公开(公告)号：US20080137940A1

公开(公告)日：2008-06-12

申请号：US11884728

申请日：2006-02-22

申请人： Toshiaki Kakinami ,  Jun Sato

发明人： Toshiaki Kakinami ,  Jun Sato

IPC分类号： G06K9/00

CPC分类号： G01C11/00 ,  G06K9/00805 ,  G06K9/00812 ,  G06K9/209 ,  G06T7/246 ,  G06T7/593 ,  G06T2207/10016 ,  G06T2207/30264 ,  G08G1/165 ,  G08G1/168

摘要： An object recognition apparatus that processes images, as acquired by an imaging means (10) mounted on a moving object, in a first image plane and a second image plane of different points of view, and recognizes an object in the vicinity of the moving object. The object recognition apparatus comprises: a feature point detection means (42) that detects feature points in first and second image planes of an object image; a fundamental matrix determination means (43a) that determines, based on calculation of an epipole through the auto-epipolar property, a fundamental matrix that expresses a geometrically corresponding relationship based on translational camera movement, with not less than two pairs of feature points corresponding between the first and second image planes; and a three-dimensional position calculation means (43b) that calculates a three-dimensional position of an object based on the coordinates of the object in the first and second image planes and the determined fundamental matrix.

摘要翻译： 一种物体识别装置，其处理由安装在移动物体上的摄像装置（10）获取的图像，在不同视点的第一图像平面和第二图像平面中识别移动物体附近的物体 。 物体识别装置包括：特征点检测装置，其检测对象图像的第一和第二图像平面中的特征点; 基于矩阵确定装置（43a），其基于通过自动对极性属性的表达式的计算确定基于平移摄像机运动表达几何对应关系的基本矩阵，其中不少于两对特征点对应 在第一和第二图像平面之间; 以及基于第一和第二图像平面中的对象的坐标和所确定的基本矩阵来计算对象的三维位置的三维位置计算装置（43b）。

公开(公告)号：US20080002025A1

公开(公告)日：2008-01-03

申请号：US11665992

申请日：2005-09-30

申请人： Toshiaki Kakinami

发明人： Toshiaki Kakinami

IPC分类号： H04N7/18

CPC分类号： G06K9/00805 ,  B60R1/00 ,  B60R11/04 ,  B60R19/48 ,  B60R2001/1253 ,  B60R2300/105 ,  B60R2300/30 ,  B60R2300/302 ,  B60R2300/70 ,  B60R2300/8093 ,  B60W50/14 ,  B60W2550/20 ,  H04N7/181

摘要： There are provided environmental information detection means (SR) for detecting and storing environmental information around a movable body on the basis of image information output from a specific image capturing means (C1), movable body information detection means (MB) for successively detecting and storing a position and posture of the movable body, information combining means (CB) for combining these information, and correcting a relationship of the position and posture of the movable body relative to the environment to output the information, and obstacle detection means (OD) for detecting an obstacle to bar against movement of the movable body on the basis of the output information. Based on the detected information or the like, a positional relationship between the movable body and the obstacle is determined, then, on the basis of the positional relationship, either one of the information output from the specific image capturing means (C1) and second image capturing means (C2) is selected by display control means (VC), and displayed by display means (VD).

摘要翻译： 提供了环境信息检测装置（SR），用于根据从特定图像捕获装置（C 1）输出的图像信息，用于依次检测和存储环境信息，检测和存储围绕可移动体的环境信息;移动体信息检测装置（MB） 存储可移动体的位置和姿势，用于组合这些信息的信息组合装置（CB），并且相对于环境校正可移动体的位置和姿势的关系以输出信息;以及障碍物检测装置（OD） 用于根据输出信息检测阻碍移动体移动的障碍物。 基于检测到的信息等，确定可动体与障碍物之间的位置关系，然后基于位置关系，从特定图像拍摄单元（C1）输出的信息和第二 图像捕获装置（C 2）由显示控制装置（VC）选择，并由显示装置（VD）显示。

