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公开(公告)号：US07515737B2
公开(公告)日：2009-04-07
申请号：US11287873
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
CPC分类号： G06K9/3241 , B60W50/14 , G01S3/7864 , G06K2209/23 , G06T7/215 , G06T2207/10012 , G06T2207/10016 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a region setting device that sets a region including at least a portion of the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; an interval status quantity calculation device that calculates an interval status quantity according to an interval between a position of a substantially maximum luminance value and a position of a substantially minimum luminance value within the region based on the luminance status quantity; and an object type determination device that determines a type of the object based on the interval status quantity.
摘要翻译： 一种车辆周边监视装置，其基于由包括二值化对象提取装置的红外成像装置拍摄的图像，提取作为对象的车辆周围的身体，所述二值化对象提取装置从通过二值化灰度级获得的图像数据中提取二值化对象 图像的图像; 区域设定装置，其将包含所述二值化对象的至少一部分的区域设定在所述灰度图像上; 亮度状态量计算装置，其计算所述区域的亮度状态量; 间隔状态量计算装置，其基于所述亮度状态量，根据所述区域内的基本上最大亮度值的位置与所述基本上最小亮度值的位置之间的间隔来计算间隔状态量; 以及对象类型确定装置，其基于间隔状态量确定对象的类型。
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公开(公告)号：US20050063565A1
公开(公告)日：2005-03-24
申请号：US10928768
申请日：2004-08-27
申请人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
IPC分类号： G03B15/00 , B60R1/00 , B60R21/00 , B60R21/01 , B60R21/0134 , G06K9/00 , G06T1/00 , G06T7/40 , G06T7/60 , H04N7/18
CPC分类号： B60R21/013 , B60R21/0134 , B60R21/34 , G06K9/00362 , G06T7/66 , G06T2207/10048 , G06T2207/30261
摘要： A vehicle environment monitoring device identifies objects from an image taken by an infrared camera. Object extraction from images is performed in accordance with the state of the environment as determined by measurements extracted from the images as follows: N1 binarized objects are extracted from a single frame. Height of a grayscale objects corresponding to one of the binarized objects are calculated. If a ratio of the number of binarized objects C, where the absolute value of the height difference is less than the predetermined value ΔH, to the total number N1 of binarized objects, is greater than a predetermined value X1, the image frame is determined to be rainfall-affected. If the ratio is less than the predetermined value X1, the image frame is determined to be a normal frame. A warning is provided if it is determined that the object is a pedestrian and if a collision is likely.
摘要翻译： 车辆环境监测装置从红外摄像机拍摄的图像识别物体。 根据从图像提取的测量结果确定的环境状态，执行从图像的对象提取：从单个帧提取N1个二值化对象。 计算与其中一个二值化对象对应的灰度对象的高度。 如果高度差的绝对值小于预定值DeltaH的二值化对象C的数量与二值化对象的总数N1的比率大于预定值X1，则将图像帧确定为 受到降雨影响。 如果比率小于预定值X1，则确定图像帧为正常帧。 如果确定对象是行人并且碰撞可能，则提供警告。
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公开(公告)号：US20060115126A1
公开(公告)日：2006-06-01
申请号：US11287553
申请日：2005-11-23
CPC分类号： G06K9/00362 , G06K9/00805 , G06T7/593 , G08G1/166
摘要： An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
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公开(公告)号：US20060114320A1
公开(公告)日：2006-06-01
申请号：US11287554
申请日：2005-11-23
IPC分类号： H04N7/18
CPC分类号： G06T7/593 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： Two aiming targets are arranged at positions that are away from two infrared cameras by a predetermined distance. One of the infrared cameras images one of the aiming targets, and the other of the infrared cameras images the other of the aiming targets. Assuming that the obtained images relate to an image of one aiming target, a parallax offset value is calculated. The correction of position is performed based on the parallax offset value.
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公开(公告)号：US08242897B2
公开(公告)日：2012-08-14
申请号：US12608321
申请日：2009-10-29
申请人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
发明人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
摘要翻译： 车辆环境监测装置配备有被监视对象检测单元26，当从第一距离计算单元24的一个视差上的数据计算出的距离等于第一距离计算单元26时，通过应用近距离的对象检测算法来检测具有接触可能性的对象 或者小于预定距离，并且通过使用距离长于预定距离的远距离的物体检测算法，使用由视差梯度计算的物体与车辆之间的距离，来检测具有接触可能性的物体 第二距离计算单元25。
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公开(公告)号：US07619668B2
公开(公告)日：2009-11-17
申请号：US11287739
申请日：2005-11-28
CPC分类号： G03B43/00 , H04N17/002
摘要： An abnormality detecting apparatus for an imaging apparatus that detects a presence of abnormalities in imaging apparatuses mounted on a vehicle to capture vehicle surroundings, which includes: a luminance variance value calculating device that calculates a luminance variance value of each image from the imaging apparatuses using the luminance value of each image from the imaging apparatuses obtained by the imaging apparatuses; and an abnormality detecting device that detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device.
