公开(公告)号：US20090041303A1

公开(公告)日：2009-02-12

申请号：US11918674

申请日：2006-05-22

申请人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

发明人： Tomoyoshi Aoki ,  Sachio Kobayashi ,  Naoki Mori ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/3241 ,  G06K9/00798 ,  G06T7/73

摘要： An image processing system and the like capable of accurately recognizing lane edges defined by dotted lane marks are provided. According to an image processing system (100) of the present invention, a first processing unit (110) searches a road surface image captured by a vehicle-mounted camera for a “small area,” which is composed of high- or low-luminance pixels and satisfies “eligibility conditions” on the “size,” “shape,” and “arrangement” in the road surface image. Additionally, a second processing unit (120) recognizes “lane edges” of the lane along which the vehicle travels on the basis of the “small area.” Furthermore, a third processing unit (130) sets a “search range” of the small area searched by the first processing unit (110) on the basis of a result of the foregoing recognition of the lane edges by the second processing unit (120).

摘要翻译： 提供能够准确地识别由虚线标记定义的车道边缘的图像处理系统等。 根据本发明的图像处理系统（100），第一处理单元（110）搜索由车载摄像机拍摄的路面图像的“小区域”，其由高亮度或低亮度 并且满足路面图像中的“尺寸”，“形状”和“布置”的“合格条件”。 此外，第二处理单元（120）基于“小区域”识别车辆行驶的车道的“车道边缘”。 此外，第三处理单元（130）基于由第二处理单元（120）对上述的车道边缘的识别结果，设置由第一处理单元（110）搜索的小区域的“搜索范围” 。

公开(公告)号：US08144926B2

公开(公告)日：2012-03-27

申请号：US11919641

申请日：2006-06-20

申请人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

发明人： Naoki Mori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Takuma Nakamori

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  B60W30/12 ,  B60W2420/42 ,  G08G1/167

摘要： There is provided an image acquisition means (2) for acquiring a color image of a road via an imaging means (9) mounted on a vehicle (8), a lane mark detection means (3, 4) for performing processing of detecting lane marks of a plurality of predetermined colors different from each other on the road based on color information of the color image, and outputting a result of the processing as lane mark candidate data, and a selection means (6) for selecting lane mark candidate data corresponding to a lane mark defining an actual lane on which the vehicle (8) is traveling from among at least the lane mark candidate data for the respective predetermined colors output from the lane mark detection means (3, 4), and determining and outputting lane data indicating information of the actual lane based on the selected lane mark candidate data. Therefore, even if there are lane marks of different colors on the road, the lane marks of the respective colors can be recognized appropriately from the color image of the road acquired via the imaging means such as a camera.

摘要翻译： 提供了一种用于通过安装在车辆（8）上的成像装置（9）获取道路彩色图像的图像获取装置（2），用于执行检测车道标记的处理的车道标记检测装置（3,4） 基于彩色图像的颜色信息在道路上彼此不同的多个预定颜色的多个预定颜色，并将处理结果作为车道标记候选数据输出;以及选择装置（6），用于选择对应于 从车道标记检测装置（3,4）输出的各个预定颜色的至少车道标记候补数据中定义车辆（8）正在行进的实际车道的车道标记，并且确定并输出指示 基于所选择的车道标记候选数据的实际车道的信息。 因此，即使在道路上存在不同颜色的车道标记，也可以从通过诸如照相机的摄像装置获得的道路的彩色图像适当地识别各种颜色的车道标记。

公开(公告)号：US08036427B2

公开(公告)日：2011-10-11

申请号：US11919657

申请日：2006-05-18

申请人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

发明人： Takuma Nakamori ,  Sachio Kobayashi ,  Tomoyoshi Aoki ,  Naoki Mori

IPC分类号： G06K9/00

CPC分类号： G06K9/4652 ,  G06K9/00798

摘要： The present invention includes: image capturing means (2) which captures a color image of a road via imaging means (7); area extraction means (3) which extracts areas having a similar color feature value from the captured color image of the road; white balance processing means (5) which performs, for each of the extracted areas, a white balance process of correcting each pixel data in the extracted area so as to reduce the degree of divergence in the level between color components according to a level balance between the color components of the pixel data in the extracted area; and road sign detection means (6) which detects a road sign on the road from the color image subjected to the white balance process. Thus, even if the road illumination state is partially different, it is possible to accurately detect a road sign such as a lane mark from the captured color image of the road via the imaging means such as a camera.

