公开(公告)号：US20110267430A1

公开(公告)日：2011-11-03

申请号：US13094239

申请日：2011-04-26

申请人： Morihiko SAKANO ,  Mirai Higuchi ,  Takeshi Shima ,  Shoji Muramatsu

发明人： Morihiko SAKANO ,  Mirai Higuchi ,  Takeshi Shima ,  Shoji Muramatsu

IPC分类号： H04N13/02 ,  G01C11/12

CPC分类号： G01C11/06 ,  G06T5/006 ,  G06T7/33 ,  G06T7/73 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/30252 ,  H04N13/133

摘要： An object of the present invention is to provide a detection device of a planar area, which suppresses matching of luminance values in areas other than a planar area, and non-detection and erroneous detection of the planar area arising from an error in projection transform.The detection device of a planar area includes an image obtaining section for obtaining a left image 100 and a right image 110; a planar area aligning section 30 for setting given regions of interest to the obtained left image 100 and the right image 110, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image 130; and a planar area detecting section 55 for detecting a planar area 140 based on the geometric transform image 130 and the region of interest of the right image 110. The planar area aligning section 30 sets the planar area 140 detected by the planar area detecting section 55 as a given region of interest.

摘要翻译： 本发明的目的是提供一种平面区域的检测装置，其抑制平面区域以外的区域中的亮度值的匹配以及由投影变换中的误差引起的平面区域的非检测和错误检测。 平面区域的检测装置包括用于获得左图像100和右图像110的图像获取部分; 平面区域对准部分30，用于设置所获得的左图像100和右图像110的感兴趣区域，并且通过使用与右图像的感兴趣区域匹配的几何变换函数与左侧的关注区域 图像，执行几何变换以生成几何变换图像130; 以及用于基于几何变换图像130和右图像110的感兴趣区域来检测平面区域140的平面区域检测部分55.平面区域对准部分30设置由平面区域检测部分55检测到的平面区域140 作为一个给定的感兴趣的区域。

公开(公告)号：US08885888B2

公开(公告)日：2014-11-11

申请号：US13474750

申请日：2012-05-18

申请人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/00 ,  G08G1/16

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。

公开(公告)号：US20120288154A1

公开(公告)日：2012-11-15

申请号：US13519347

申请日：2010-08-09

申请人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

发明人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji ,  Takuya Naka

IPC分类号： G06K9/62

CPC分类号： G06T7/0081 ,  B60W30/12 ,  G06K9/00798 ,  G06T7/11 ,  G06T7/136 ,  G06T7/174 ,  G06T2207/10021 ,  G06T2207/30256 ,  G08G1/165 ,  G08G1/166 ,  G08G1/167

摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.

摘要翻译： 公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆 路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部 关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

公开(公告)号：US08204276B2

公开(公告)日：2012-06-19

申请号：US12018649

申请日：2008-01-23

申请人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/00

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。

公开(公告)号：US20100328427A1

公开(公告)日：2010-12-30

申请号：US12711787

申请日：2010-02-24

申请人： Morihiko SAKANO ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

发明人： Morihiko SAKANO ,  Mirai Higuchi ,  Takuya Naka ,  Takeshi Shima ,  Shoji Muramatsu

IPC分类号： H04N13/02 ,  H04N13/00

CPC分类号： G06T7/593 ,  G06T2207/10012

摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.

摘要翻译： 在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。 然而，这需要很高的计算成本。 因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据和每个像素设置匹配区域， 从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配 控制单元103来计算视差数据。

公开(公告)号：US07957559B2

公开(公告)日：2011-06-07

申请号：US11777585

申请日：2007-07-13

申请人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.

摘要翻译： 在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。 在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。 此外，相机的下压角度大，获取物体的时间短。 因此，难以提高识别率并减少错误识别。 使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置， 该对象出现。 然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。 此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。 然后调整向后放置的相机的增益和曝光时间。

公开(公告)号：US20080013789A1

公开(公告)日：2008-01-17

申请号：US11777585

申请日：2007-07-13

申请人： Takeshi SHIMA ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi SHIMA ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.

摘要翻译： 在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。 在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。 此外，相机的下压角度大，获取物体的时间短。 因此，难以提高识别率并减少错误识别。 使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置， 该对象出现。 然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。 此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。 然后调整向后放置的相机的增益和曝光时间。

公开(公告)号：US08184860B2

公开(公告)日：2012-05-22

申请号：US11780995

申请日：2007-07-20

申请人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： H04N5/772 ,  H04N5/782 ,  H04N21/4223

摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.

摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。

公开(公告)号：US20110261168A1

公开(公告)日：2011-10-27

申请号：US13131426

申请日：2009-11-19

申请人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji

发明人： Takeshi Shima ,  Mirai Higuchi ,  Shoji Muramatsu ,  Tatsuhiko Monji

IPC分类号： H04N13/02

CPC分类号： H04N13/20 ,  B60T7/22 ,  B60T2201/16 ,  B60T2220/02 ,  B60T2260/08 ,  B60W10/06 ,  B60W10/18 ,  B60W10/20 ,  B60W30/18145 ,  B60W40/072 ,  G06K9/00798 ,  G06K9/00805 ,  G06T7/536 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30252 ,  G06T2207/30256

摘要： Provided is a camera device which is capable of estimating a road shape ahead of a target vehicle or capable of determining whether or not the target vehicle needs to be decelerated by controlling a brake before a curve, even in the situation where a white line of a traveling road or a roadside three-dimensional object is difficult to detect. A camera device 105 including a plurality of image capturing units 107 and 108 which each take an image of a traveling road ahead of a target vehicle 106, includes: a three-dimensional object ahead detection unit 114 which detects three-dimensional objects ahead 101 existing in a vicinity of a vanishing point of the traveling road 102 on the basis of the images picked up by the plurality of image capturing units 107 and 108; and a road shape estimation unit 113 which estimates a road shape of a distant portion on the traveling road 102 on the basis of a detection result detected by the three-dimensional object ahead detection unit 114.

摘要翻译： 提供一种相机装置，其能够估计目标车辆前方的道路形状，或者能够通过控制曲线前的制动器来确定目标车辆是否需要减速，即使在白线 行驶路或路边三维物体难以检测。 包括各自拍摄目标车辆106前方的行驶道路的图像的多个图像拍摄单元107和108的相机装置105包括：三维物体前进检测单元114，其检测前方的三维物体101 基于由多个图像拍摄单元107和108拾取的图像在行驶道路102的消失点附近; 以及道路形状估计单元113，其基于由三维物体前进检测单元114检测到的检测结果来估计行驶道路102上的远端部分的道路形状。

公开(公告)号：US20080025597A1

公开(公告)日：2008-01-31

申请号：US11780995

申请日：2007-07-20

申请人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/62

CPC分类号： H04N5/772 ,  H04N5/782 ,  H04N21/4223

摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.

摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。