摘要翻译： 一种成像装置的异常检测装置，其检测安装在车辆上的摄像装置中存在异常以捕获车辆周围环境，所述异常检测装置包括：亮度方差值计算装置，其使用所述摄像装置计算每个图像的亮度方差值 来自由成像装置获得的成像装置的每个图像的亮度值; 以及异常检测装置，其根据由亮度方差值计算装置计算的亮度方差值来检测任何摄像装置中的异常的存在。
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公开(公告)号：US07590263B2
公开(公告)日：2009-09-15
申请号：US11287553
申请日：2005-11-23
CPC分类号： G06K9/00362 , G06K9/00805 , G06T7/593 , G08G1/166
摘要： An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
摘要翻译： 夜视系统的ECU根据与红外摄像机的距离将临时目标的小获得图像存储为六个模板，并且根据到实际对象的距离来选择一个模板。 使用所选择的模板，ECU对由红外线摄像机获得的图像执行模板匹配，并计算检查对象的坐标。 ECU将检查对象的计算坐标与存储的基准坐标进行比较，并确定红外摄像机的安装角度。
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公开(公告)号：US20060204037A1
公开(公告)日：2006-09-14
申请号：US11287555
申请日：2005-11-23
CPC分类号： G06K9/00805 , B60W2420/40 , B60W2540/12
摘要： A right infrared camera produces a right gray-scale image by imaging aiming targets disposed in a right position, and a left infrared camera produces a left gray-scale image by imaging aiming targets disposed in a left position. An average value of coordinates of the aiming targets in a preset clipping area is determined, and an average value of coordinates of the aiming targets in a preset clipping area is determined. A difference between the average value and the average value is determined, and the clipping area is moved depending on the difference.
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公开(公告)号：US07620237B2
公开(公告)日：2009-11-17
申请号：US11287554
申请日：2005-11-23
IPC分类号： G06K9/00 , G06K9/46 , G06K9/66 , G06K9/40 , H04N15/00 , H04N13/00 , H04N9/47 , H04N7/00 , H04N7/18 , G01B11/14 , G01D18/00 , G12B13/00
CPC分类号： G06T7/593 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： Two aiming targets are arranged at positions that are away from two infrared cameras by a predetermined distance. One of the infrared cameras images one of the aiming targets, and the other of the infrared cameras images the other of the aiming targets. Assuming that the obtained images relate to an image of one aiming target, a parallax offset value is calculated. The correction of position is performed based on the parallax offset value.
摘要翻译： 两个瞄准目标被布置在远离两个红外摄像机预定距离的位置处。 其中一个红外摄像机成像了其中一个瞄准目标，而另一个红外摄像机则成像了另一个瞄准目标。 假设所获得的图像与一个瞄准目标的图像相关，则计算视差偏移值。 基于视差偏移值进行位置校正。
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公开(公告)号：US07616806B2
公开(公告)日：2009-11-10
申请号：US11287577
申请日：2005-11-23
IPC分类号： G06K9/00 , G06K9/46 , G06K9/66 , G06K9/40 , H04N15/00 , H04N13/00 , H04N13/02 , G01B11/14 , G01D18/00 , G12B13/00
CPC分类号： G06K9/00805
摘要： A first object and a second object arranged in an actual space with coordinates (Xn, Zn) and (Xn−D, Zn) are imaged, and respective coordinates x1* and x2* of the first object and the second object in the image are calculated. Then, a coordinate x1 of the first object in the image and a coordinate x2 of the second object in the image are calculated by equations: x1=F·Xn/Zn x2=F·(Xn−D)/Zn where F is a design parameter of an imaging unit. An image distortion corrective value α to correct the design parameter F is calculated by equations: α·x1*=x1 α·x2*=x2 using a difference between the coordinates x1 and x1* and a difference between the coordinates x2 and x2*.
摘要翻译： 布置在具有坐标（Xn，Zn）和（Xn-D，Zn）的实际空间中的第一物体和第二物体被成像，并且图像中的第一物体和第二物体的各个坐标x1 *和x2 * 计算。 然后，通过以下等式计算图像中的第一对象的坐标x1和图像中的第二对象的坐标x2：x1 = F.Xn / Zn×2 = F（Xn-D）/ Zn，其中F是 成像单元的设计参数。 用于校正设计参数F的图像失真校正值α通过等式计算：alpha.x1 * = x1 alpha.x2 * = x2，使用坐标x1和x1 *之间的差异以及坐标x2和x2 *之间的差。
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