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11.发明申请公开(公告)号：US20080260208A1
公开(公告)日：2008-10-23
申请号：US12080906
申请日：2008-04-07
申请人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： G06K9/4604 , G06K9/00362 , G06K9/00805 , G06T7/13 , G06T7/73 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： The present invention provides an automotive environment monitoring device to detect the existence of an object, a pedestrian or the like, with high accuracy even if one part of the object is overlapped with the background of an image obtained from an imaging unit mounted on the vehicle. An area where the object exists in the image obtained from an infrared camera (102) is set as a first area (A1i) and a lower portion of the first area (A1i) is set as a second area (A2i). A feature of the object is extracted with respect to the second area (A2i) and the object is identified based on the extracted feature. Thereby, even in the case where the first area (A1i) has been set but the feature of an upper part of the object can not be extracted due to the upper part of the object being overlapped with the background of the image, the object can still be identified with high accuracy by extracting the feature of a lower part of the object in the second area (A2i).
摘要翻译： 本发明提供了一种汽车环境监视装置，即使一部分物体与从安装在车辆上的摄像单元获得的图像的背景重叠，也能够高精度地检测物体，行人等的存在 。 将从红外线摄像机（102）获得的图像中的物体存在的区域被设定为第一区域（A SUB1i1）和第一区域（A＆lt; 1i＆lt; 1i＆lt; SUB>）被设置为第二区域（A 2i 1）。 相对于第二区域（A 2i 1 N）提取对象的特征，并且基于所提取的特征来识别对象。 因此，即使在已经设置了第一区域（A 1i 1i））的情况下，由于物体的上部与物体的上部重叠而不能提取物体的上部的特征 通过提取第二区域（A 2i 2 i）中的对象的下部的特征，图像的背景，仍然可以高精度地识别对象。
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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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13.发明授权Object type determination apparatus, vehicle, object type determination method, and program for determining object type 有权对象类型确定装置，车辆，对象类型确定方法和用于确定对象类型的程序公开(公告)号：US08306263B2
公开(公告)日：2012-11-06
申请号：US12218517
申请日：2008-07-16
申请人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means (11) for extracting an area of an object from an image picked up by an image pick-up means (2R, 2L), an object end point extracting means (12) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means (13) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means (12) from the area of the object extracted by the object area extracting means (11) for respective ones of time series images picked up by the image pick-up means (2R, 2L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means (14) for determining the object having the feature value determined to change with periodicity as a living body.
摘要翻译： 提供了一种对象类型确定装置，对象类型确定方法，车辆和用于确定对象类型的程序，能够通过从图像适当地确定对象的移动周期来精确地确定对象的类型。 对象类型确定装置包括：对象区域提取装置，用于从由图像拾取装置（2R，2L）拾取的图像中提取对象的区域;对象终点提取装置（12），用于提取 来自提取的对象区域的对象的图像部分的终点;对象周期性确定装置（13），用于使用对象的图像部分的终点来计算表示对象的大小的特征值的时间序列数据 由对象终点提取装置（12）从由对象区域提取装置（11）提取的对象区域针对由图像拾取装置（2R，2L）拾取的各个时间序列图像提取出来，以确定 所述特征值是否以规定的周期性变化，以及生物体确定装置（14），用于确定被确定为周期性变化的特征值的物体作为活体。
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公开(公告)号：US07969466B2
公开(公告)日：2011-06-28
申请号：US11287872
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： G06K9/00805 , B60K35/00 , B60W30/08 , B60W2050/143 , B60W2050/146 , B60W2420/403 , B60W2520/10 , B60W2520/105 , B60W2520/14 , B60W2540/12 , B60W2550/20 , G01S11/12 , G06K9/00369 , G06T7/41 , G06T2207/10048 , G06T2207/30261 , G08G1/161
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 search region setting device that sets a search region at the lower part of the binarized object extracted by the binarized object extraction device; a vertical edge detection device that detects a vertical edge in the search region set by the search region setting device; and an object type determination device that determines a type of object based on a detection result of the vertical edge detection device.
