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公开(公告)号：US20070211919A1
公开(公告)日：2007-09-13
申请号：US11712533
申请日：2007-02-28
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00791 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus capable of distinguishing and determining an object type with high reliability, particularly a vehicle surroundings monitoring apparatus capable of determining an object by distinguishing between a pedestrian and other objects among the objects with high reliability. The vehicle surroundings monitoring apparatus detects an object existing around a vehicle (10) from images obtained by cameras 2R and 2L mounted on the vehicle (10) and includes an object extraction process unit (steps 1 to 9) which extracts an object from the image, a width calculation process unit (steps 101 to 104) which calculates widths of the object in a plurality of height positions spaced at vertical intervals of the object extracted by the object extraction process unit, and an object type determination process unit (step 105) which determines the type of the object based on the widths calculated by the width calculation process unit.
摘要翻译： 特别是一种车辆周边监视装置，能够区分和确定具有高可靠性的对象类型的车辆周围环境监视装置，特别是能够通过以高可靠性区分对象之间的步行者和其他对象来确定对象的车辆周边监视装置。 车辆周边监视装置根据安装在车辆（10）上的照相机2 R和2 L获得的图像检测车辆（10）周围存在的物体，并且包括：物体提取处理单元（步骤1至9），其从 图像，宽度计算处理单元（步骤101至104），其计算由对象提取处理单元提取的对象的垂直间隔间隔开的多个高度位置中的对象的宽度;以及对象类型确定处理单元（步骤 105），其基于由宽度计算处理单元计算的宽度来确定对象的类型。
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公开(公告)号：US07619668B2
公开(公告)日：2009-11-17
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.
摘要翻译： 一种成像装置的异常检测装置，其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，所述异常检测装置包括：亮度方差值计算装置，其使用所述摄像装置计算每个图像的亮度方差值 来自由成像装置获得的成像装置的每个图像的亮度值; 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任何摄像装置中的异常的存在。
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公开(公告)号：US07590263B2
公开(公告)日：2009-09-15
申请号：US11287553
申请日：2005-11-23
CPC分类号： G06K9/00362 , G06K9/00805 , G06T7/593 , G08G1/166
摘要： An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
摘要翻译： 夜视系统的ECU根据与红外摄像机的距离将临时目标的小获得图像存储为六个模板，并且根据到实际对象的距离来选择一个模板。 使用所选择的模板，ECU对由红外线摄像机获得的图像执行模板匹配，并计算检查对象的坐标。 ECU将检查对象的计算坐标与存储的基准坐标进行比较，并确定红外摄像机的安装角度。
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公开(公告)号：US20060204037A1
公开(公告)日：2006-09-14
申请号：US11287555
申请日：2005-11-23
CPC分类号： G06K9/00805 , B60W2420/40 , B60W2540/12
摘要： A right infrared camera produces a right gray-scale image by imaging aiming targets disposed in a right position, and a left infrared camera produces a left gray-scale image by imaging aiming targets disposed in a left position. An average value of coordinates of the aiming targets in a preset clipping area is determined, and an average value of coordinates of the aiming targets in a preset clipping area is determined. A difference between the average value and the average value is determined, and the clipping area is moved depending on the difference.
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35.发明授权公开(公告)号：US07885430B2
公开(公告)日：2011-02-08
申请号：US12080906
申请日：2008-04-07
申请人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
CPC分类号： G06K9/4604 , G06K9/00362 , G06K9/00805 , G06T7/13 , G06T7/73 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： The present invention provides an automotive environment monitoring device to detect the existence of an object, a pedestrian or the like, with high accuracy even if one part of the object is overlapped with the background of an image obtained from an imaging unit mounted on the vehicle. An area where the object exists in the image obtained from an infrared camera (102) is set as a first area (A1i) and a lower portion of the first area (A1i) is set as a second area (A2i). A feature of the object is extracted with respect to the second area (A2i) and the object is identified based on the extracted feature. Thereby, even in the case where the first area (A1i) has been set but the feature of an upper part of the object can not be extracted due to the upper part of the object being overlapped with the background of the image, the object can still be identified with high accuracy by extracting the feature of a lower part of the object in the second area (A2i).
