公开(公告)号：US07586400B2

公开(公告)日：2009-09-08

申请号：US11653149

申请日：2007-01-12

申请人： Nobuharu Nagaoka ,  Takayuki Tsuji

发明人： Nobuharu Nagaoka ,  Takayuki Tsuji

IPC分类号： B60Q1/00

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），其确定是否 在监视对象和车辆之间存在接触的可能性。

公开(公告)号：US20060126899A1

公开(公告)日：2006-06-15

申请号：US11287872

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 ,  H04N7/18 ,  G06K9/62 ,  B60Q1/00

CPC分类号： G06K9/00805 ,  B60K35/00 ,  B60W30/08 ,  B60W2050/143 ,  B60W2050/146 ,  B60W2420/403 ,  B60W2520/10 ,  B60W2520/105 ,  B60W2520/14 ,  B60W2540/12 ,  B60W2550/20 ,  G01S11/12 ,  G06K9/00369 ,  G06T7/41 ,  G06T2207/10048 ,  G06T2207/30261 ,  G08G1/161

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 search region setting device that sets a search region at the lower part of the binarized object extracted by the binarized object extraction device; a vertical edge detection device that detects a vertical edge in the search region set by the search region setting device; and an object type determination device that determines a type of object based on a detection result of the vertical edge detection 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; 搜索区域设置装置，其在由二值化对象提取装置提取的二值化对象的下部设置搜索区域; 垂直边缘检测装置，其检测由搜索区域设置装置设置的搜索区域中的垂直边缘; 以及对象类型确定装置，其基于垂直边缘检测装置的检测结果来确定对象的类型。

公开(公告)号：US06658150B2

公开(公告)日：2003-12-02

申请号：US09728511

申请日：2000-12-01

申请人： Takayuki Tsuji ,  Nobuharu Nagaoka ,  Hiroshi Hattori ,  Masahito Watanabe

发明人： Takayuki Tsuji ,  Nobuharu Nagaoka ,  Hiroshi Hattori ,  Masahito Watanabe

IPC分类号： G06K968

CPC分类号： G06K9/6203 ,  G06T7/97 ,  G06T2207/10012 ,  H04N13/239 ,  H04N2013/0081

摘要： An image recognition system recognizes correspondence between object images contained respectively in two images obtained by two infrared ray cameras. One of the two images is set to a reference image and another of the two images to a comparison image. A correlation parameter indicative of a correlation between a reference pattern contained in the reference image and containing an object image and each pattern contained in the comparison image and identical in shape to the reference pattern is calculated by using a luminance value indicative of a luminance of the reference pattern and a luminance value indicative of a luminance of the each pattern contained in the comparison image. Based on the calculated correlation parameter, a pattern having a highest correlation with the reference pattern is extracted from the comparison image as a corresponding pattern which corresponds to the reference pattern. Identity between the object image contained in the reference pattern and the object image contained in the corresponding pattern is determined based on a difference between a contrast value indicative of a contrast of the reference pattern and a contrast value indicative of a contrast of the corresponding pattern.

摘要翻译： 图像识别系统识别由两个红外线摄像机获得的两个图像中分别包含的对象图像之间的对应关系。 将两个图像中的一个设置为参考图像，将两个图像中的另一个设置为比较图像。 通过使用表示参考图像的亮度的亮度值来计算指示包含在参考图像中并包含对象图像的参考图案和包含在比较图像中并且与形状相同的参考图案之间的相关性的相关参数 参考图案和指示比较图像中包含的每个图案的亮度的亮度值。 基于所计算的相关参数，从比较图像中提取与参考图案具有最高相关性的图案作为对应于参考图案的对应图案。 基于指示参考图案的对比度的对比度值和表示对应图案的对比度的对比度值之间的差异来确定包含在参考图案中的对象图像与包含在对应图案中的对象图像之间的身份。

公开(公告)号：US06531959B1

公开(公告)日：2003-03-11

申请号：US09612799

申请日：2000-07-10

申请人： Nobuharu Nagaoka ,  Takayuki Tsuji ,  Masahito Watanabe ,  Hiroshi Hattori

发明人： Nobuharu Nagaoka ,  Takayuki Tsuji ,  Masahito Watanabe ,  Hiroshi Hattori

IPC分类号： B60Q100

CPC分类号： G01S11/12 ,  G01C3/085

摘要： A position detecting device for a vehicle detects the position of an object in a real space coordinate system. A plurality of objects are extracted from an image obtained by cameras, and a pitching-dependent correction amount is calculated based on amounts of displacement in position of the plurality of objects in a direction of height. Positions of the plurality of objects are corrected based on the pitching-dependent correction amount.

