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公开(公告)号：US07489805B2
公开(公告)日：2009-02-10
申请号：US11287750
申请日：2005-11-28
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, an obstacle determination device that determines whether or not another body being an obstacle is present between the infrared imaging device and the binarized object, a height calculation device that calculates a height dimension of the binarized object based on the height dimension of the obstacle on the gray scale image when it is determined that an obstacle is present in a determination result of the obstacle determination device and an object type determination device that determines a type of the object based on the height dimension of the binarized object.
摘要翻译： 一种车辆周边监视装置，其基于由包括二值化对象提取装置的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，所述二值化对象提取装置从通过二值化灰度级获得的图像数据中提取二值化对象 图像的图像，确定在红外成像装置和二值化对象之间是否存在作为障碍物的另一身体的障碍物确定装置，基于高度尺寸计算二值化对象的高度尺寸的高度计算装置 确定在障碍物确定装置的确定结果中存在障碍物的灰度图像上的障碍物和基于二值化对象的高度尺寸确定对象的类型的对象类型确定装置。
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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：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：US08242897B2
公开(公告)日：2012-08-14
申请号：US12608321
申请日：2009-10-29
申请人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
发明人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
摘要翻译： 车辆环境监测装置配备有被监视对象检测单元26，当从第一距离计算单元24的一个视差上的数据计算出的距离等于第一距离计算单元26时，通过应用近距离的对象检测算法来检测具有接触可能性的对象 或者小于预定距离，并且通过使用距离长于预定距离的远距离的物体检测算法，使用由视差梯度计算的物体与车辆之间的距离，来检测具有接触可能性的物体 第二距离计算单元25。
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公开(公告)号：US06731777B1
公开(公告)日：2004-05-04
申请号：US09567734
申请日：2000-05-10
申请人： Morimichi Nishigaki , Masakazu Saka
发明人： Morimichi Nishigaki , Masakazu Saka
IPC分类号： G06K900
CPC分类号： G01C3/085 , G06K9/00201 , G06K9/00805 , G06K9/342
摘要： An object recognition system includes one or more image sensors and a controller that is adapted for measuring the distance from the system to objects with respect to respective windows of an image captured by the sensors is provided. The controller forms clusters by uniting adjacent windows that have similar measured distances. The system includes a memory for storing data on a previously recognized physical object. The controller infers a physical object based on data on a previously recognized physical object and the speed of the vehicle relative to a previously recognized physical object and wherein said controller determines a combination of clusters that best matches the inferred physical object. The controller groups the clusters into one or more cluster groups according to the distance from the vehicle carrying the system and selects from one of the cluster groups those clusters that overlaps with a physical object inferred by the controller. The controller matches combinations of the selected clusters with the inferred physical object based on the attributes of the combined clusters and the attributes of the inferred physical object.
摘要翻译： 一种物体识别系统包括一个或多个图像传感器，并且提供适于测量相对于由传感器捕获的图像的各个窗口从系统到物体的距离的控制器。 控制器通过统一具有相似测量距离的相邻窗口来形成群集。 该系统包括用于存储先前识别的物理对象上的数据的存储器。 控制器基于先前识别的物理对象上的数据和车辆相对于先前识别的物理对象的速度来推测物理对象，并且其中所述控制器确定与所推断的物理对象最匹配的群集的组合。 控制器根据与携带系统的车辆的距离将群集分组成一个或多个群集组，并从集群组中的一个群组中选择与控制器推断的物理对象重叠的群集。 控制器根据组合集群的属性和推断的物理对象的属性，将所选集群的组合与推断的物理对象进行匹配。
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公开(公告)号：US06683969B1
公开(公告)日：2004-01-27
申请号：US09568447
申请日：2000-05-10
申请人： Morimichi Nishigaki , Masakazu Saka
发明人： Morimichi Nishigaki , Masakazu Saka
IPC分类号： G06K900
CPC分类号： B60K31/0008 , B60Q9/008 , B60W2550/308 , G06K9/00805 , G06K9/2054 , G08G1/166
摘要： An object detection system comprises a physical object recognition unit which recognizes physical objects outside the vehicle, and a physical object memory which stores information concerning the physical objects. A controller recognizes presence of a physical object when the physical object is sensed by one or more sensors a predetermined number of times, which is larger for a central portion of the detecting area than for a peripheral portion of the detecting area. The system includes a memory for storing information about the physical objects. The controller holds the physical object stored in the memory indicating that the physical object is existent until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.
