公开(公告)号：US20130141542A1

公开(公告)日：2013-06-06

申请号：US13817011

申请日：2011-07-29

申请人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka ,  Yasuhisa Hayakawa

发明人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka ,  Yasuhisa Hayakawa

IPC分类号： H04N13/02

CPC分类号： H04N13/204 ,  G06K9/00201 ,  G06K9/00805 ,  G06K9/4604 ,  G06T3/00 ,  G06T7/12 ,  G06T2207/30261

摘要： A three-dimensional object detection device 1 includes a camera 10 and a calculator 20. The calculator 20 performs viewpoint conversion processing on an image captured by the camera 10 to create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.

摘要翻译： 三维物体检测装置1包括照相机10和计算器20.计算器20对由照相机10拍摄的图像执行视点转换处理，以创建鸟瞰图图像，针对沿着多个位置的每个位置计算 在实际空间中沿垂直方向延伸的垂直假想线，靠近该位置的两个像素之间的亮度差，并且基于所计算的各个位置的亮度差的连续性来检测三维物体。

公开(公告)号：US08854456B2

公开(公告)日：2014-10-07

申请号：US13164404

申请日：2011-06-20

申请人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka

发明人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka

IPC分类号： H04N7/18 ,  G01S11/12 ,  G06K9/78 ,  G06T7/20 ,  G06T7/60 ,  H04N5/225

CPC分类号： G01S11/12 ,  G06K9/78 ,  G06T7/254 ,  G06T7/62 ,  G06T2207/10016 ,  G06T2207/30256 ,  H04N7/18

摘要： A travel distance detection device includes: an image-capturing unit configured to capture an image; an alignment unit configured to align images in position of bird's-eye view image, the images captured at different times by the image-capturing unit; and a solid object detection unit configured to detect a solid object based on difference image data between data of the images captured at the different times and aligned by the alignment unit. The solid object detection unit counts the number of pixels which each express a certain difference on the difference image data and which are arranged in a direction in which the solid object is inclined when the image of the predetermined region is converted into the bird's-eye view image, then produces a frequency distribution of the counted pixels to generate a difference waveform, and calculates a travel distance of the solid object based on time variation of the difference waveform.

摘要翻译： 旅行距离检测装置包括：图像拍摄单元，被配置为捕获图像; 对准单元，被配置为使鸟瞰图像的位置对准图像，通过图像拍摄单元在不同时间拍摄的图像; 以及固体物体检测单元，被配置为基于在不同时间拍摄并由对准单元对准的图像的数据之间的差分图像数据来检测实体物体。 固体物体检测单元对在差分图像数据中表现出一定差异的像素数量进行计数，并且当将预定区域的图像转换成鸟瞰图时，其被布置在实心物体倾斜的方向上 图像，然后产生计数像素的频率分布以产生差分波形，并且基于差分波形的时间变化来计算固体物体的行进距离。

公开(公告)号：US20130322688A1

公开(公告)日：2013-12-05

申请号：US13821918

申请日：2012-02-17

申请人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

发明人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

IPC分类号： G06K9/00

CPC分类号： G06K9/00791 ,  G06K9/00805 ,  G06K9/50 ,  G06T7/246 ,  G06T2207/30252 ,  G08G1/167

摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

摘要翻译： 周期性静止物体检测系统从包括在预定区域中的多个子区域中的每一个的鸟瞰图图像的预定区域上的图像数据中提取三维物体的特征点，计算对应于预定区域的分布的波形数据 特征点在鸟瞰图图像上的预定区域中，并且基于波形数据的峰值信息是否等于，判断具有提取的特征点的三维对象是否是周期性静止候选对象 或大于预定阈值。

