公开(公告)号：US20120281878A1

公开(公告)日：2012-11-08

申请号：US13511074

申请日：2010-10-18

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/46

CPC分类号： G06T7/0046 ,  G06T7/60 ,  G06T7/75 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/166

摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.

摘要翻译： 在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离 身体候选人的形象。 头部宽度约为15-16厘米。 基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高 基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

公开(公告)号：US20110170748A1

公开(公告)日：2011-07-14

申请号：US13119324

申请日：2009-07-10

申请人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

发明人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

IPC分类号： G06K9/00

CPC分类号： G01C3/085 ,  G06K9/00805 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30252

摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.

摘要翻译： 车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分 在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

公开(公告)号：US20130103299A1

公开(公告)日：2013-04-25

申请号：US13808120

申请日：2011-06-15

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

IPC分类号： G06F17/00

CPC分类号： G06F17/00 ,  G06K9/00805 ,  G06K9/00825 ,  G06T7/579 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： Category determination is performed on an object candidate extracted from a captured image after an exclusion process is performed in advance. In the exclusion process, a distance from a vehicle to the object candidate is calculated based on a size of the object candidate in a current image, a moved distance of the vehicle occurring in a time interval from a time a previous image was captured to a time the current image is captured is calculated, the size of the object candidate in the current image is decreased at a change ratio based on the distance to the object candidate and the moved distance, and a size of the object candidate in the previous image and a size of the object candidate decreased at the change ratio are compared. The object candidate with difference between them being determined to be larger than a predetermined value is removed.

摘要翻译： 在预先执行排除处理之后，对从拍摄图像提取的对象候选进行类别判定。 在排除处理中，基于当前图像中的对象候选者的大小，从从前一图像拍摄到时间的时间间隔中发生的车辆的移动距离，计算从车辆到候选对象的距离 计算当前图像被捕获的时间，基于到目标候选者的距离和移动的距离以及前一图像中的候选对象的大小，以当前图像中的对象候选者的大小以变化比减少， 比较以变化比减少的对象候选者的大小。 被确定为大于预定值的差异的对象候选者被去除。

公开(公告)号：US09158738B2

公开(公告)日：2015-10-13

申请号：US13808120

申请日：2011-06-15

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

IPC分类号： G06F17/00 ,  G06T7/00 ,  G08G1/16 ,  G06K9/00

CPC分类号： G06F17/00 ,  G06K9/00805 ,  G06K9/00825 ,  G06T7/579 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： Category determination is performed on an object candidate extracted from a captured image after an exclusion process is performed in advance. In the exclusion process, a distance from a vehicle to the object candidate is calculated based on a size of the object candidate in a current image, a moved distance of the vehicle occurring in a time interval from a time a previous image was captured to a time the current image is captured is calculated, the size of the object candidate in the current image is decreased at a change ratio based on the distance to the object candidate and the moved distance, and a size of the object candidate in the previous image and a size of the object candidate decreased at the change ratio are compared. The object candidate with difference between them being determined to be larger than a predetermined value is removed.

摘要翻译： 在预先执行排除处理之后，对从拍摄图像提取的对象候选进行类别判定。 在排除处理中，基于当前图像中的对象候选者的大小，从从前一图像拍摄到时间的时间间隔中发生的车辆的移动距离，计算从车辆到候选对象的距离 计算当前图像被捕获的时间，基于到目标候选者的距离和移动的距离以及前一图像中的候选对象的大小，以当前图像中的对象候选者的大小以变化比减少， 比较以变化比减少的对象候选者的大小。 被确定为大于预定值的差异的对象候选者被去除。