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公开(公告)号：US07403639B2
公开(公告)日：2008-07-22
申请号：US11287867
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , B60Q9/008 , B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/107 , B60R2300/205 , B60R2300/207 , B60R2300/30 , B60R2300/302 , B60R2300/8033 , B60R2300/8053 , G06K9/00805
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, includes: a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale images of the image; a search region setting device that sets a search region including a bottom end of the binarized object extracted by the binarized object extraction device, on the gray scale image; a horizontal edge detection device that detects a horizontal edge in the search region; a horizontal edge width calculation device that calculates a width of the horizontal edge or a status quantity related to the width; and an object type determination device that determines a type of the object based on the width of the horizontal edge or the status quantity related to the width.
摘要翻译： 一种基于由红外线摄像装置拍摄的图像，提取作为对象的车辆周围的身体的车辆环境监视装置，包括：二值化对象提取装置，从通过二值化图像获得的图像数据中提取二值化对象 图像的灰度图像; 搜索区域设置装置，其将包括由二值化对象提取装置提取的二值化对象的底端的搜索区域设置在灰度图像上; 水平边缘检测装置，其检测搜索区域中的水平边缘; 水平边缘宽度计算装置，其计算水平边缘的宽度或与宽度相关的状态量; 以及对象类型确定装置，其基于水平边缘的宽度或与宽度相关的状态量来确定对象的类型。
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公开(公告)号：US20070171033A1
公开(公告)日：2007-07-26
申请号：US11653149
申请日：2007-01-12
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： B60W50/14 , B60W2420/42 , G06K9/00805 , G06K9/6289
摘要： A vehicle surroundings monitoring apparatus which determines whether there is a possibility of contact between a vehicle and a monitored object around the vehicle with a single camera mounted thereon. It includes a monitored object extraction process unit (20) which extracts an image portion of the monitored object from an image taken by a single infrared camera (2), a rate-of-change calculation process unit (21) which calculates a rate of change in size of the image portion of an identical monitored object extracted by the monitored object extraction process unit (20) from a plurality of images taken by the infrared camera (2) at predetermined time intervals, an arrival time estimation process unit (22) which estimates the time to arrival of the monitored object at the vehicle based on the rate of change, a real space position calculation process unit (23) which calculates a position of the monitored object in the real space based on the rate of change, a movement vector calculation process unit (24) which calculates a movement vector from a displacement of the position of the monitored object in the real space, and a contact determination process unit (25) which determines whether there is a possibility of contact between the monitored object and the vehicle.
摘要翻译： 一种车辆周边监视装置，其用安装有单个照相机的方式确定车辆与车辆周围的被监视物体之间是否存在接触的可能性。 该监视对象提取处理部（20）从由单个红外线摄像机（2）拍摄的图像中提取被监视对象的图像部分，变化率计算处理部（21） 由监视对象提取处理单元（20）从红外线摄像机（2）以预定时间间隔拍摄的多个图像提取的相同监视对象的图像部分的大小变化，到达时间估计处理单元（22） 其基于变化率来估计被监视对象到达车辆的时间;实际空间位置计算处理单元（23），其基于变化率来计算实际空间中的被监视对象的位置， 运动矢量计算处理单元（24），其从实际空间中的被监视物体的位置的位移计算运动矢量;以及接触确定处理单元（25），其中 确定监视对象与车辆之间是否存在接触的可能性。
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公开(公告)号：US20070165910A1
公开(公告)日：2007-07-19
申请号：US11653163
申请日：2007-01-12
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： B60W40/04 , G06K9/00805 , G06K9/38 , G06K9/6289 , G06T7/136 , G06T7/73 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus, method, and program capable of reducing a possibility of overlap between a detection object and a background object in a standard image when detecting objects around the vehicle from images obtained by a plurality of image sensors so as to detect the objects accurately. The vehicle surroundings monitoring apparatus detects the objects existing around the vehicle (10) from the images obtained by the image sensors (2R, 2L) mounted on the vehicle (10). The vehicle surroundings monitoring apparatus includes an object extraction process unit (1) which performs a process of extracting the objects for a predetermined standard image of the images obtained by the image sensors (2R, 2L), a driving environment detection process unit (1) which detects a driving environment of the vehicle (10), and a standard image selection process unit (1) which selects the standard image for use in the process of the object extraction process unit (1) anew according to the detected driving environment.