公开(公告)号：US20110310245A1

公开(公告)日：2011-12-22

申请号：US13164404

申请日：2011-06-20

申请人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka

发明人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka

IPC分类号： H04N7/18 ,  G06K9/00

CPC分类号： G01S11/12 ,  G06K9/78 ,  G06T7/254 ,  G06T7/62 ,  G06T2207/10016 ,  G06T2207/30256 ,  H04N7/18

摘要： A travel distance detection device includes: an image-capturing unit configured to capture an image; an alignment unit configured to align images in position of bird's-eye view image, the images captured at different times by the image-capturing unit; and a solid object detection unit configured to detect a solid object based on difference image data between data of the images captured at the different times and aligned by the alignment unit. The solid object detection unit counts the number of pixels which each express a certain difference on the difference image data and which are arranged in a direction in which the solid object is inclined when the image of the predetermined region is converted into the bird's-eye view image, then produces a frequency distribution of the counted pixels to generate a difference waveform, and calculates a travel distance of the solid object based on time variation of the difference waveform.

摘要翻译： 旅行距离检测装置包括：图像拍摄单元，被配置为捕获图像; 对准单元，被配置为使鸟瞰图像的位置对准图像，通过图像拍摄单元在不同时间拍摄的图像; 以及固体物体检测单元，被配置为基于在不同时间拍摄并由对准单元对准的图像的数据之间的差分图像数据来检测实体物体。 固体物体检测单元对在差分图像数据中表现出一定差异的像素数量进行计数，并且当将预定区域的图像转换成鸟瞰图时，其被布置在实心物体倾斜的方向上 图像，然后产生计数像素的频率分布以产生差分波形，并且基于差分波形的时间变化来计算固体物体的行进距离。

公开(公告)号：US08903133B2

公开(公告)日：2014-12-02

申请号：US13821918

申请日：2012-02-17

申请人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

发明人： Chikao Tsuchiya ,  Yasuhisa Hayakawa ,  Shinya Tanaka ,  Hiroyuki Furushou ,  Osamu Fukata

IPC分类号： G06K9/00 ,  H04N7/18 ,  G08G1/16 ,  G06K9/50 ,  G06T7/20

CPC分类号： G06K9/00791 ,  G06K9/00805 ,  G06K9/50 ,  G06T7/246 ,  G06T2207/30252 ,  G08G1/167

摘要： A periodic stationary object detection system extracts a feature point of a three-dimensional object from image data on a predetermined region of a bird's eye view image for each of multiple sub regions included in the predetermined region, calculates waveform data corresponding to a distribution of the feature points in the predetermined region on the bird's eye view image, and judges whether or not the three-dimensional object having the extracted feature point is a periodic stationary object candidate on the basis of whether or not peak information of the waveform data is equal to or larger than a predetermined threshold value.

摘要翻译： 周期性静止物体检测系统从包括在预定区域中的多个子区域中的每一个的鸟瞰图图像的预定区域上的图像数据中提取三维物体的特征点，计算对应于预定区域的分布的波形数据 特征点在鸟瞰图图像上的预定区域中，并且基于波形数据的峰值信息是否等于，判断具有提取的特征点的三维对象是否是周期性静止候选对象 或大于预定阈值。

公开(公告)号：US10397544B2

公开(公告)日：2019-08-27

申请号：US13817011

申请日：2011-07-29

申请人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka ,  Yasuhisa Hayakawa

发明人： Chikao Tsuchiya ,  Hiroyuki Furushou ,  Shinya Tanaka ,  Yasuhisa Hayakawa

IPC分类号： H04N13/204 ,  G06T3/00 ,  G06T7/12 ,  G06K9/00 ,  G06K9/46

摘要： A three-dimensional object detection device 1 includes a camera 10 and a calculator 20. The calculator 20 performs viewpoint conversion processing on an image captured by the camera 10 to create a bird's eye view image, calculates, for each of a plurality of positions along a vertical imaginary line extending in a vertical direction in an actual space, a luminance difference between two pixels near the position, and detects a three-dimensional object on the basis of continuities of the calculated luminance differences of the respective positions.