the deposit region detected during moving of the vehicle as a moving deposit region, from among the deposit regions detected by the adhesion detection module. When the area of the moving deposit region detected by the moving adhesion detection module is equal to or larger than a first threshold value, the determination module determines that there is a deposit.
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公开(公告)号：US11308709B2
公开(公告)日：2022-04-19
申请号：US17016876
申请日：2020-09-10
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes a detection module and a determination module. The detection module detects a deposit region including a deposit adhering to a lens of an imaging device from a captured image captured by the imaging device. The determination module performs maintenance determination as to whether to maintain a detection history of detection by the detection module, based on brightness information of the captured image.
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公开(公告)号：US11288882B2
公开(公告)日：2022-03-29
申请号：US17018126
申请日：2020-09-11
申请人： DENSO TEN Limited
发明人： Nobunori Asayama , Nobuhisa Ikeda , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes a detection module, a determination module, and an identification module. The detection module detects a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information of an image captured by the imaging device. The determination module determines whether variation in brightness information in a predetermined region of the image is within a predetermined range, in a period after a vehicle is stopped in a state in which the deposit region is detected by the detection module. The identification module identifies brightness information serving as a determination criterion of the deposit region when the determination module determines that the variation in brightness information is within a predetermined range.
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公开(公告)号：US10984273B2
公开(公告)日：2021-04-20
申请号：US16683624
申请日：2019-11-14
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An attachable matter detection apparatus includes a controller configured to function as an extractor and a detector. The extractor extracts edge information of each pixel contained in a photographic image photographed by an imaging device. The detector detects a candidate area estimated to have a water droplet out of the photographic image based on a matching result between (i) each of the pixels converted into a predetermined data format based on the edge information extracted by the extractor and (ii) a template representing a water droplet and having the data format. The detector calculates a matching frequency with the template for a predetermined area along a contour of the candidate area, and excludes the candidate area when the candidate area satisfies a predetermined exclusion condition based on the matching frequency.
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公开(公告)号：US11530993B2
公开(公告)日：2022-12-20
申请号：US17019576
申请日：2020-09-14
申请人： DENSO TEN Limited
发明人： Nobunori Asayama , Nobuhisa Ikeda , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes a detection module and an identification module. The detection module detects a small region as a candidate region for a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information for each of small regions into which a predetermined region in an image captured by the imaging device is divided. The identification module identifies the candidate region as the deposit region when undulation change in brightness distribution of pixels included in the candidate region detected by the detection module is within a predetermined range.
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公开(公告)号：US11354794B2
公开(公告)日：2022-06-07
申请号：US17017852
申请日：2020-09-11
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Daisuke Shiota , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes an extraction module and an exclusion module. The extraction module extracts a candidate region for a deposit from a captured image captured by an imaging device. The exclusion module excludes from the candidate region a region that satisfies a predetermined exception condition. The exclusion module excludes from the candidate region a region that satisfies a first exception region when adhesion of a deposit to the imaging device is not detected, and excludes from the candidate region a region that satisfies a second exception condition different from the first exception condition when adhesion of the deposit to the imaging device is detected.
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公开(公告)号：US11308624B2
公开(公告)日：2022-04-19
申请号：US17019755
申请日：2020-09-14
申请人： DENSO TEN Limited
发明人： Takashi Kono , Nobunori Asayama , Nobuhisa Ikeda , Yasushi Tani , Daisuke Yamamoto , Daisuke Shiota , Teruhiko Kamibayashi
摘要： An adhered substance detection apparatus determines whether a substance is adhered to an image-capturing apparatus. The adhered substance detection apparatus includes a controller configured to function as: an extractor that extracts candidate regions for being an adhered substance region in which the substance is adhered to the image-capturing apparatus, the candidate regions being extracted based on an edge that is detected from pixels in an image captured by the image-capturing apparatus; and a final determiner that finally determines whether the candidate regions are the adhered substance region, based on i) an area of the candidate region located in a first region of the captured image, the first region including a road surface region in the captured image and ii) an area of the candidate region located in a second region of the captured image, the second region including a region other than the road surface region in the captured image.
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公开(公告)号：US11093786B2
公开(公告)日：2021-08-17
申请号：US16567070
申请日：2019-09-11
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An extraneous-matter detecting apparatus according to an embodiment includes a region setting unit, a computing unit, and a state setting unit. The region setting unit sets, for a captured image captured by an image capturing device provided in a vehicle, a plurality of divided regions. The computing unit computes a representative value of luminance in a target region for detecting an adhesion of an extraneous matter. The target region includes the plurality of divided regions. The state setting unit sets, based on a vehicle speed and the representative value of luminance in the target region, a transition state of information that indicates an adhesion state of an extraneous matter in the divided region.
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