摘要翻译： 物体检测系统包括识别车辆外的物理物体的物理物体识别单元和存储有关物理物体的信息的物理物体存储器。 当物理对象被一个或多个传感器检测到预定次数时，控制器识别物体的存在，该检测区域对于检测区域的中心部分而言大于检测区域的周边部分。 该系统包括用于存储关于物理对象的信息的存储器。 控制器保存存储在存储器中的物理对象，指示物理对象存在，直到控制器未能将相应的物理对象的存在识别为预定数量的识别周期。
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公开(公告)号：US07949151B2
公开(公告)日：2011-05-24
申请号：US11799963
申请日：2007-05-03
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus is provided herein which is capable of determining an object type, particularly capable of determining an animal other than a human being among objects. The vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera (2R, 2L) mounted on the vehicle, including an object extraction process unit which extracts an image area of the object from the captured image (steps 1 to 6) and an object type determination process unit which determines the object type according to whether the image area of the object extracted by the object extraction process unit includes a first object area in which the ratio of widths in different directions is within a predetermined range and a plurality of second object areas located below the first object area and smaller in area than the first object area (steps 31 to 37).
摘要翻译： 本文提供一种能够确定物体类型的车辆周围环境监测装置，特别是能够确定物体之外的人类以外的动物。 车辆周边监视装置，其通过使用由安装在车辆上的照相机（2R，2L）拍摄的图像监视车辆的周围环境，包括物体提取处理单元，其从拍摄图像中提取物体的图像区域（步骤 1至6）和对象类型确定处理单元，其根据由对象提取处理单元提取的对象的图像区域是否包括第一对象区域来确定对象类型，其中不同方向的宽度的比率在预定的 范围和位于第一对象区域下方的多个第二对象区域，并且比第一对象区域小的区域（步骤31至37）。
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公开(公告)号：US20070269079A1
公开(公告)日：2007-11-22
申请号：US11799987
申请日：2007-05-03
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus is provided herein which is capable of determining an object type, particularly capable of determining an animal other than a human being among objects. The vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera (2R, 2L) mounted on the vehicle, including an object extraction process unit which extracts an image area of the object from the captured image (steps 1 to 6) and an object type determination process unit which determines the object type according to whether the image area of the object extracted by the object extraction process unit includes a first object area of an inverse triangular shape and a second object area located below the first object area and within a predetermined range from the first object area (steps 31 to 36).
摘要翻译： 本文提供一种能够确定物体类型的车辆周围环境监测装置，特别是能够确定物体之外的人类以外的动物。 一种车辆周边监视装置，其通过使用安装在车辆上的照相机（2R，2L）拍摄的图像来监视车辆的周围环境，包括物体提取处理单元，其从拍摄图像中提取物体的图像区域 （步骤1至6）和对象类型确定处理单元，其根据由对象提取处理单元提取的对象的图像区域是否包括反三角形形状的第一对象区域和位于第三对象区域的第二对象区域来确定对象类型 在第一对象区域的下方并且在距离第一对象区域的预定范围内（步骤31至36）。
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公开(公告)号：US06987864B2
公开(公告)日：2006-01-17
申请号：US10631455
申请日：2003-07-30
申请人： Morimichi Nishigaki , Masakazu Saka
发明人： Morimichi Nishigaki , Masakazu Saka
IPC分类号： G06K9/00
CPC分类号： B60K31/0008 , B60Q9/008 , B60W2550/308 , G06K9/00805 , G06K9/2054 , G08G1/166
摘要： An object detection system comprises a physical object recognition unit which recognizes physical objects outside the vehicle, and a physical object memory which stores information concerning the physical objects.A controller recognizes presence of a physical object when the physical object is sensed by one or more sensors a predetermined number of times, which is larger for a central portion of the detecting area than for a peripheral portion of the detecting area. The system includes a memory for storing information about the physical objects. The controller holds the physical object stored in the memory indicating that the physical object is existent until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.
摘要翻译： 物体检测系统包括识别车辆外的物理物体的物理物体识别单元和存储有关物理物体的信息的物理物体存储器。 当物理对象被一个或多个传感器检测到预定次数时，控制器识别物体的存在，该检测区域对于检测区域的中心部分而言大于检测区域的周边部分。 该系统包括用于存储关于物理对象的信息的存储器。 控制器保存存储在存储器中的物理对象，指示物理对象存在，直到控制器未能将相应的物理对象的存在识别为预定数量的识别周期。
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公开(公告)号：US06775395B2
公开(公告)日：2004-08-10
申请号：US09783613
申请日：2001-02-15
IPC分类号： G06K900
CPC分类号： G06K9/342 , G06K9/00201 , G06K9/00798 , G06K9/00805 , G06K9/3241 , G06T7/97
摘要： An object recognition system having at least two image sensors and a controller that is adapted for measuring the distance from the system to a physical object with respect to respective windows of a n image captured by the sensors. The controller is further programmed to form clusters by uniting adjacent windows that have similar measure distances. The controller is programmed to judge whether each of the clusters is valid or invalid based on the attributes of the cluster and to recognize an object based on the clusters judged to be valid.
摘要翻译： 一种具有至少两个图像传感器和控制器的物体识别系统，该控制器适用于相对于由传感器捕获的n个图像的各个窗口来测量从系统到物理物体的距离。 控制器被进一步编程以通过使具有相似测量距离的相邻窗口相结合来形成簇。 控制器被编程为基于簇的属性来判断每个簇是有效还是无效，并且基于被判断为有效的簇来识别对象。
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