摘要翻译： 本发明提供了一种汽车环境监视装置，即使一部分物体与从安装在车辆上的摄像单元获得的图像的背景重叠，也能够高精度地检测物体，行人等的存在 。 将从红外线摄像机（102）获得的图像中存在对象的区域设定为第一区域（A1i），将第一区域（A1i）的下部设定为第二区域（A2i）。 基于第二区域（A2i）提取对象的特征，并且基于所提取的特征来识别对象。 由此，即使在第一区域（A1i）被设定的情况下，由于物体的上部与图像的背景重叠，物体的上部的特征也不能被提取，所以物体 通过提取第二区域（A2i）中的对象的下部的特征，仍然通过高精度来识别。
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公开(公告)号：US07561719B2
公开(公告)日：2009-07-14
申请号：US11287823
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： G01S17/936 , B60W50/14 , G01S17/89 , G06K9/00369 , G06K9/00805 , G08G1/166
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, which includes a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; an aspect ratio calculation device that calculates an aspect ratio of a region that includes at least a portion of the binarized object extracted by the binarized object extraction device; and an object type determination device that determines a type of the object based on the aspect ratio calculated by the aspect ratio calculation device.
摘要翻译： 一种车辆周围环境监视装置，其基于由红外成像装置捕获的图像，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图像获得的图像数据中提取二值化对象 图像的灰度图像; 长宽比计算装置，其计算包括由二值化对象提取装置提取的二值化对象的至少一部分的区域的宽高比; 以及对象类型确定装置，其基于由宽高比计算装置计算的宽高比来确定对象的类型。
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37.发明申请Object type determination apparatus, vehicle, object type determination method, and program for determining object type 有权对象类型确定装置，车辆，对象类型确定方法和用于确定对象类型的程序公开(公告)号：US20090041302A1
公开(公告)日：2009-02-12
申请号：US12218517
申请日：2008-07-16
申请人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
IPC分类号： G06K9/78
CPC分类号： G06K9/00369 , G06K9/00805
摘要： An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means (11) for extracting an area of an object from an image picked up by an image pick-up means (2R, 2L), an object end point extracting means (12) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means (13) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means (12) from the area of the object extracted by the object area extracting means (11) for respective ones of time series images picked up by the image pick-up means (2R, 2L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means (14) for determining the object having the feature value determined to change with periodicity as a living body.
摘要翻译： 提供了一种对象类型确定装置，对象类型确定方法，车辆和用于确定对象类型的程序，能够通过从图像适当地确定对象的移动周期来精确地确定对象的类型。 对象类型确定装置包括：对象区域提取装置，用于从由图像拾取装置（2R，2L）拾取的图像中提取对象的区域;对象终点提取装置（12），用于提取 来自提取的对象区域的对象的图像部分的终点;对象周期性确定装置（13），用于使用对象的图像部分的终点来计算表示对象的大小的特征值的时间序列数据 由对象终点提取装置（12）从由对象区域提取装置（11）提取的对象区域针对由图像拾取装置（2R，2L）拾取的各个时间序列图像提取出来，以确定 所述特征值是否以规定的周期性变化，以及生物体确定装置（14），用于确定被确定为周期性变化的特征值的物体作为活体。
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公开(公告)号：US20060126896A1
公开(公告)日：2006-06-15
申请号：US11287823
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
CPC分类号： G01S17/936 , B60W50/14 , G01S17/89 , G06K9/00369 , G06K9/00805 , G08G1/166
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, which includes a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; an aspect ratio calculation device that calculates an aspect ratio of a region that includes at least a portion of the binarized object extracted by the binarized object extraction device; and an object type determination device that determines a type of the object based on the aspect ratio calculated by the aspect ratio calculation 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：US07515737B2
公开(公告)日：2009-04-07
申请号：US11287873
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
CPC分类号： G06K9/3241 , B60W50/14 , G01S3/7864 , G06K2209/23 , G06T7/215 , G06T2207/10012 , G06T2207/10016 , 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 at least a portion of the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; an interval status quantity calculation device that calculates an interval status quantity according to an interval between a position of a substantially maximum luminance value and a position of a substantially minimum luminance value within the region based on the luminance status quantity; and an object type determination device that determines a type of the object based on the interval status quantity.
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; 区域设定装置，其将包含所述二值化对象的至少一部分的区域设定在所述灰度图像上; 亮度状态量计算装置，其计算所述区域的亮度状态量; 间隔状态量计算装置，其基于所述亮度状态量，根据所述区域内的基本上最大亮度值的位置与所述基本上最小亮度值的位置之间的间隔来计算间隔状态量; 以及对象类型确定装置，其基于间隔状态量确定对象的类型。
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