公开(公告)号：US20070236563A1

公开(公告)日：2007-10-11

申请号：US11806764

申请日：2007-06-04

申请人： Makoto Takagi ,  Toshiyasu Katsuno ,  Kazushi Konno ,  Toshiaki Kakinami

发明人： Makoto Takagi ,  Toshiyasu Katsuno ,  Kazushi Konno ,  Toshiaki Kakinami

IPC分类号： H04N7/18

CPC分类号： H04N7/18 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/70

摘要： A front camera for filming an area stretching forwards is disposed in a front portion of a vehicle. A side camera for filming an area stretching laterally and diagonally forwards is disposed in a lateral-left portion of the vehicle. An indicator display that can be visually recognized by a driver is disposed in a compartment of the vehicle. An amount of change in the direction of the vehicle, that is, a deflection angle of the vehicle is detected on the basis of a vehicle speed and a steering angle of a steering wheel, which have been detected by means of various sensors. After the indicator display has started displaying a lateral photo image filmed by the side camera, the photo image displayed by the indicator display is shifted from the lateral photo image filmed by the side camera to a front photo image filmed by the front camera if the deflection angle has reached a predetermined angle.

公开(公告)号：US06172600B2

公开(公告)日：2001-01-09

申请号：US08921324

申请日：1997-08-29

申请人： Toshiaki Kakinami ,  Yoshikatsu Kimura ,  Zhong-shan Zhu ,  Ryo Inoue

发明人： Toshiaki Kakinami ,  Yoshikatsu Kimura ,  Zhong-shan Zhu ,  Ryo Inoue

IPC分类号： B60Q100

CPC分类号： G01S11/12 ,  B60Q9/008

摘要： A vehicle condition detecting apparatus utilizes a camera mounted on the rear of a vehicle for providing an image including lines indicative of lane boundaries. The image is processed to determine the distances from the vehicle to each line. The distances are compared with predetermined distances by an image processor. A warning device provides a warning based on variations of observed distances with respect to the predetermined distances to warn the driver if the vehicle begins to drift out of a line.

摘要翻译： 车辆状况检测装置利用安装在车辆后部的照相机来提供包括表示车道边界的线的图像。 处理图像以确定从车辆到每条线路的距离。 通过图像处理器将距离与预定距离进行比较。 警告装置基于相对于预定距离的观察距离的变化提供警告，以警告驾驶员如果车辆开始偏离线路。

公开(公告)号：US07894631B2

公开(公告)日：2011-02-22

申请号：US11993104

申请日：2006-05-30

申请人： Toshiaki Kakinami

发明人： Toshiaki Kakinami

IPC分类号： G06K9/00

CPC分类号： B62D15/029 ,  B60R1/00 ,  B60R2300/30 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60W30/06 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/00812 ,  G06K9/3241 ,  G06K2209/23 ,  G06T7/579 ,  G06T2207/30264 ,  G08G1/143 ,  G08G1/165 ,  G08G1/168

摘要： There is provided an obstacle detection apparatus for detecting an obstacle based on an image of periphery of a vehicle and a distance to an obstacle present in the vehicle's periphery.The apparatus includes distance determining means 3 for determining, in association with traveling of the vehicle along a direction, a distance to the obstacle present in a direction perpendicular to the vehicle traveling direction, image inputting means 2 for obtaining a peripheral image having a view angle including the obstacle, subject-vehicle position specifying means 4 for sequentially specifying a present position of the vehicle which changes in association the traveling of the vehicle, first-plane setting means 5 for setting, as a first plane, a face of the obstacle which extends perpendicular to the horizontal plane and extends, at the same time, along the traveling direction of the vehicle, plane-edge estimating means 6 for estimating an edge of the first plane relative to the vehicle moving direction, based on the distance and the position of the vehicle, image recognition area setting means 7 for setting, as an image recognition area, an area included in the peripheral image and including the plane edge, image recognizing means 8 for image-recognizing a shape characteristics of the obstacle in the image recognition area from the peripheral image, and three-dimensional shape recognizing means 9 for recognizing the obstacle three-dimensionally, based on the first plane and result of the image recognition made by the image recognizing means 8.