摘要翻译： 一种车辆周边监视装置，方法和程序，其能够在从由多个图像传感器获得的图像中检测车辆周围的标准图像中的检测对象和背景物体之间重叠的可能性时，从而检测对象 准确。 车辆周边监视装置根据由安装在车辆（10）上的图像传感器（2 R，2 L）获得的图像来检测车辆（10）周围存在的物体。 车辆周边监视装置包括物体提取处理单元（1），其对由图像传感器（2 R，2 L）获取的图像进行预定标准图像的对象的提取处理，驾驶环境检测处理单元 1），其检测车辆（10）的驾驶环境;以及标准图像选择处理单元（1），其根据检测到的驾驶环境重新选择对象提取处理单元（1）的处理中使用的标准图像 。
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公开(公告)号：US20050276450A1
公开(公告)日：2005-12-15
申请号：US11150732
申请日：2005-06-10
CPC分类号： B60T17/22 , B60T7/22 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus, includes: an infrared imaging device that captures an image; a binarized object extraction device that extracts a binarized object by binarizing the image; an extraction region setting device that sets, as an extraction region, a region adjacent to one of an upper end and a lower end of the binarized object extracted by the binarized object extraction device; a search region setting device that sets a search region around the extraction region; a similar object extraction device that, when an object having a shape similar to that of the object in the extraction region is present in the search region, extracts the object in the search region as a similar object; and an identical object determination device that determines whether or not the object in the extraction region and the similar object in the search region are identical.
摘要翻译： 一种车辆周边监视装置，包括：拍摄图像的红外线摄像装置; 二值化对象提取装置，其通过二值化图像来提取二值化对象; 提取区域设置装置，其将由所述二值化对象提取装置提取的所述二值化对象的上端和下端之一相邻的区域设置为提取区域; 搜索区域设置装置，其围绕所述提取区域设置搜索区域; 类似的对象提取装置，当在搜索区域中存在具有与提取区域中的对象类似的形状的对象时，将搜索区域中的对象提取为相似对象; 以及相同的对象确定装置，其确定提取区域中的对象和搜索区域中的相似对象是否相同。
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公开(公告)号：US20050063565A1
公开(公告)日：2005-03-24
申请号：US10928768
申请日：2004-08-27
申请人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
IPC分类号： G03B15/00 , B60R1/00 , B60R21/00 , B60R21/01 , B60R21/0134 , G06K9/00 , G06T1/00 , G06T7/40 , G06T7/60 , H04N7/18
CPC分类号： B60R21/013 , B60R21/0134 , B60R21/34 , G06K9/00362 , G06T7/66 , G06T2207/10048 , G06T2207/30261
摘要： A vehicle environment monitoring device identifies objects from an image taken by an infrared camera. Object extraction from images is performed in accordance with the state of the environment as determined by measurements extracted from the images as follows: N1 binarized objects are extracted from a single frame. Height of a grayscale objects corresponding to one of the binarized objects are calculated. If a ratio of the number of binarized objects C, where the absolute value of the height difference is less than the predetermined value ΔH, to the total number N1 of binarized objects, is greater than a predetermined value X1, the image frame is determined to be rainfall-affected. If the ratio is less than the predetermined value X1, the image frame is determined to be a normal frame. A warning is provided if it is determined that the object is a pedestrian and if a collision is likely.
