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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：US20060115163A1
公开(公告)日：2006-06-01
申请号：US11287552
申请日：2005-11-23
IPC分类号： G06K9/62
CPC分类号： G06T5/50 , G06T7/337 , G06T2207/10048 , G06T2207/20216 , G06T2207/30261
摘要： The luminance signal of a reference image obtained by an infrared camera is adjusted such that the luminance signal of the reference image obtained is greater at all times than the luminance signal of a searching image obtained by an infrared camera. Correlative calculations are performed on the reference image and the searching image to detect one object in the reference image and the searching image without detecting the background of the images in error.
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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：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：US06327536B1
公开(公告)日：2001-12-04
申请号：US09590980
申请日：2000-06-09
IPC分类号： G06F778
CPC分类号： B60R1/00 , B60Q9/008 , B60R11/04 , B60R2300/105 , B60R2300/106 , B60R2300/107 , B60R2300/205 , B60R2300/30 , B60R2300/305 , B60R2300/307 , B60R2300/8053 , B60R2300/8093 , B60T2201/08 , B60T2201/082 , B60T2201/089 , 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 environment of the vehicle, and determining the possibility of collision between the object and the vehicle, thereby appropriately warning the driver. A relative position of the object to the automotive vehicle is detected from the image obtained by a camera mounted on the vehicle to obtain position data. Positions of the object in a real space are calculated based on a plurality of time series items of the position data detected on the object, and a movement vector of the object is calculated based on the positions in the real space. It is determined based on the movement vector whether or not the object has a high possibility of collision against the automotive vehicle.
摘要翻译： 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环境中的物体的移动，并且确定物体与车辆之间的碰撞的可能性，从而适当地警告驾驶员。 从安装在车辆上的相机获得的图像中检测物体对机动车辆的相对位置，以获得位置数据。 基于在物体上检测到的位置数据的多个时间序列项目来计算物体在真实空间中的位置，并且基于实际空间中的位置来计算物体的运动矢量。 基于运动矢量确定物体是否具有与机动车辆碰撞的高可能性。
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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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公开(公告)号：US07499100B2
公开(公告)日：2009-03-03
申请号：US11243206
申请日：2005-10-04
申请人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
发明人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
CPC分类号： B60R11/04 , B60R2011/0038
摘要： A structure for attaching a stereoscopic camera in a vehicle allows a plurality of cameras to be attached to a vehicle body frame, in order to stereoscopically capture images surrounding the vehicle. The 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 at a cross member having both ends folded upward, having the terminals connected to the front end parts of the side frames at both sides of the engine room, and having a radiator supported at the middle part thereof, wherein at least a part of the plurality of cameras is disposed between both the ends of the cross member and the radiator.
摘要翻译： 用于将立体摄像机附着在车辆中的结构允许将多个照相机附接到车体框架，以便立体地捕获车辆周围的图像。 该结构包括：用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支架或多个相机固定在两端向上折叠的横向构件上的支架，其具有连接到在发动机室两侧的侧框架的前端部分的端子，并且具有支撑在发动机室的散热器 其中，所述多个照相机的至少一部分设置在所述横梁的两端和所述散热器之间。
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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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