公开(公告)号：US08184860B2

公开(公告)日：2012-05-22

申请号：US11780995

申请日：2007-07-20

申请人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： H04N5/772 ,  H04N5/782 ,  H04N21/4223

摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.

摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。

公开(公告)号：US20080192984A1

公开(公告)日：2008-08-14

申请号：US12018649

申请日：2008-01-23

申请人： Mirai HIGUCHI ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai HIGUCHI ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/00

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。

公开(公告)号：US20080025597A1

公开(公告)日：2008-01-31

申请号：US11780995

申请日：2007-07-20

申请人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Shoji Muramatsu ,  Tstsuaki Nakamikawa ,  Takeshi Shima ,  Yuji Otsuka ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/62

CPC分类号： H04N5/772 ,  H04N5/782 ,  H04N21/4223

摘要： An image processing device of the present invention performs a task to execute an image processing This image processing device comprises a picture frame assigning unit that assigns an identification number to the image data to be collected by a picture collection device, an image capture requested picture of checking unit that checks whether the image data to which the identification number is assigned is identical with the image data that is requested by the task, an requested picture frame image collection notification unit that notifies the task of the image data having been collected which the task requests, if the image data to which the picture frame number is assigned is identical with the image data which the task requests, and an image capture requested picture frame receiving unit receives an image collection request from the task.

摘要翻译： 本发明的图像处理装置执行执行图像处理的任务。该图像处理装置包括：图像帧分配单元，其向图像采集装置要采集的图像数据分配识别号，图像捕获请求图像 检查单元，其检查所分配的识别号码的图像数据是否与所述任务所请求的图像数据相同;请求的图像帧图像收集通知单元，其向所述任务通知已收集的图像数据，所述任务 请求，如果分配了图像帧号的图像数据与任务请求的图像数据相同，并且图像捕获请求图像帧接收单元从该任务接收图像采集请求。

公开(公告)号：US20080007619A1

公开(公告)日：2008-01-10

申请号：US11769986

申请日：2007-06-28

申请人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： H04N7/00

CPC分类号： G06T7/80 ,  G06T2207/30252

摘要： An on-vehicle camera calibration apparatus includes: an on-vehicle camera; a camera parameter calculation unit configured to calculate camera parameters from a characteristic amount of a road surface sign photographed by the on-vehicle camera and recognized by an image processing and to output the camera parameters, wherein the camera parameters include an installation height and installation angle of the on-vehicle camera in photographing; and a camera parameter calibration unit configured to perform optical axis calibration control of the on-vehicle camera by the camera parameters output from the camera parameter calculation unit.

摘要翻译： 车载摄像机校准装置包括：车载摄像机; 摄像机参数计算单元，被配置为根据由车载摄像机拍摄并通过图像处理识别的路面符号的特征量来计算摄像机参数并输出摄像机参数，其中摄像机参数包括安装高度和安装角度 的车载摄像头; 以及相机参数校准单元，被配置为通过从相机参数计算单元输出的相机参数来执行车载摄像机的光轴校准控制。

公开(公告)号：US20070206833A1

公开(公告)日：2007-09-06

申请号：US11657489

申请日：2007-01-25

申请人： Yuji Otsuka ,  Shoji Muramatsu ,  Tatsuhiko Monji

发明人： Yuji Otsuka ,  Shoji Muramatsu ,  Tatsuhiko Monji

IPC分类号： G06K9/00 ,  H04N7/18 ,  B60Q1/00

CPC分类号： G06K9/00805 ,  B60R21/0134 ,  B60R2021/01259 ,  G06K9/00798 ,  G06T7/254 ,  G06T7/73 ,  G06T7/97 ,  G06T2207/30261

摘要： An object of the present invention is to detect a three-dimensional object by use of a single-eyed camera with a higher degree of accuracy by eliminating false detection of an obstacle, which is caused by a detection error of a vehicle speed sensor or that of a rudder angle sensor.A top view of a first image including a road surface image is created. The first image is imaged by a camera mounted to a vehicle. Then, a top view of a second image is created. The second image is imaged at a timing different from the timing when the first image is imaged. The two top views are associated with each other on the basis of a characteristic shape on the road surface. In each overlapped portion of the two top views, an area in which a difference occurs is identified as an obstacle.

