公开(公告)号：US20060115120A1

公开(公告)日：2006-06-01

申请号：US11287868

申请日：2005-11-28

申请人： Fuminori Taniguchi ,  Hiroshi Hattori ,  Hideki Hashimoto ,  Nobuharu Nagaoka

发明人： Fuminori Taniguchi ,  Hiroshi Hattori ,  Hideki Hashimoto ,  Nobuharu Nagaoka

IPC分类号： G06K9/00

CPC分类号： H04N5/33 ,  B60R1/00 ,  B60R2300/105 ,  B60R2300/106 ,  B60R2300/205 ,  B60R2300/207 ,  B60R2300/30 ,  B60R2300/302 ,  B60R2300/404 ,  B60R2300/8053

摘要： A vehicle surroundings monitoring apparatus which includes: an imaging device that captures a surroundings of a vehicle; a temperature measuring device that measures a temperature of the imaging device; and an OFF signal output device that outputs a command signal to set a power supply of the imaging device to the OFF state in accordance with the temperature of the imaging device measured by the temperature measuring device.

摘要翻译： 一种车辆周边监视装置，包括：拍摄车辆周围的摄像装置; 测量成像装置的温度的温度测量装置; 以及OFF信号输出装置，其输出用于根据由所述温度测量装置测量的所述成像装置的温度将所述成像装置的电源设置为OFF状态的命令信号。

公开(公告)号：US20060072008A1

公开(公告)日：2006-04-06

申请号：US11243206

申请日：2005-10-04

申请人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Yoshitaka Katashima ,  Nobuharu Nagaoka ,  Kazuhiko Iwaizako ,  Hiromichi Tsushima

发明人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Yoshitaka Katashima ,  Nobuharu Nagaoka ,  Kazuhiko Iwaizako ,  Hiromichi Tsushima

IPC分类号： H04N7/18

CPC分类号： B60R11/04 ,  B60R2011/0038

摘要： This structure for attaching a stereoscopic camera in a vehicle allows a plurality of cameras to be attached to a vehicle body frame in order to stereoscopically capture images surrounding the vehicle, and the same structure includes: a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras at a cross member having both ends folded upward, having the terminals connected to the front end parts of the side frames at both sides of the engine room, and having a radiator supported at the middle part thereof, wherein at least a part of the plurality of cameras is disposed between both the ends of the cross member and the radiator.

摘要翻译： 用于将立体摄像机安装在车辆中的结构允许将多个照相机附接到车体框架，以便立体地捕获车辆周围的图像，并且相同的结构包括：用于将多个照相机与每个摄像机连接的横向撑杆 其他; 以及用于将横向支架或多个相机固定在两端向上折叠的横向构件上的支架，其具有连接到在发动机室两侧的侧框架的前端部分的端子，并且具有支撑在发动机室的散热器 其中，所述多个照相机的至少一部分设置在所述横梁的两端和所述散热器之间。

公开(公告)号：US09160986B2

公开(公告)日：2015-10-13

申请号：US13884732

申请日：2011-11-09

申请人： Nobuharu Nagaoka ,  Makoto Aimura

发明人： Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： H04N7/18 ,  G08G1/16 ,  G06K9/00

CPC分类号： H04N7/183 ,  G06K9/00805 ,  G08G1/163

摘要： A device for monitoring surroundings of a vehicle mounted in a vehicle, captures an image of surroundings of the vehicle, extracts from the captured image an image area for a predetermined part of a desired type of object, and sets a predetermined area below the extracted image area. The device extracts candidates for the desired type of object present outside the vehicle based on the predetermined area and determines, for each of the extracted object candidates, whether the object candidate is the desired type of object. When no pattern different from the background is captured in the predetermined area, or when a pattern different from the background is captured only in one of a first and a second areas, then the object in the image area is excluded from the candidates for the desired type of object. Thus, a pedestrian, for example, can be distinguished from an artificial structure.

摘要翻译： 一种用于监视安装在车辆中的车辆的周围环境的装置，捕获车辆周围的图像，从捕获的图像中提取期望类型的物体的预定部分的图像区域，并将提取的图像下方的预定区域设置 区。 基于预定区域，设备提取车辆外部存在的期望类型的候选，并且为每个提取的对象候选确定对象候选是否是期望类型的对象。 当在预定区域中没有捕获与背景不同的图案时，或者当仅在第一和第二区域中的一个区域捕获与背景不同的图案时，则将图像区域中的对象从期望的候选者中排除 物件类型 因此，例如，行人可以与人造结构区分开。

公开(公告)号：US20130103299A1

公开(公告)日：2013-04-25

申请号：US13808120

申请日：2011-06-15

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

IPC分类号： G06F17/00

CPC分类号： G06F17/00 ,  G06K9/00805 ,  G06K9/00825 ,  G06T7/579 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： Category determination is performed on an object candidate extracted from a captured image after an exclusion process is performed in advance. In the exclusion process, a distance from a vehicle to the object candidate is calculated based on a size of the object candidate in a current image, a moved distance of the vehicle occurring in a time interval from a time a previous image was captured to a time the current image is captured is calculated, the size of the object candidate in the current image is decreased at a change ratio based on the distance to the object candidate and the moved distance, and a size of the object candidate in the previous image and a size of the object candidate decreased at the change ratio are compared. The object candidate with difference between them being determined to be larger than a predetermined value is removed.

