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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：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：US20060072917A1
公开(公告)日：2006-04-06
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
IPC分类号： G03B35/00
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：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：US20060072008A1
公开(公告)日：2006-04-06
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
IPC分类号： H04N7/18
CPC分类号： B60R11/04 , B60R2011/0038
摘要： This 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, 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 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： 用于将立体摄像机安装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，并且相同的结构包括：用于将多个照相机与每个摄像机连接的横向撑杆 其他; 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：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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