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公开(公告)号：US20110222732A1
公开(公告)日：2011-09-15
申请号：US13059741
申请日：2009-06-24
申请人： Mirai Higuchi , Rayo Ota , Takuya Naka , Morihiko Sakano , Shoji Muramatsu , Tasuhiko Monji
发明人： Mirai Higuchi , Rayo Ota , Takuya Naka , Morihiko Sakano , Shoji Muramatsu , Tasuhiko Monji
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , B60W30/14 , B60W30/143 , B60W40/072 , B60W40/076 , B60W2420/42 , B60W2550/142 , G08G1/165 , G08G1/167
摘要： In order to perform vehicle control, a warning process, and the like which do not give a driver an uncomfortable feeling in speed adjustment, a warning process, and the like corresponding to a road shape such as a curve, it is necessary to recognize not only a near road shape but also a far road shape with high accuracy. A traveling environment recognition device includes: a measurement unit which measures a target object; a three-dimensional object detection unit which detects a three-dimensional object on the basis of a signal acquired by the measurement unit; a road shape prediction unit which predicts a road shape on which a target vehicle is traveling; a three-dimensional object selection unit which selects, from among the three-dimensional objects detected by the three-dimensional object detection unit, only a three-dimensional object within a predetermined range from a point of the road predicted by the road shape prediction unit; and a road shape estimation unit which estimates the road shape on the basis of position information of the three-dimensional object selected by the three-dimensional object selection unit.
摘要翻译： 为了执行车辆控制，警告处理等，其不给驾驶员在与曲线等道路形状对应的速度调节，警告处理等中感到不舒适的感觉，因此不需要识别 只有近路形状，但也具有高精度的远道形状。 行驶环境识别装置包括：测量目标物体的测量单元; 三维物体检测单元，其基于由测量单元获取的信号来检测三维物体; 道路形状预测单元，其预测目标车辆行驶的道路形状; 三维物体选择单元，从三维物体检测单元检测到的三维物体中，仅从道路形状预测单元预测的道路上的预定范围内的三维物体中， ; 以及道路形状估计单元，其基于由三维物体选择单元选择的三维物体的位置信息来估计道路形状。
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公开(公告)号：US07899213B2
公开(公告)日：2011-03-01
申请号：US12176744
申请日：2008-07-21
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译： 一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。 图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。 多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。 图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域， 第二次曝光确定第二个区域成为第二个三维物体。
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公开(公告)号：US20100328427A1
公开(公告)日：2010-12-30
申请号：US12711787
申请日：2010-02-24
申请人： Morihiko SAKANO , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko SAKANO , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
CPC分类号： G06T7/593 , G06T2207/10012
摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.
摘要翻译： 在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。 然而，这需要很高的计算成本。 因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据和每个像素设置匹配区域， 从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配 控制单元103来计算视差数据。
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34.发明授权Image processing system which processes an image captured by an imaging device through a lens having a focus which is adjusted to a point beyond the glass 有权图像处理系统，其通过具有被调整到超过玻璃点的焦点的透镜来处理由成像装置拍摄的图像公开(公告)号：US07208723B2
公开(公告)日：2007-04-24
申请号：US10916444
申请日：2004-08-12
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system that detects foreign matter on a glass window of a vehicle and objects in front of the vehicle. The system includes an image processor, a first lamp, and a second lamp. On/off control of the first and second lamps is controlled by the image processor. Light from the first lamp is reflected from the outer sauce of the glass when raindrops are present on the outside of the glass. Light from the second lamp is reflected from the inner surface of the glass when moisture is present on the inside of the glass. Any reflected light goes through a lens and an optical filter with prescribed optical characteristics to an image device. The lens is focused to a point beyond the window so that the image processor an also detect objects in front of the vehicle.
摘要翻译： 一种图像处理系统，其检测车辆的玻璃窗上的异物和车辆前方的物体。 该系统包括图像处理器，第一灯和第二灯。 第一和第二灯的开/关控制由图像处理器控制。 当玻璃外面存在雨滴时，来自第一灯的光从玻璃的外部酱汁反射出来。 当玻璃内部存在湿气时，来自第二灯的光从玻璃的内表面反射出来。 任何反射的光通过具有规定的光学特性的透镜和具有光学特性的滤光器到图像装置。 透镜被聚焦到超出窗口的点上，使得图像处理器还可以检测车辆前方的物体。
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公开(公告)号：US20050036660A1
公开(公告)日：2005-02-17
申请号：US10915603
申请日：2004-08-11
IPC分类号： B60R21/00 , B60Q1/08 , B60Q1/14 , B60Q1/52 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/16 , G01C21/26
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译： 本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。 本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。 该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。 图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。 图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。
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36.发明授权公开(公告)号：US06384832B1
公开(公告)日：2002-05-07
申请号：US09260129
申请日：1999-03-01
IPC分类号： G06F1580
CPC分类号： G06F9/5027 , G06F2209/5021
摘要： An image processing apparatus is composed of a plurality of function processing units for performing image processing, a high priority function selection part for selecting functions, execution of each of which is required by a corresponding one of the function processing units, based on the predetermined priority for each of the functions; and a data control unit including a data transfer part for preferentially accessing the shared memory which the function selected by the high priority function selection part requires, and a plurality of data holding parts, each of the data holding parts holding a predetermined amount of data transmitted with each of the plurality of function processing units, wherein the data transfer part controls the bus connecting the CPU and the shared memory based on requirement sent from each of the function processing units, and each of the plurality of function processing units transmits data with the data control unit separately from the others of the plurality of function processing units, and executes its function in parallel to the others of the plurality of function processing units.