摘要翻译： 在预先执行排除处理之后，对从拍摄图像提取的对象候选进行类别判定。 在排除处理中，基于当前图像中的对象候选者的大小，从从前一图像拍摄到时间的时间间隔中发生的车辆的移动距离，计算从车辆到候选对象的距离 计算当前图像被捕获的时间，基于到目标候选者的距离和移动的距离以及前一图像中的候选对象的大小，以当前图像中的对象候选者的大小以变化比减少， 比较以变化比减少的对象候选者的大小。 被确定为大于预定值的差异的对象候选者被去除。

公开(公告)号：US20120300076A1

公开(公告)日：2012-11-29

申请号：US13515618

申请日：2010-12-16

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： H04N7/18

CPC分类号： H04N7/18 ,  B60R1/00 ,  B60R2300/103 ,  B60R2300/107 ,  B60R2300/205 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G06K9/00805 ,  G06K9/00825 ,  G08G1/16 ,  G08G1/166

摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.

摘要翻译： 车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。 扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别 如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

公开(公告)号：US08284253B2

公开(公告)日：2012-10-09

申请号：US12988551

申请日：2009-01-08

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Hideki Hashimoto

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Hideki Hashimoto

IPC分类号： H04N7/18

CPC分类号： G08G1/166 ,  G06T7/579 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30261

摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) 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。 根据车辆周围监视装置（10），当通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关度相关时， （k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为 局部区域（B（k））。 基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k）） 物体正在移动。

公开(公告)号：US08139821B2

公开(公告)日：2012-03-20

申请号：US13119324

申请日：2009-07-10

申请人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

发明人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

IPC分类号： G06K9/00

CPC分类号： G01C3/085 ,  G06K9/00805 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30252

摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.

摘要翻译： 车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分 在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

公开(公告)号：US20120041617A1

公开(公告)日：2012-02-16

申请号：US13265598

申请日：2010-01-14

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： G06F7/00

CPC分类号： G06K9/00805 ,  G06T7/593 ,  G06T2207/10016 ,  G06T2207/30261 ,  G08G1/166

摘要： Provided is a vehicle periphery monitoring device having: a first distance calculating unit (25) which calculates a distance between a vehicle (10) and an object, using a parallax gradient of image sections of the same object among a plurality of images captured by infrared cameras (2R, 2L) at different times within a predetermined sampling interval; a vehicular velocity sensor (4) which detects a vehicular velocity of the vehicle (10); and a sampling interval setting unit (23) which sets the sampling interval shorter with the increase of the vehicular velocity of the vehicle (10).

摘要翻译： 本发明提供一种车辆周边监视装置，其具有：第一距离计算部（25），其使用由红外线捕获的多个图像中的相同对象的图像部分的视差梯度来计算车辆（10）和物体之间的距离 相机（2R，2L）在预定采样间隔内的不同时间; 检测车辆（10）的车速的车速传感器（4）; 以及采样间隔设定单元（23），其随着车辆（10）的车速的增加来设定采样间隔较短的采样间隔设定单元。

公开(公告)号：US07672481B2

公开(公告)日：2010-03-02

申请号：US11289119

申请日：2005-11-29

申请人： Kazunori Kanai ,  Nobuharu Nagaoka

发明人： Kazunori Kanai ,  Nobuharu Nagaoka

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  B60K2350/2013

摘要： An image information processing system permits stable display of image information regarding an object on an image display device even if an image area of the object recognized through an infrared camera is unstable. In the image information processing system, a first image area recognition unit recognizes a first image area associated with an object on the basis of a second variable based on the position of the object measured through the infrared camera. Further, a second image area recognition unit estimates the first image area on the basis of a first variable and a second variable based on the running mode of an automobile, and recognizes the estimated image area as a second image area. Then, an image information control unit causes a head-up display to display one or both of the first image information associated with the first image area and the second image information associated with the second image area.

摘要翻译： 即使通过红外线摄像机识别的物体的图像区域不稳定，图像信息处理系统也可以稳定地显示关于图像显示装置上的对象的图像信息。 在图像信息处理系统中，第一图像区域识别单元基于通过红外线照相机测量的对象的位置，基于第二变量来识别与对象相关联的第一图像区域。 此外，第二图像区域识别单元基于汽车的行驶模式，基于第一变量和第二变量来估计第一图像区域，并将估计图像区域识别为第二图像区域。 然后，图像信息控制单元使平视显示器显示与第一图像区域相关联的第一图像信息和与第二图像区域相关联的第二图像信息中的一个或两个。

公开(公告)号：US07403709B2

公开(公告)日：2008-07-22

申请号：US11243204

申请日：2005-10-04

申请人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Nobuharu Nagaoka ,  Yoshitaka Katashima

发明人： Yasuaki Miyazaki ,  Hiroshi Hattori ,  Masahito Watanabe ,  Nobuharu Nagaoka ,  Yoshitaka Katashima

IPC分类号： G03B35/00 ,  G03B35/18 ,  G03B29/00

CPC分类号： G03B29/00 ,  B60R11/04 ,  B60R2011/0038

摘要： A structure for attaching a stereoscopic camera to a vehicle, by which a plurality of cameras are attached to a body frame of the vehicle in order to stereoscopically capture images surrounding the vehicle; and the same structure includes a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras on the body frame, which are provided at a plurality of points, spaced from each other, of the lateral stay, or at the plurality of cameras fixed on the lateral stay; wherein the rigidity of at least a part of the brackets is lower than the bending rigidity of the lateral stay.

摘要翻译： 一种用于将立体摄像机附接到车辆的结构，通过该结构，多个照相机附接到车辆的车身框架，以便立体地捕获车辆周围的图像; 并且相同的结构包括用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支撑件或多个相机固定在主体框架上的支架，其设置在横向支架的彼此间隔开的多个点处，或者固定在横向支架上的多个相机处; 其中所述托架的至少一部分的刚度低于所述横向拉杆的弯曲刚度。