摘要翻译： 提供了一种用于基于车辆周边的图像和与车辆周边中存在的障碍物的距离来检测障碍物的障碍物检测装置。 该装置包括：距离确定装置3，用于与车辆沿着方向的行进相关联地确定与在与行驶方向垂直的方向上存在的障碍物的距离;图像输入装置2，用于获得具有视角的周边图像 包括障碍物，用于依次指定与车辆行驶相关联地改变的车辆的当前位置的对象车辆位置确定装置4;用于将作为第一平面设置为障碍物的面部的第一平面设置装置5， 垂直于水平面延伸，同时沿着车辆的行进方向延伸，用于基于距离和位置来估计第一平面相对于车辆移动方向的边缘的平面边缘估计装置6 作为图像识别区域的图像识别区域设定单元7，设定包含在周边图像中的区域 e并且包括平面边缘，图像识别装置8，用于从周边图像对图像识别区域中的障碍物的形状特征进行图像识别;以及三维形状识别装置9，用于基于 第一平面和由图像识别装置8进行的图像识别的结果。

公开(公告)号：US20100045448A1

公开(公告)日：2010-02-25

申请号：US11993104

申请日：2006-05-30

申请人： Toshiaki Kakinami

发明人： Toshiaki Kakinami

IPC分类号： B60Q1/00 ,  G06K9/00

CPC分类号： B62D15/029 ,  B60R1/00 ,  B60R2300/30 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/806 ,  B60W30/06 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/00812 ,  G06K9/3241 ,  G06K2209/23 ,  G06T7/579 ,  G06T2207/30264 ,  G08G1/143 ,  G08G1/165 ,  G08G1/168

摘要： There is provided an obstacle detection apparatus for detecting an obstacle based on an image of periphery of a vehicle and a distance to an obstacle present in the vehicle's periphery.The apparatus includes distance determining means 3 for determining, in association with traveling of the vehicle along a direction, a distance to the obstacle present in a direction perpendicular to the vehicle traveling direction, image inputting means 2 for obtaining a peripheral image having a view angle including the obstacle, subject-vehicle position specifying means 4 for sequentially specifying a present position of the vehicle which changes in association the traveling of the vehicle, first-plane setting means 5 for setting, as a first plane, a face of the obstacle which extends perpendicular to the horizontal plane and extends, at the same time, along the traveling direction of the vehicle, plane-edge estimating means 6 for estimating an edge of the first plane relative to the vehicle moving direction, based on the distance and the position of the vehicle, image recognition area setting means 7 for setting, as an image recognition area, an area included in the peripheral image and including the plane edge, image recognizing means 8 for image-recognizing a shape characteristics of the obstacle in the image recognition area from the peripheral image, and three-dimensional shape recognizing means 9 for recognizing the obstacle three-dimensionally, based on the first plane and result of the image recognition made by the image recognizing means 8.

摘要翻译： 提供了一种用于基于车辆周边的图像和与车辆周边中存在的障碍物的距离来检测障碍物的障碍物检测装置。 该装置包括：距离确定装置3，用于与车辆沿着方向的行进相关联地确定与在与行驶方向垂直的方向上存在的障碍物的距离;图像输入装置2，用于获得具有视角的周边图像 包括障碍物，用于依次指定与车辆行驶相关联地改变的车辆的当前位置的对象车辆位置确定装置4;用于将作为第一平面设置为障碍物的面部的第一平面设置装置5， 垂直于水平面延伸，同时沿着车辆的行进方向延伸，用于基于距离和位置来估计第一平面相对于车辆移动方向的边缘的平面边缘估计装置6 作为图像识别区域的图像识别区域设定单元7，设定包含在周边图像中的区域 e并且包括平面边缘，图像识别装置8，用于对来自周围图像的图像识别区域中的障碍物的形状特征进行图像识别;以及三维形状识别装置9，用于基于 第一平面和由图像识别装置8进行的图像识别的结果。