摘要翻译： 图像处理装置由多个用于执行图像处理的功能处理单元，用于选择功能的高优先级功能选择部件，基于预定优先级的相应功能处理单元需要执行其中的每一个的执行 为每个功能; 以及数据控制单元，包括用于优先访问由高优先级功能选择部件选择的功能所需的功能的数据传送部件和多个数据保持部件，每个数据保持部件保持预定量的数据传输 其中，所述多个功能处理单元中的每一个，其中所述数据传送部分根据从所述功能处理单元发送的要求来控制连接所述CPU和所述共享存储器的总线，并且所述多个功能处理单元中的每个功能处理单元 数据控制单元与多个功能处理单元中的其他功能处理单元分离，并且与多个功能处理单元中的其他功能处理单元并行地执行其功能。
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公开(公告)号：US09058746B2
公开(公告)日：2015-06-16
申请号：US13122369
申请日：2009-10-02
摘要： Provided are an information processing device and a processing method both of which are capable of executing processing in response to a traveling situation of a vehicle, thereby securing safety at the time of emergency while securing convenience. The aforementioned information processing device includes: an image obtaining section which performs imaging and obtains information associated with an image; an information obtaining section which obtains the information of a traveling state; a first executing section which executes a first application that executes information processing for improving the safety of traveling; a second executing application which executes a second application that executes the information processing associated with an improvement in traveling feeling; and a determining section which, based on the information obtained in the image obtaining section and the information obtained in the information obtaining section, determines with or without a possibility of encountering an emergency event. Based on determination, made by the determining section, that it is likely to encounter the emergency event, the information processing device stops part of or the overall processing executed by the second executing section.
摘要翻译： 提供了能够根据车辆的行驶状况执行处理的信息处理装置和处理方法，从而在确保方便的同时确保了紧急时的安全性。 上述信息处理设备包括：图像获取部分，其执行成像并获得与图像相关联的信息; 信息获取部，其获取行驶状态的信息; 第一执行部，其执行执行用于提高行驶安全性的信息处理的第一应用; 第二执行应用程序，其执行执行与改善旅行感觉相关联的信息处理的第二应用程序; 以及确定部分，其基于在图像获取部分中获得的信息和在信息获取部分中获得的信息，确定是否有可能遇到紧急事件。 基于确定部判断出可能遇到紧急事件，信息处理装置停止由第二执行部执行的部分或整体处理。
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公开(公告)号：US08832704B2
公开(公告)日：2014-09-09
申请号：US13504418
申请日：2010-08-12
IPC分类号： G06F9/46
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译： 提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。 车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。 如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。
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公开(公告)号：US08384781B2
公开(公告)日：2013-02-26
申请号：US12333853
申请日：2008-12-12
CPC分类号： G06K9/00805
摘要： A stereo camera device includes: plural picture image taking sections, an image correction section which makes correction of picture images taken, a parallax calculating section which calculates parallax, an amount of dislocation between the left and right images, and an image recognition section which carries out image recognition processing using both the image taken and the calculated parallax, or either of them. The stereo camera device further includes: a processing area setting up section which sets up the image area to be processed and reduction ratio differently depending on the driving environment of the vehicle on which the stereo camera device is mounted, wherein, by using the image area and the reduction ratio set up by the processing area setting up section, the image correction section makes correction to the picture image, the parallax calculating section calculates parallax, and the image recognition section carries out processing of image recognition.
摘要翻译： 立体相机装置包括：多个图像拍摄部分，对所拍摄的图像进行校正的图像校正部分，计算视差的视差计算部分，左和右图像之间的位错量以及携带 使用所拍摄的图像和计算出的视差的两个图像识别处理，或者它们中的任一个。 立体相机装置还包括：处理区域设置部分，其根据安装立体照相机装置的车辆的驾驶环境不同地设置要处理的图像区域和缩小比例，其中，通过使用图像区域 和由处理区域设置部分设置的缩小比率，图像校正部分对图像图像进行校正，视差计算部分计算视差，图像识别部分执行图像识别处理。
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公开(公告)号：US20120216208A1
公开(公告)日：2012-08-23
申请号：US13504418
申请日：2010-08-12
IPC分类号： G06F9/48
CPC分类号： G08G1/09623 , G06F9/4887 , G08G1/096783 , G08G1/096791 , G08G1/166 , G08G1/167
摘要： An in-car-use multi-application execution device is provided that ensures safety while maintaining convenience by securing operation of a plurality of applications and suppressing occurrence of a termination process within a limited processing capacity without degrading a real-time feature. The in-car-use multi-application execution device dynamically predicts a processing time for each application, and schedules each application on the basis of the predicted processing time. If it is determined that an application failing to complete a process in a prescribed cycle exists as a result of the scheduling, a process is executed that terminates the application or degrades the function of the application on the basis of a preset priority order.
摘要翻译： 提供一种车内使用的多应用程序执行装置，其通过确保多个应用的操作并且在有限的处理能力内抑制终止处理的发生而保持安全性而不降低实时特性。 车载多应用执行装置动态地预测每个应用的处理时间，并且基于预测的处理时间来调度每个应用。 如果作为调度的结果确定应用程序未能完成规定循环中的处理，则执行终止应用或基于预设优先级顺序降低应用功能的处理。
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