摘要翻译： 用于车辆的位置检测装置检测物体在实际空间坐标系中的位置。 从通过照相机获得的图像中提取多个对象，并且基于多个物体在高度方向上的位置位移量来计算俯仰相关校正量。 基于俯仰相关的校正量来校正多个对象的位置。

公开(公告)号：US08983123B2

公开(公告)日：2015-03-17

申请号：US13511074

申请日：2010-10-18

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/00 ,  G06T7/00 ,  G06T7/60 ,  G08G1/16

CPC分类号： G06T7/0046 ,  G06T7/60 ,  G06T7/75 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/166

摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.

摘要翻译： 在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离 身体候选人的形象。 头部宽度约为15-16厘米。 基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高 基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

公开(公告)号：US08766816B2

公开(公告)日：2014-07-01

申请号：US13124253

申请日：2009-06-24

申请人： Izumi Takatsudo ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Izumi Takatsudo ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： B60Q1/00 ,  G05B23/02 ,  G06F17/10

CPC分类号： B60R1/00 ,  B60R2300/103 ,  B60R2300/105 ,  B60R2300/205 ,  B60R2300/301 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/8093 ,  G06K9/00805

摘要： A system 1 for monitoring the area around a vehicle of the present invention capable of visually notifying the passenger in the vehicle 10 of not only the presence but also the kind of an object in images around the vehicle displayed in an HUD 7, for example, according to a difference in the display mode of the presence of the object, wherein the driver of the vehicle 10 is able to recognize which of a human or a four-footed animal the object belongs to, according to either a difference in the design between a first mark M1 and a second mark M2 or a difference in the design between a first frame F1 and a second frame F2 displayed on the HUD 7.

摘要翻译： 用于监视本发明车辆周围区域的系统1，其能够在车辆10中视觉上通知车辆10中的乘客，不仅存在例如在HUD 7中显示的车辆周围的图像中的物体的存在， 根据对象存在的显示模式的差异，其中车辆10的驾驶员能够识别对象所属的人或四足动物中的哪一个，根据设计中的哪一个 第一标记M1和第二标记M2或在HUD 7上显示的第一帧F1和第二帧F2之间的设计的差异。

公开(公告)号：US20130243261A1

公开(公告)日：2013-09-19

申请号：US13817466

申请日：2011-06-22

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G08G1/166

摘要： When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unit 13 performs a first distance calculating process of calculating a distance between a vehicle 1 and the physical body, on the basis of a correlative relationship between the distance from the vehicle 1 set on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unit 13 performs a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.

摘要翻译： 当确定对应于图像部分的实际空间中的身体的类型是交叉行人时，距离计算单元13执行计算车辆1和身体之间的距离的第一距离计算处理，在 根据图像部分的高度，基于假定行人高度和图像部分的高度之间的车辆1的距离之间的相关关系的基础。 当确定身体的类型不是交叉行人时，距离计算单元13基于大小的变化来执行计算身体和车辆之间的距离的第二距离计算处理 从时间序列拍摄图像中提取物理身体的图像部分。

公开(公告)号：US20120314074A1

公开(公告)日：2012-12-13

申请号：US13580014

申请日：2011-02-21

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： H04N7/18

CPC分类号： B60R1/00 ,  B60R2300/105 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/8093 ,  G01C3/14 ,  G06K9/00362 ,  G06K9/00805 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： A surrounding area monitoring apparatus, which is built into a vehicle, images the area surrounding the vehicle and detects physical objects in the area surrounding the vehicle based on the image taken. The apparatus determines whether the detected physical object is a pedestrian or an animal, and a warning is given to the driver of the vehicle if the determined physical object is present within a specified area from the vehicle. If it is determined that the detected physical object is an animal and that the animal is present within the specified area, the warning in continued for a specified period even after the animal has left the specified area. Since animals have habits of behaving in a herd, risk of lurking animals can be brought to the driver's attention by the continuation of the warning.