公开(公告)号：US20090309710A1

公开(公告)日：2009-12-17

申请号：US11919434

申请日：2006-04-24

申请人： Toshiaki Kakinami

发明人： Toshiaki Kakinami

IPC分类号： B60Q1/00

CPC分类号： G06K9/00812 ,  B60Q9/004 ,  B60R1/00 ,  B60R11/04 ,  B60R2300/103 ,  B60R2300/302 ,  B60R2300/8053 ,  B60R2300/806 ,  B60R2300/8093 ,  G06K9/00805 ,  G06K9/2036 ,  H04N7/18

摘要： To provide a vehicle vicinity monitoring system enabling an obstacle border to be extracted, even under dark conditions, without any adverse effect caused by an obstacle shadow created by the illuminating of vehicle illumination devices.The vehicle vicinity monitoring system captures images of the vicinity of the vehicle using an image-capturing device 3, and uses a notification device 6 to provide vehicle occupants with information concerning obstacles in the vicinity of the vehicle. A primary lighting device 4 and/or a secondary lighting device 4 are provided to the vehicle.The primary lighting device 4 directs light upon shadows cast within the imaging field of the image-capturing device 3 as a result of the illumination device being illuminated. The secondary lighting device 4 is a lighting device for projecting light in a prescribed pattern within the imaging field of the image-capturing device in order to confirm the existence of an obstacle.

摘要翻译： 为了提供即使在黑暗条件下能够提取障碍物边界的车辆附近监视系统，也不会由车辆照明装置的照明产生的障碍物造成任何不利影响。 车辆附近监视系统使用图像捕获装置3捕获车辆附近的图像，并且使用通知装置6向车辆乘客提供关于车辆附近的障碍物的信息。 一次照明装置4和/或二次照明装置4设置在车辆上。 主照明装置4引导照明作为照明装置的结果，在图像捕获装置3的成像区域内投射的阴影。 二次照明装置4是用于在图像捕获装置的成像区域内以规定的图案投射光以便确认障碍物的存在的照明装置。

公开(公告)号：US20090052779A1

公开(公告)日：2009-02-26

申请号：US12088499

申请日：2007-10-16

申请人： Toshiaki Kakinami ,  Hiroyuki Watanabe

发明人： Toshiaki Kakinami ,  Hiroyuki Watanabe

IPC分类号： G06K9/46 ,  G01B21/20

CPC分类号： G01S13/931 ,  B60W30/06 ,  B60W2420/52 ,  G01B21/20 ,  G01S2013/9314 ,  G01S2013/9353 ,  G01S2013/9357 ,  G01S2013/9385 ,  G01S2015/935 ,  G06K9/00805 ,  G06K9/00812 ,  G06K9/3241 ,  G06K9/6204 ,  G06K2209/23 ,  G08G1/165 ,  G08G1/167

摘要： There is provided an object recognizing apparatus capable of recognizing a shape of an object in a stable manner with a small amount of calculation, even when data of non-target object is mixedly contained.The object recognizing apparatus includes an object detecting section , a shape model setting section 3, a conformance degree calculating section 4 and a profile shape determining section 5. The shape model setting section 3 extract arbitrarily samples of a group of samples detected by the object detecting section 1 and constituting surface shape information and then sets shape models. The conformance degree calculating section 4 calculates the conformance degree of each shape model. The setting of the shape model and calculation of conformance degree are effected up to a predetermined maximum number of times. The profile shape determining section 5 is configured such that if a conformance degree exceeding a first reference value exists, then, the shape model having this conformance degree exceeding the first reference value is determined at once as the profile shape.