摘要翻译： 车辆环境监测装置从红外摄像机拍摄的图像识别物体。 根据从图像提取的测量结果确定的环境状态，执行从图像的对象提取：从单个帧提取N1个二值化对象。 计算与其中一个二值化对象对应的灰度对象的高度。 如果高度差的绝对值小于预定值DeltaH的二值化对象C的数量与二值化对象的总数N1的比率大于预定值X1，则将图像帧确定为 受到降雨影响。 如果比率小于预定值X1，则确定图像帧为正常帧。 如果确定对象是行人并且碰撞可能，则提供警告。
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公开(公告)号：US06327536B1
公开(公告)日：2001-12-04
申请号：US09590980
申请日：2000-06-09
IPC分类号： G06F778
CPC分类号： B60R1/00 , B60Q9/008 , B60R11/04 , B60R2300/105 , B60R2300/106 , B60R2300/107 , B60R2300/205 , B60R2300/30 , B60R2300/305 , B60R2300/307 , B60R2300/8053 , B60R2300/8093 , B60T2201/08 , B60T2201/082 , B60T2201/089 , G08G1/166
摘要： A vehicle environment monitoring system for an automotive vehicle is capable of accurately detecting the movement of an object existing in an environment of the vehicle, and determining the possibility of collision between the object and the vehicle, thereby appropriately warning the driver. A relative position of the object to the automotive vehicle is detected from the image obtained by a camera mounted on the vehicle to obtain position data. Positions of the object in a real space are calculated based on a plurality of time series items of the position data detected on the object, and a movement vector of the object is calculated based on the positions in the real space. It is determined based on the movement vector whether or not the object has a high possibility of collision against the automotive vehicle.
摘要翻译： 用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的环境中的物体的移动，并且确定物体与车辆之间的碰撞的可能性，从而适当地警告驾驶员。 从安装在车辆上的相机获得的图像中检测物体对机动车辆的相对位置，以获得位置数据。 基于在物体上检测到的位置数据的多个时间序列项目来计算物体在真实空间中的位置，并且基于实际空间中的位置来计算物体的运动矢量。 基于运动矢量确定物体是否具有与机动车辆碰撞的高可能性。
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公开(公告)号：US08144195B2
公开(公告)日：2012-03-27
申请号：US12287433
申请日：2008-10-09
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译： 从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置 通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构 人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。
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公开(公告)号：US07580548B2
公开(公告)日：2009-08-25
申请号：US11287870
申请日：2005-11-28
CPC分类号： H04N17/002 , G06T7/0002 , H04N5/33
摘要： An abnormality detecting apparatus for an imaging apparatus that detects the presence of abnormalities in an imaging apparatus mounted on a vehicle to capture vehicle surroundings which includes: a region setting device that sets a region including at least a road boundary portion in an image obtained by the imaging apparatus; a luminance variance value calculating device that calculates a luminance variance value using the luminance value acquired from the image with respect to the region set by the region setting device; and an abnormality detecting device that detects the presence of abnormalities in the imaging apparatus according to the luminance variance value calculated by the luminance variance value calculating device.
摘要翻译： 一种用于检测安装在车辆上的摄像装置中存在异常以捕获车辆周围环境的成像装置的异常检测装置，包括：区域设定装置，其将至少包含道路边界部分的区域设定在由 成像设备; 亮度方差值计算装置，使用从图像获取的亮度值相对于由区域设定装置设定的区域来计算亮度方差值; 以及异常检测装置，其根据由亮度方差值计算装置计算的亮度方差值来检测摄像装置中的异常的存在。
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公开(公告)号：US07545955B2
公开(公告)日：2009-06-09
申请号：US11287738
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： G06K9/00362 , G01S3/7864 , G06T7/136 , G06T7/596 , G06T7/62 , G06T2207/10021 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
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; 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 set by the region setting device; a luminance distribution determination device that determines whether or not a predetermined luminance distribution exists in the region based on the luminance status quantity calculated by the luminance status quantity calculation device; and an object type determination device that determines a type of the object based on a determination result of the luminance distribution determination device.
摘要翻译： 一种车辆环境监视装置，其基于由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，所述图像包括二值化对象提取装置，所述二值化对象提取装置从通过二值化灰色获得的图像数据中提取二值化对象 图像的尺度图像; 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，其计算由所述区域设定装置设定的区域的亮度状态量; 亮度分布确定装置，其基于由亮度状态量计算装置计算出的亮度状态量来确定该区域中是否存在预定的亮度分布; 以及对象类型确定装置，其基于亮度分布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：US20090046151A1
公开(公告)日：2009-02-19
申请号：US12287433
申请日：2008-10-09
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译： 从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置 通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构 人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。
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