摘要翻译： 一种车辆环境监视装置，其基于由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，所述图像包括二值化对象提取装置，所述二值化对象提取装置从通过二值化灰色获得的图像数据中提取二值化对象 图像的尺度图像; 搜索区域设置装置，其在由二值化对象提取装置提取的二值化对象的下部设置搜索区域; 垂直边缘检测装置，其检测由搜索区域设置装置设置的搜索区域中的垂直边缘; 以及对象类型确定装置，其基于垂直边缘检测装置的检测结果来确定对象的类型。
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15.发明授权公开(公告)号：US07671725B2
公开(公告)日：2010-03-02
申请号：US11717565
申请日：2007-03-13
IPC分类号： B60Q1/00
CPC分类号： G06K9/00369 , G06K9/00791
摘要： A vehicle surroundings monitoring apparatus, a vehicle surroundings monitoring method, and a vehicle surroundings monitoring program which can rapidly determine an object such as a pedestrian to be avoided which must be avoided from coming into contact with the vehicle from an image of the surroundings of the vehicle and can provide information to a driver or control the vehicle behaviors. The vehicle surroundings monitoring apparatus includes an object extraction process unit (11) which extracts objects existing around a vehicle (10) from images taken by infrared cameras (2R, 2L), a pedestrian extraction process unit (12) which extracts a pedestrian from the extracted objects, a posture determination process unit (13) which determines the posture of the extracted pedestrian, an object-to-be-avoided determination process unit (14) which determines whether the extracted object is an object to be avoided which must be avoided from coming into contact with the vehicle (10) by executing a determination algorithm including at least a first determination process on the posture of the pedestrian determined by the posture determination process unit (13), and a vehicle equipment control process unit (15) which controls equipment of the vehicle (10) at least according to the determination result of the object-to-be-avoided determination process unit (14).
摘要翻译： 一种车辆周边监视装置，车辆环境监视方法以及车辆周边监视程序，其能够快速地确定要避免的对象，所述对象应当避免与所述车辆的环境的图像接触而与车辆接触 车辆，并可向驾驶员提供信息或控制车辆行为。 车辆周边监视装置包括从红外线摄像机（2R，2L）拍摄的图像中提取车辆（10）周围存在的物体的物体提取处理单元（11），从步行者提取处理单元（12） 提取的对象，确定所提取的行人的姿势的姿势确定处理单元（13），确定提取的对象是否必须避免的对象的避免对象的确定处理单元（14） 通过执行至少包括由姿势判定处理单元（13）确定的行人姿势的第一确定处理的确定算法，以及车辆设备控制处理单元（15），与车辆（10）接触，车辆设备控制处理单元 至少根据对象对象确定处理单元（14）的确定结果控制车辆（10）的设备。
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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：US20060126898A1
公开(公告)日：2006-06-15
申请号：US11287871
申请日：2005-11-28
CPC分类号： G08G1/161 , B60K35/00 , B60W30/08 , B60W2050/143 , B60W2050/146 , B60W2420/403 , B60W2520/10 , B60W2520/105 , B60W2520/14 , B60W2540/12 , B60W2550/20 , G01S3/7864 , G06K9/00805
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 horizontal edge detection device that detects a horizontal edge in the gray scale image; a horizontal edge determination device that determines whether or not the horizontal edge detected by the horizontal edge detection device exists in a prescribed range from the top end or bottom end of the binarized object extracted by the binarized object extraction device; and an object type determination device that determines a type of object based on a determination result of the horizontal edge determination device.
摘要翻译： 一种车辆环境监视装置，其基于由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，所述图像包括二值化对象提取装置，所述二值化对象提取装置从通过二值化灰色获得的图像数据中提取二值化对象 图像的尺度图像; 水平边缘检测装置，其检测灰度图像中的水平边缘; 判定水平边缘检测装置检测出的水平边缘是否存在于由二值化对象提取装置提取的二值化对象的顶端或底端的规定范围内的水平边缘确定装置; 以及对象类型确定装置，其基于水平边缘确定装置的确定结果来确定对象的类型。
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公开(公告)号：US20060115118A1
公开(公告)日：2006-06-01
申请号：US11287738
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： G06K9/00362 , G01S3/7864 , G06T7/136 , G06T7/596 , G06T7/62 , G06T2207/10021 , 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 the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region set by the region setting device; a luminance distribution determination device that determines whether or not a predetermined luminance distribution exists in the region based on the luminance status quantity calculated by the luminance status quantity calculation device; and an object type determination device that determines a type of the object based on a determination result of the luminance distribution determination device.
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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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