摘要翻译： 本发明包括：通过成像装置（7）捕捉道路的彩色图像的图像捕获装置（2）。 区域提取装置（3），其从所捕获的道路彩色图像中提取具有相似颜色特征值的区域; 白平衡处理装置（5）对于每个提取区域执行校正所提取的区域中的每个像素数据的白平衡处理，以便根据色彩分量之间的水平平衡来降低色彩分量之间的差异程度 提取区域中的像素数据的颜色分量; 以及从经过白平衡处理的彩色图像检测道路上的道路标志的道路标志检测单元（6）。 因此，即使道路照明状态是部分不同的，也可以通过诸如照相机的摄像装置从所拍摄的道路彩色图像中准确地检测诸如车道线的路标。

公开(公告)号：US06963657B1

公开(公告)日：2005-11-08

申请号：US09640928

申请日：2000-08-17

申请人： Morimichi Nishigaki ,  Tomoyoshi Aoki ,  Masakazu Saka ,  Hiromitsu Yuhara

发明人： Morimichi Nishigaki ,  Tomoyoshi Aoki ,  Masakazu Saka ,  Hiromitsu Yuhara

IPC分类号： H04N7/18 ,  B60R21/00 ,  B60W30/00 ,  G01B11/00 ,  G01C3/00 ,  G01C3/06 ,  G01C22/00 ,  G01S11/12 ,  G01S17/93 ,  G05D1/00 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  G08G1/00 ,  G08G1/16

CPC分类号： G01S11/12 ,  G01S17/936 ,  G06K9/00201 ,  G06K9/00805 ,  G06T7/593 ,  G06T7/70 ,  G08G1/166

摘要： An object recognition system mounted on a vehicle comprises a camera and a controller. The camera captures an image in front of the vehicle. The controller divides the image into a plurality of windows. The controller measures distance to the road surface for each of the plurality of windows and thereby obtains a plurality of distances. The controller estimates a relative inclination of the road surface against the vehicle based on the plurality of distances. The controller judges, for each of the plurality of windows, based on the estimated inclination, whether the object is an obstacle or the road surface and thereby obtains a judgment result. The controller recognizes the object based on the judgment result. The system recognizes objects in front of the vehicle even when the vehicle is lopsided by pitching, rolling or else.

摘要翻译： 安装在车辆上的物体识别系统包括相机和控制器。 相机拍摄车辆前方的图像。 控制器将图像分成多个窗口。 控制器针对多个窗口中的每个窗口测量与路面的距离，从而获得多个距离。 控制器基于多个距离估计路面相对于车辆的相对倾斜度。 控制器基于所估计的倾斜度，判断对象是障碍物还是路面，从而获得判断结果。 控制器根据判断结果识别对象。 该系统识别车辆前方的物体，即使车辆通过俯仰，滚动或其他方式偏移。

公开(公告)号：US06792147B1

公开(公告)日：2004-09-14

申请号：US09691124

申请日：2000-10-18

申请人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

发明人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

IPC分类号： G06K948

CPC分类号： G06K9/3241 ,  G06K9/00805 ,  G06K2209/23 ,  G06T7/12 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30256 ,  G06T2207/30261

摘要： An object recognition system including a position sensor, an image sensor and a controller is provided. The position sensor determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized. The controller extracts horizontal edges from the processing area, and judges whether each of the extracted edges belongs to the object based on characteristics of the object to be recognized. More practically, the controller can check if each of the extracted edges contains a pixel on a boundary of the processing area. If so, the controller judges to the edge to belong to an object other than the object. The controller can also examine the linearity of each of the extracted edges. If the linearity is larger than a predetermined value, the controller judges the edge to belong to an object other than the object. The controller can also examine the slope of each of the extracted edges. If the slope is larger than a predetermined value, the controller judges the edge to belong to an object other than the object. Thus, the edges judged to belong to an object other than the object are removed. The controller recognizes the outline of the object based on the edges judged to belong to the object.

