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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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公开(公告)号：US07599521B2
公开(公告)日：2009-10-06
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.
摘要翻译： 右红外线摄像机通过成像瞄准位置的瞄准目标成像，产生正确的灰度图像，左红外摄像机通过成像位于左侧位置的瞄准目标进行成像而产生左灰度图像。 确定预设裁剪区域中的瞄准目标的坐标的平均值，并且确定预设剪切区域中的瞄准目标的坐标的平均值。 确定平均值和平均值之间的差异，并且根据差异移动剪切区域。
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公开(公告)号：US07567688B2
公开(公告)日：2009-07-28
申请号：US11287552
申请日：2005-11-23
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.
摘要翻译： 调整由红外线摄像机获得的参考图像的亮度信号，使得获得的参考图像的亮度信号总是比由红外相机获得的搜索图像的亮度信号更大。 对参考图像和搜索图像进行相关计算，以检测参考图像中的一个对象和搜索图像，而不检测图像的背景错误。
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公开(公告)号：US07221777B2
公开(公告)日：2007-05-22
申请号：US10607647
申请日：2003-06-27
IPC分类号： G06K9/00
CPC分类号： B60Q9/008 , B60W2420/42 , B60W2520/14 , G06K9/00651 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/593 , G06T7/74 , H04N5/33 , H04N13/204
摘要： An image analysis device installed on a vehicle for detecting objects that are likely to affect the vehicle. An image processing unit included in the image analysis device sets a seeking area in a left-hand image of the field, and calculates a moving increment for seeking “Step” using a variable “n”. A correlation calculation process is sequentially executed in the seeking area set in the left-hand image of the field while moving a reference image stepwise at the moving increment “Step” so as to obtain a correlation area that gives the highest degree of correlation, and then a new seeking area is set, which consists of the correlation area and horizontally arranged two areas that sandwich the correlation area, and the moving increment “Step” is decreased in order to reduce the amount of calculation.
摘要翻译： 安装在车辆上用于检测可能影响车辆的物体的图像分析装置。 包括在图像分析装置中的图像处理单元设置场景的左侧图像中的寻找区域，并且使用变量“n”来计算用于寻找“步骤”的移动增量。 在移动增量“步”中逐步移动参考图像的同时，在设置在场左手图像中的寻找区域中依次执行相关计算处理，以获得给出最高相关度的相关区域，以及 然后设置一个新的寻找区域，其包括相关区域和水平布置的两个相关区域的区域，并且减少移动增量“步骤”以减少计算量。
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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：US20060114318A1
公开(公告)日：2006-06-01
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.
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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：US20060115117A1
公开(公告)日：2006-06-01
申请号：US11287577
申请日：2005-11-23
IPC分类号： G06K9/00
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，并且第一物体和第二物体的坐标x 1 *和x 2 * 图像计算。 然后，通过等式来计算图像中的第一对象的坐标x 1和图像中的第二对象的坐标x 2：<？in-line-formula description =“In-line Formulas”end =“lead” ？> x1 = F.Xn / Zn <？in-line-formula description =“In-line Formulas”end =“tail”？> <？in-line-formula description =“In-line Formulas”end =“lead “？> x2 = F。（Xn-D）/ Zn <？in-line-formula description =”In-line Formulas“end =”tail“？>其中F是成像单元的设计参数。 校正设计参数F的图像失真校正值α通过等式计算：<？in-line-formula description =“In-line Formulas”end =“lead”？> alpha.x1 * = x1 <？in-line -formulae description =“In-line Formulas”end =“tail”？> <？in-line-formula description =“In-line formula”end =“lead”？> alpha.x2 * = x2 <？in-line -formulae description =“在线公式”end =“tail”？>使用坐标x 1和x 1 *之间的差异以及坐标x 2和x 2 *之间的差异。
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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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