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公开(公告)号：US07158664B2
公开(公告)日：2007-01-02
申请号：US10286541
申请日：2002-11-01
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译： 图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。 如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算 可以确定各分割区域L_b，R_b的视差。 然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别， 并且独立地计算到各个对象的距离。
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公开(公告)号：US06789015B2
公开(公告)日：2004-09-07
申请号：US10102572
申请日：2002-03-20
IPC分类号： G05D100
CPC分类号： G01S11/12 , B60R21/013 , B60W30/09 , B60W2550/20 , G06T7/20 , G08G1/166
摘要： A vehicle environment monitoring system for an automotive vehicle, is capable of accurately detecting the movement of an object existing in an external environment of the vehicle, and determining the probability of collision between the object and the vehicle, thereby appropriately warning the driver. A running speed of the vehicle is detected, and a distance between the object and the vehicle is calculated, based on the image obtained by the imaging device. A relative speed between the object and the vehicle is calculated according to the calculated distance. It is determined whether or not there is a significant probability that the vehicle may collide with the object, based on the running speed of the vehicle and the distance therebetween on condition that the relative speed is in the vicinity of the running speed of the vehicle.
摘要翻译： 一种用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的外部环境中的物体的移动，并且确定物体与车辆之间的碰撞概率，从而适当地警告驾驶员。 检测车辆的运行速度，并且基于由成像装置获得的图像来计算物体与车辆之间的距离。 根据计算的距离计算物体与车辆之间的相对速度。 在相对速度处于车辆行驶速度附近的条件下，基于车辆的行驶速度和其间的距离来确定车辆是否可能与物体发生碰撞的可能性很大。
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公开(公告)号：US06690011B2
公开(公告)日：2004-02-10
申请号：US10341634
申请日：2003-01-14
IPC分类号： G01J502
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/11 , G06T7/136 , G06T7/593 , G06T7/70 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261 , H04N5/33
摘要： An infrared image-processing apparatus capable of binarization processing in response to the change of the brightness histogram includes an image-processing unit which executes a binarization processing for an infrared image using a threshold brightness value determined in a previous processing, and calculates an area ratio P. When the binarization area ratio P is below a prescribed value &agr; (%), and if the threshold brightness value is not the minimum threshold brightness value Mm_TH, the threshold brightness value ITH is reduced by subtracting a predetermined ratio. Similarly, when the binarization area ratio P is above predetermined value &bgr; (%), and the threshold brightness value is not the maximum threshold brightness value Max_TH, the threshold brightness value is increased by incrementing a prescribed value to the threshold brightness value ITH.
摘要翻译： 能够响应于亮度直方图的变化进行二值化处理的红外图像处理装置包括图像处理单元，其使用在先前处理中确定的阈值亮度值来执行红外图像的二值化处理，并且计算面积比 当二值化面积比P低于规定值α（％）时，如果阈值亮度值不是最小阈值亮度值Mm_TH，则通过减去预定比例来减小阈值亮度值ITH。 类似地，当二值化面积比P高于预定值β（％），并且阈值亮度值不是最大阈值亮度值Max_TH时，通过将规定值递增到阈值亮度值ITH来增加阈值亮度值。
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公开(公告)号：US06658150B2
公开(公告)日：2003-12-02
申请号：US09728511
申请日：2000-12-01
IPC分类号： G06K968
CPC分类号： G06K9/6203 , G06T7/97 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： An image recognition system recognizes correspondence between object images contained respectively in two images obtained by two infrared ray cameras. One of the two images is set to a reference image and another of the two images to a comparison image. A correlation parameter indicative of a correlation between a reference pattern contained in the reference image and containing an object image and each pattern contained in the comparison image and identical in shape to the reference pattern is calculated by using a luminance value indicative of a luminance of the reference pattern and a luminance value indicative of a luminance of the each pattern contained in the comparison image. Based on the calculated correlation parameter, a pattern having a highest correlation with the reference pattern is extracted from the comparison image as a corresponding pattern which corresponds to the reference pattern. Identity between the object image contained in the reference pattern and the object image contained in the corresponding pattern is determined based on a difference between a contrast value indicative of a contrast of the reference pattern and a contrast value indicative of a contrast of the corresponding pattern.
摘要翻译： 图像识别系统识别由两个红外线摄像机获得的两个图像中分别包含的对象图像之间的对应关系。 将两个图像中的一个设置为参考图像，将两个图像中的另一个设置为比较图像。 通过使用表示参考图像的亮度的亮度值来计算指示包含在参考图像中并包含对象图像的参考图案和包含在比较图像中并且与形状相同的参考图案之间的相关性的相关参数 参考图案和指示比较图像中包含的每个图案的亮度的亮度值。 基于所计算的相关参数，从比较图像中提取与参考图案具有最高相关性的图案作为对应于参考图案的对应图案。 基于指示参考图案的对比度的对比度值和表示对应图案的对比度的对比度值之间的差异来确定包含在参考图案中的对象图像与包含在对应图案中的对象图像之间的身份。
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公开(公告)号：US06531959B1
公开(公告)日：2003-03-11
申请号：US09612799
申请日：2000-07-10
IPC分类号： B60Q100
摘要： A position detecting device for a vehicle detects the position of an object in a real space coordinate system. A plurality of objects are extracted from an image obtained by cameras, and a pitching-dependent correction amount is calculated based on amounts of displacement in position of the plurality of objects in a direction of height. Positions of the plurality of objects are corrected based on the pitching-dependent correction amount.