摘要翻译： 提供了一种包括位置传感器，图像传感器和控制器的对象识别系统。 位置传感器确定对象的位置，并且图像传感器捕获对象的图像。 控制器基于由位置传感器确定的对象的位置和要识别的对象的预定大小来设置由图像传感器捕获的图像内的处理区域。 控制器从处理区域中提取水平边缘，并且基于要被识别的对象的特性来判断每个提取的边缘是否属于对象。 更实际地，控制器可以检查每个提取的边缘是否包含处理区域的边界上的像素。 如果是这样，则控制器判断边缘属于对象以外的对象。 控制器还可以检查每个提取的边缘的线性。 如果线性度大于预定值，则控制器判定边缘属于对象以外的对象。 控制器还可以检查每个提取的边缘的斜率。 如果斜率大于预定值，则控制器判断该边缘属于除该对象之外的对象。 因此，判断为属于对象以外的对象的边缘被去除。 控制器基于被判定为属于对象的边缘来识别对象的轮廓。

公开(公告)号：US06788817B1

公开(公告)日：2004-09-07

申请号：US09691545

申请日：2000-10-18

申请人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

发明人： Masakazu Saka ,  Hiromitsu Yuhara ,  Tomoyoshi Aoki ,  Morimichi Nishigaki

IPC分类号： G06K948

CPC分类号： G06K9/3241 ,  G06K9/00805 ,  G06K2209/23 ,  G06T7/12 ,  G06T7/74 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30256 ,  G06T2207/30261

摘要： An object recognition system including a position sensor, an image sensor and a controller is provided. The position sensor determines the position of an object, and the image sensor captures an image of the object. The controller sets a processing area within the image captured by the image sensor based on the position of the object determined by the position sensor and a predetermined size for the object to be recognized. The controller extracts horizontal edges from the processing area, and identifies horizontal edges belonging to the outline of the object from the extracted edges. Thus, the object can be recognized based on the horizontal edges only. Similarly, the controller can extract vertical edges from the processing area and identify vertical edges belonging to the outline of the object. Preferably, the controller selects upper, lower, left, and right horizontal and vertical candidate ends of the object from the identified horizontal and vertical edges respectively, from which upper, lower, left, and right ends of the object are determined. If either one or both of the left and right horizontal candidate ends cannot be selected, candidate ends can be estimated based on the position of the object recognized in a previous recognition cycle, and the estimated candidate ends can be used in lieu of the candidate ends selected from the horizontal edges.

摘要翻译： 提供了一种包括位置传感器，图像传感器和控制器的对象识别系统。 位置传感器确定对象的位置，并且图像传感器捕获对象的图像。 控制器基于由位置传感器确定的对象的位置和要识别的对象的预定大小来设置由图像传感器捕获的图像内的处理区域。 控制器从处理区域提取水平边缘，并从提取的边缘识别属于对象轮廓的水平边缘。 因此，可以仅基于水平边缘来识别对象。 类似地，控制器可以从处理区域提取垂直边缘并且识别属于对象轮廓的垂直边缘。 优选地，控制器从所识别的水平和垂直边缘分别选择对象的上，下，左和右水平和垂直候选端，从该位置确定对象的上，下，左和右端。 如果不能选择左右水平候选结束中的一个或两个，则可以基于在先前识别周期中识别的对象的位置来估计候选结束，并且可以使用所估计的候选结束来代替候选结束 从水平边缘选择。