摘要翻译： 本发明的目的是通过消除由车速传感器的检测误差引起的障碍物的错误检测，通过使用具有更高精度的单眼相机来检测三维物体，或者由车速传感器的检测误差引起的，或者 的舵角传感器。 创建包括路面图像的第一图像的俯视图。 第一个图像由安装在车辆上的相机成像。 然后，创建第二个图像的顶视图。 在与第一图像被成像的定时不同的定时对第二图像进行成像。 基于路面上的特征形状，两个顶视图彼此相关联。 在两个顶视图的每个重叠部分中，发生差异的区域被识别为障碍物。

公开(公告)号：US20100265101A1

公开(公告)日：2010-10-21

申请号：US11752494

申请日：2007-05-23

申请人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

发明人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

IPC分类号： G08G1/01

CPC分类号： B60W30/16 ,  B60W2550/20 ,  G01S11/12 ,  G01S13/726 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9357 ,  G08G1/167

摘要： A traffic environment recognition system includes units for image-processing and information-merging, a radar unit. A network is connected to the image-processing unit. The radar, information-merging, and a vehicle control unit control the traveling operation of the vehicle. The image-processing unit recognizes headway distance, the azimuth, relative speed and width of a preceding vehicle, and the lane position of the host vehicle. The radar unit recognizes headway distance, the azimuth and relative speed of the preceding vehicle. The information-merging unit receives recognition results provided by the image-processing unit. The radar unit through the network, merges and identifies those results. When the recognition results provided by the image-processing unit and the radar unit relate to the same vehicle, output information is produced by the information-merging unit to identify the vehicles as one and the same vehicle and sends the output information through the network to the vehicle control unit.

摘要翻译： 交通环境识别系统包括用于图像处理和信息合并的单元，雷达单元。 网络连接到图像处理单元。 雷达，信息合并和车辆控制单元控制车辆的行驶操作。 图像处理单元识别前方车辆的前进距离，方位角，相对速度和宽度以及主车辆的车道位置。 雷达单元识别前进车辆的前进距离，方位角和相对速度。 信息合并单元接收由图像处理单元提供的识别结果。 雷达单元通过网络合并并识别出这些结果。 当由图像处理单元和雷达单元提供的识别结果与相同的车辆相关时，信息合并单元产生输出信息，以将车辆识别为同一车辆，并通过网络将输出信息发送到 车辆控制单元。

公开(公告)号：US07994936B2

公开(公告)日：2011-08-09

申请号：US11752494

申请日：2007-05-23

申请人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

发明人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

IPC分类号： G08G1/095

CPC分类号： B60W30/16 ,  B60W2550/20 ,  G01S11/12 ,  G01S13/726 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9357 ,  G08G1/167

摘要： A traffic environment recognition system includes units for image-processing and information-merging, a radar unit. A network is connected to the image-processing unit. The radar, information-merging, and a vehicle control unit control the traveling operation of the vehicle. The image-processing unit recognizes headway distance, the azimuth, relative speed and width of a preceding vehicle, and the lane position of the host vehicle. The radar unit recognizes headway distance, the azimuth and relative speed of the preceding vehicle. The information-merging unit receives recognition results provided by the image-processing unit. The radar unit through the network, merges and identifies those results. When the recognition results provided by the image-processing unit and the radar unit relate to the same vehicle, output information is produced by the information-merging unit to identify the vehicles as one and the same vehicle and sends the output information through the network to the vehicle control unit.

摘要翻译： 交通环境识别系统包括用于图像处理和信息合并的单元，雷达单元。 网络连接到图像处理单元。 雷达，信息合并和车辆控制单元控制车辆的行驶操作。 图像处理单元识别前方车辆的前进距离，方位角，相对速度和宽度以及主车辆的车道位置。 雷达单元识别前进车辆的前进距离，方位角和相对速度。 信息合并单元接收由图像处理单元提供的识别结果。 雷达单元通过网络合并并识别出这些结果。 当由图像处理单元和雷达单元提供的识别结果与相同的车辆相关时，信息合并单元产生输出信息，以将车辆识别为同一车辆，并通过网络将输出信息发送到 车辆控制单元。