摘要翻译： 用于车辆的位置检测装置检测物体在实际空间坐标系中的位置。 从通过照相机获得的图像中提取多个对象，并且基于多个物体在高度方向上的位置位移量来计算俯仰相关校正量。 基于俯仰相关的校正量来校正多个对象的位置。
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公开(公告)号：US07474765B2
公开(公告)日：2009-01-06
申请号：US11554292
申请日：2006-10-30
IPC分类号： G06K9/00
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译： 图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。 如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算 可以确定各分割区域L_b，R_b的视差。 然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别， 并且独立地计算到各个对象的距离。
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公开(公告)号：US20060072917A1
公开(公告)日：2006-04-06
申请号：US11243204
申请日：2005-10-04
申请人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Nobuharu Nagaoka , Yoshitaka Katashima
发明人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Nobuharu Nagaoka , Yoshitaka Katashima
IPC分类号： G03B35/00
CPC分类号： G03B29/00 , B60R11/04 , B60R2011/0038
摘要： A structure for attaching a stereoscopic camera to a vehicle, by which a plurality of cameras are attached to a body frame of the vehicle in order to stereoscopically capture images surrounding the vehicle; and the same structure includes a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras on the body frame, which are provided at a plurality of points, spaced from each other, of the lateral stay, or at the plurality of cameras fixed on the lateral stay; wherein the rigidity of at least a part of the brackets is lower than the bending rigidity of the lateral stay.
摘要翻译： 一种用于将立体摄像机附接到车辆的结构，通过该结构，多个照相机附接到车辆的车身框架，以便立体地捕获车辆周围的图像; 并且相同的结构包括用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支撑件或多个相机固定在主体框架上的支架，其设置在横向支架的彼此间隔开的多个点处，或者固定在横向支架上的多个相机处; 其中所述托架的至少一部分的刚度低于所述横向拉杆的弯曲刚度。
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公开(公告)号：US07403709B2
公开(公告)日：2008-07-22
申请号：US11243204
申请日：2005-10-04
申请人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Nobuharu Nagaoka , Yoshitaka Katashima
发明人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Nobuharu Nagaoka , Yoshitaka Katashima
CPC分类号： G03B29/00 , B60R11/04 , B60R2011/0038
摘要： A structure for attaching a stereoscopic camera to a vehicle, by which a plurality of cameras are attached to a body frame of the vehicle in order to stereoscopically capture images surrounding the vehicle; and the same structure includes a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras on the body frame, which are provided at a plurality of points, spaced from each other, of the lateral stay, or at the plurality of cameras fixed on the lateral stay; wherein the rigidity of at least a part of the brackets is lower than the bending rigidity of the lateral stay.
摘要翻译： 一种用于将立体摄像机附接到车辆的结构，通过该结构，多个照相机附接到车辆的车身框架，以便立体地捕获车辆周围的图像; 并且相同的结构包括用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支撑件或多个相机固定在主体框架上的支架，其设置在横向支架的彼此间隔开的多个点处，或者固定在横向支架上的多个相机处; 其中所述托架的至少一部分的刚度低于所述横向拉杆的弯曲刚度。
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公开(公告)号：US20060115114A1
公开(公告)日：2006-06-01
申请号：US11287749
申请日：2005-11-28
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60W30/08 , G01S3/7864 , G06K9/00651 , G06K9/00805 , G06T7/215 , G06T7/593 , G06T2207/10012 , G06T2207/10016 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus having an infrared imaging device including a binarized object extraction device that extracts binarized object from image data obtained by binarizing gray scale image; a region setting device that sets a region including the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; a luminance distribution status quantity calculation device that calculates luminance distribution status quantity relating to the luminance distribution in the region based on the luminance status quantity, in which the luminance status quantity is equal to or greater than a predetermined value; a luminance distribution status quantity determination device that determines whether or not the luminance distribution quantity exceeds a predetermined value; and an object type determination device that determines the type of the object based on the determination result of the luminance distribution status quantity determination device.
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公开(公告)号：US07526104B2
公开(公告)日：2009-04-28
申请号：US11287749
申请日：2005-11-28
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60W30/08 , G01S3/7864 , G06K9/00651 , G06K9/00805 , G06T7/215 , G06T7/593 , G06T2207/10012 , G06T2207/10016 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus having an infrared imaging device including a binarized object extraction device that extracts binarized object from image data obtained by binarizing gray scale image; a region setting device that sets a region including the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; a luminance distribution status quantity calculation device that calculates luminance distribution status quantity relating to the luminance distribution in the region based on the luminance status quantity, in which the luminance status quantity is equal to or greater than a predetermined value; a luminance distribution status quantity determination device that determines whether or not the luminance distribution quantity exceeds a predetermined value; and an object type determination device that determines the type of the object based on the determination result of the luminance distribution status quantity determination device.
摘要翻译： 一种车辆周边监视装置，具有红外线摄像装置，其包括二值化物体提取装置，从通过二值化灰度图像获得的图像数据中提取二值化物体; 区域设定装置，其将包含二值化对象的区域设定在灰度图像上; 亮度状态量计算装置，其计算所述区域的亮度状态量; 亮度分布状态量计算装置，其基于亮度状态量等于或大于预定值的亮度状态量来计算与该区域中的亮度分布有关的亮度分布状态量; 亮度分布状态量确定装置，其确定亮度分布量是否超过预定值; 以及对象类型确定装置，其基于亮度分布状态量确定装置的确定结果来确定对象的类型。
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