摘要翻译： 基于所拍摄的图像，内置在车辆中的周边区域监视装置对车辆周围的区域进行成像，并检测车辆周围的区域中的物体。 如果检测到的物体是行人或动物，则该装置确定是否在车辆的指定区域内存在确定的物体，并向车辆的驾驶员发出警告。 如果确定检测到的物体是动物并且动物存在于指定区域内，则即使在动物离开指定区域之后，该警告仍持续指定的时间段。 由于动物的行为习惯在牛群中，潜伏着动物的风险可以继续警告，引起司机的注意。

公开(公告)号：US08184862B2

公开(公告)日：2012-05-22

申请号：US12936426

申请日：2009-01-08

申请人： Nobuharu Nagaoka ,  Hideki Hashimoto

发明人： Nobuharu Nagaoka ,  Hideki Hashimoto

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G06K9/00369 ,  G06T7/248 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. A vehicle periphery monitoring apparatus (10) calculates the change rate (Rate(t)) of the size of an object region between two times separated by a specified interval (ΔT). The specified interval (ΔT) is a time interval defined so that the shapes and postures of an object in images resemble or match each other to such an extent that it is possible to identify that the object is identical. Based on the change rage (Rate(t)) of the size of the object region during the specified interval (ΔT), it is possible to measure the distance from a vehicle (1) to the object or the position at a high accuracy even when the object is moving.

摘要翻译： 提供一种能够即使当物体移动时能够高精度地测量物体的位置的装置。 车辆周边监视装置（10）计算在指定间隔（＆Dgr; T）之间分开的两次之间的对象区域的大小的变化率（Rate（t））。 指定的间隔（＆Dgr; T）是定义的时间间隔，使得图像中的对象的形状和姿势类似于或相互匹配，使得可以识别对象是相同的。 基于指定间隔（＆Dgr; T）期间对象区域的大小的变化幅度（Rate（t）），可以测量从车辆（1）到物体或高位置的距离 即使对象正在移动，也能确定精度。

公开(公告)号：US20080260207A1

公开(公告)日：2008-10-23

申请号：US11974819

申请日：2007-10-16

申请人： Nobuharu Nagaoka ,  Hideki Hashimoto

发明人： Nobuharu Nagaoka ,  Hideki Hashimoto

IPC分类号： G06K9/00

CPC分类号： G06T7/0002 ,  G06K9/00805 ,  G06T7/32

摘要： A vehicle environment monitoring apparatus capable of extracting an image of a monitored object in an environment around a vehicle by separating the same from the background image with a simple configuration having a single camera mounted on the vehicle is provided. The apparatus includes a first image portion extracting processing unit to extract first image portions (A1, A2) considered to be the head of a pedestrian from a currently picked up image and a previously picked up image by an infrared camera, a mask area setting processing unit to set mask areas (M1(0,0), M1(1,0), . . . , M1(5,8)) around the first image portion (A1) in the currently picked up image, and an object extracting processing unit to carry out pattern matching for the previously picked up image by a comparison pattern obtained through affine transformation of each mask area at a change rate (Rate) between the first image portions (A1, A2), and to set an area (Ar1) including the first image portion (A2) and a second image portion (M2(1,3), M2(2,3), . . . , M2(3,6)) where a displacement amount between the position (black point) corresponding to the centroid of the mask area and the matching position is smaller than a predetermined threshold value to be an image area of the monitored object.

摘要翻译： 提供了一种车辆环境监测装置，其能够通过以安装在车辆上的单个照相机的简单配置将其与背景图像分离来在车辆周围的环境中提取被监视物体的图像。 该装置包括第一图像部分提取处理单元，用于从当前拾取的图像中提取被认为是行人头部的第一图像部分（A 1，A 2），以及通过红外相机提取先前拍摄的图像的掩模区域 设置处理单元，以在当前拾取的第一图像部分（A 1）周围设置掩模区域（M 1（0,0），M 1（1,0），...，M 1（5,8）） 图像和对象提取处理单元，以通过以每个掩模区域的仿射变换获得的比较图案，以第一图像部分（A 1，A 2）之间的变化率（Rate），对先前拍摄的图像进行模式匹配， 并且设置包括第一图像部分（A 2）和第二图像部分（M 2（1,3），M 2（2,3），...，M 2（3， 6）），其中与掩模区域的质心相对应的位置（黑点）与匹配位置之间的位移量小于预定阈值 值作为被监视对象的图像区域。