公开(公告)号：US07224290B2

公开(公告)日：2007-05-29

申请号：US10224605

申请日：2002-08-21

申请人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

发明人： Hiroshi Takenaga ,  Shoji Muramatsu ,  Yuji Otsuka

IPC分类号： G08G1/095

CPC分类号： B60W30/16 ,  B60W2550/20 ,  G01S11/12 ,  G01S13/726 ,  G01S13/931 ,  G01S2013/9321 ,  G01S2013/9325 ,  G01S2013/9346 ,  G01S2013/935 ,  G01S2013/9357 ,  G08G1/167

摘要： A traffic environment recognition system includes an image-processing unit, an information-merging unit, a radar unit, and a network connected to the image-processing unit, the radar unit, the information-merging unit and a vehicle control unit capable of controlling the traveling operation of a host vehicle. The image-processing unit recognizes headway distance, the azimuth, relative speed and width of the preceding vehicle, and the position of the host vehicle in a lane. The radar unit recognizes headway distance, the azimuth and relative speed of the preceding vehicle. The information-merging unit receives recognition results provided by the image-processing unit and the radar unit through the network, merges the recognition results, identifies recognition objects relating to the recognition results. When a vehicle relating to the recognition results provided by the image-processing unit and a vehicle relating to the recognition results provided by the radar unit are one and the same vehicle, the information-merging unit produces output information by adding a sensor information indicating that the vehicles are one and the same vehicle to the recognition results, and sends the output information through the network to the vehicle control unit.

摘要翻译： 交通环境识别系统包括图像处理单元，信息合并单元，雷达单元和连接到图像处理单元的网络，雷达单元，信息合并单元和能够控制的车辆控制单元 主机车辆的行驶操作。 图像处理单元识别前方车辆的前进距离，方位角，相对速度和宽度以及主车辆在车道中的位置。 雷达单元识别前进车辆的前进距离，方位角和相对速度。 信息合并单元通过网络接收由图像处理单元和雷达单元提供的识别结果，合并识别结果，识别与识别结果相关的识别对象。 当与由图像处理单元提供的识别结果相关的车辆和与雷达单元提供的识别结果相关的车辆是同一车辆时，信息合并单元通过添加表示该信息的传感器信息来产生输出信息 车辆是识别结果的同一车辆，并通过网络将输出信息发送到车辆控制单元。

公开(公告)号：US08620025B2

公开(公告)日：2013-12-31

申请号：US13059741

申请日：2009-06-24

申请人： Mirai Higuchi ,  Ryo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Ryo Ota ,  Takuya Naka ,  Morihiko Sakano ,  Shoji Muramatsu ,  Tatsuhiko Monji

IPC分类号： G06K9/00 ,  G06K9/36 ,  G06K9/32

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。

公开(公告)号：US20130147948A1

公开(公告)日：2013-06-13

申请号：US13818625

申请日：2011-07-27

申请人： Mirai Higuchi ,  Morihiko Sakano ,  Takeshi Shima ,  Shoji Muramatsu ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Morihiko Sakano ,  Takeshi Shima ,  Shoji Muramatsu ,  Tatsuhiko Monji

IPC分类号： G01B11/14

CPC分类号： G01B11/14 ,  G06T7/85 ,  G06T2207/30256 ,  G06T2207/30261 ,  H04N13/128 ,  H04N13/246 ,  H04N17/002 ,  H04N2013/0081

摘要： It is possible to provide an image processing apparatus capable of carrying out calibration easily and precisely without requiring a special facility and provide an imaging apparatus making use of the image processing apparatus. The imaging apparatus comprises at least two cameras 4a and 4b. The image processing apparatus or the image processing apparatus comprises a corresponding-area computing section 23 for finding a relation between areas on images taken by the cameras 4a and 4b; a coincidence-degree computing section 24 for finding a degree of coincidence of information obtained from corresponding areas on the images taken by the cameras 4a and 4b; and a camera-parameter computing section 25 for finding camera parameters on the basis of the coincidence degree computed by the coincidence-degree computing section 24.

摘要翻译： 可以提供能够容易且精确地执行校准而不需要特殊设备的图像处理设备，并提供使用图像处理设备的成像设备。 成像装置包括至少两个照相机4a和4b。 图像处理装置或图像处理装置包括用于求出由照相机4a和4b拍摄的图像上的区域之间的关系的对应区域计算部分23; 用于找到由相机4a和4b拍摄的图像上的相应区域获得的信息的一致度的符合度计算部分24; 以及摄像机参数计算部25，用于根据由重合度计算部24计算出的一致度来求取摄像机参数。