摘要翻译： 提供了一种能够以少量的计算能够以稳定的方式识别对象的形状的对象识别装置，即使在混合地包含非目标对象的数据时也是如此。 物体识别装置包括物体检测部分，形状模型设置部分3，一致性计算部分4和轮廓形状确定部分5.形状模型设置部分3任意地提取由对象检测检测到的一组样本的样本 并构成表面形状信息，然后设置形状模型。 一致度计算部4计算各形状模型的一致度。 形状模型的设置和一致程度的计算可达到预定的最大次数。 轮廓形状确定部分5被配置为使得如果存在超过第一参考值的一致度，则具有超过第一参考值的一致度的形状模型被立即确定为轮廓形状。

公开(公告)号：US06940423B2

公开(公告)日：2005-09-06

申请号：US10284313

申请日：2002-10-31

申请人： Makoto Takagi ,  Toshiyasu Katsuno ,  Kazushi Konno ,  Toshiaki Kakinami ,  Yoshifumi Iwata

发明人： Makoto Takagi ,  Toshiyasu Katsuno ,  Kazushi Konno ,  Toshiaki Kakinami ,  Yoshifumi Iwata

IPC分类号： B60R21/00 ,  B60R1/00 ,  H04N7/18 ,  B60Q1/48

CPC分类号： B62D15/0275 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/302 ,  B60R2300/305 ,  B60R2300/70 ,  B60R2300/802 ,  B60R2300/806 ,  B60R2300/8086 ,  H04N7/181

摘要： A back camera image from a back camera mounted on a rear portion of a vehicle body is displayed on a display mounted on the console inside the vehicle cabin when the vehicle is parallel parking. After the vehicle passes a steering direction reversal point in this state, a corner camera image from a corner camera mounted on a corner portion of a front portion of the vehicle body is displayed on the display when the vehicle nears a vehicle parked in front, or, more specifically, when an angle of the vehicle after it has reached the steering direction reversal point has reached a predetermined value. Guidance images may be overlaid upon the camera images during some or all of the parallel parking maneuver.

摘要翻译： 当车辆平行停车时，安装在车身后部的后置摄像机的背景照相机图像被显示在安装在车厢内的控制台上的显示器上。 在该状态下车辆经过转向方向反转点后，当车辆靠近前方的车辆时，显示器上显示来自安装在车体前部的角部上的角落相机的拐角摄像机图像，或者 更具体地说，当其后的车辆的角度已经达到转向方向反转点时已经达到预定值。 引导图像可能会在某些或所有并行停车操作中叠加在相机图像上。

公开(公告)号：US20050163343A1

公开(公告)日：2005-07-28

申请号：US10738097

申请日：2003-12-18

申请人： Toshiaki Kakinami ,  Shuji Yamamoto

发明人： Toshiaki Kakinami ,  Shuji Yamamoto

IPC分类号： G01B11/00 ,  B60R1/00 ,  B60R21/00 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/20 ,  H04N7/18 ,  G01S1/00

CPC分类号： G06T7/20 ,  G06K9/00812 ,  G06T7/73 ,  H04N7/18

摘要： A movable body circumstance monitoring apparatus includes at least one means for capturing an image of a surrounding of a movable body depending upon movement of the movable body, means for deriving at least four feature points in a specified flat at the image, means for tracking the feature points in response to movement of the movable body from a first state to a second state, and means for specifying relative position and posture of the means for capturing the image at the first and second states in response to first flat coordinates of the feature points at the first state and second flat coordinates of the feature points at the second state based upon a tracking result.

摘要翻译： 移动体环境监测装置包括至少一个用于根据可移动体的移动捕获可移动体的周围的图像的装置，用于导出图像中指定平面中的至少四个特征点的装置，用于跟踪 响应于可移动体从第一状态到第二状态的移动的特征点，以及用于指定用于响应于特征点的第一平面坐标在第一和第二状态捕获图像的装置的相对位置和姿势的装置 基于跟踪结果在第二状态下的特征点的第一状态和第二平面坐标。