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公开(公告)号：US07436430B2
公开(公告)日：2008-10-14
申请号：US10923048
申请日：2004-08-23
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.
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公开(公告)号：US20070223787A1
公开(公告)日：2007-09-27
申请号：US11750541
申请日：2007-05-18
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, detecting the obstacle on a basis of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, and judging that the obstacle is at a position where the difference K is large.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和基准平面区域上的相似度P来检测障碍物，基于相似度D检测障碍物 和参考平面区域上的相似度P，获得deg 获得的相似度De和相似度P都作为参考平面区域，并且判断障碍物在差K大的位置。
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公开(公告)号：US20070217657A1
公开(公告)日：2007-09-20
申请号：US11750548
申请日：2007-05-18
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, detecting the obstacle on a basis of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和基准平面区域上的相似度P来检测障碍物，基于相似度D检测障碍物 和参考平面区域上的相似度P，获得deg 将相似度D和相似度P都作为参考平面区域进行判断，判断出障碍物处于差K大的位置，并基于以下方式确定处理区域的宽度和高度 在第二图像上的垂直方向的位置。
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公开(公告)号：US20070217656A1
公开(公告)日：2007-09-20
申请号：US11752622
申请日：2007-05-23
IPC分类号： G06K9/20
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译： 一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像 获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P， 在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得 将相似度D和相似度P之间的差K作为参考平面区域获得，判断为 障碍物处于差异K大的位置，并且基于第二图像上的垂直方向上的位置来确定处理区域的宽度和高度。
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公开(公告)号：US07132933B2
公开(公告)日：2006-11-07
申请号：US11086357
申请日：2005-03-23
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
摘要翻译： 提供了一种技术，用于帮助驾驶安全驾驶，实现车辆自动驾驶，或计算道路上过往车辆的数量，或者监控那些过往车辆进行驾驶的技术。 使用安装在车辆中或设置在道路上方的多个照相机，即使路面和各个照相机之间的关系由于照相机振动或道路倾斜的变化而不断地在相对位置或姿势上变化，所以位于 检测道路上的其他车辆，停放的车辆和道路上的行人，而不会混淆那些与白线，道路标志，油漆，道路污渍和路边物体的阴影的纹理，这些都不会扰乱车辆行驶。 障碍物检测装置10由图像输入部11构成，用于从多个摄像装置101接收图像，对应检测部12，用于从接收到的左右图像中找到多对对应点， 倾斜度计算部13，用于计算包括对应点的平面的倾斜度;以及结果确定部14，用于当所计算的坡度大于预定值时确定为有障碍物。
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公开(公告)号：US20060013439A1
公开(公告)日：2006-01-19
申请号：US11223977
申请日：2005-09-13
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A system for realizing support of safety driving or automatic driving is provided, in which a vehicle-mounted stereo camera is used to detect obstacles on a road surface such as vehicles going ahead and pedestrians with a high accuracy even in a situation in which a reflected image of an obstacle or a surrounding structure is appeared under a wet road condition in rainy weather. The system includes an image capture section 12 capturing images from two cameras, an image transforming section 14 transforming a first camera's image by image transform T that transforms any given pixel in a road surface region in the first camera's image to a corresponding pixel in a second camera's image, a lane detecting section 16 detecting a traffic lane on a road on the basis of characteristics of the image obtained from the second camera, a similarity calculating section 18 sequentially establishing processing regions, each having a base formed by one of image lines in a region within a lane, for carrying out inter-image arithmetic operations between the first camera's image and the second camera's image and between the second camera's image and the transformed image on the assumption that an obstacle stands from a contact line on a road surface as an image line, and obtaining respective degrees of similarity between the first camera's image and the second camera's image and between the second camera's image and the transformed image, and an obstacle judging section 20 detecting the object from a difference between the two kinds of degrees of similarity on the road region sequentially obtained by the similarity calculating section 18.
摘要翻译： 提供一种用于实现安全驾驶或自动驾驶的支持的系统，其中使用车载立体摄像机，即使在反射的情况下也可以高精度地检测诸如前方的车辆等路面上的障碍物和行人 障碍物或周围结构的图像在雨天的湿路况下出现。 该系统包括从两个摄像机拍摄图像的图像捕获部分12，图像变换部分14，通过将第一相机图像中的路面区域中的任何给定像素转换成第二相机像素的图像变换T来变换第一相机的图像 相机图像，车道检测部分16，基于从第二相机获得的图像的特性来检测道路上的行车道;相似度计算部分18，顺序地建立处理区域，每个处理区域具有由图像行之一形成的基座 在车道内的区域，用于在第一相机的图像和第二相机的图像之间以及在第二相机的图像与变换的图像之间进行图像间算术运算，假设障碍物从路面上的接触线站立，作为 并且获得第一相机的图像和第二相机的图像之间的相似度的相似度，以及b 第二相机的图像和变换图像之间的障碍物判别部分20以及由相似度计算部分18顺序地获得的道路区域上的两种相似度之差的差异来检测对象。
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公开(公告)号：US20050024491A1
公开(公告)日：2005-02-03
申请号：US10923048
申请日：2004-08-23
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.
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8.发明授权
公开(公告)号：US6111580A
公开(公告)日：2000-08-29
申请号：US709493
申请日：1996-09-06
摘要： An input unit for controlling a device. The input unit first determines whether a user is actively operating the device. If such a detection is made, the input unit then determines whether the user performs an act that corresponds to a command. User attention may be indicated by a user observing the device, approaching the device, facing the device, or speaking. An input command may be indicated by touch, gesture, speech, or line of sight.
摘要翻译： 用于控制设备的输入单元。 输入单元首先确定用户是否正在主动地操作该设备。 如果进行这种检测，则输入单元然后确定用户是否执行与命令相对应的动作。 用户注意可以由观察设备，接近设备，面向设备或说话的用户指示。 可以通过触摸，手势，语音或视线来指示输入命令。
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公开(公告)号：US07421148B2
公开(公告)日：2008-09-02
申请号：US11750550
申请日：2007-05-18
IPC分类号： G06K9/36
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的对应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，并且确定处理区域的宽度和高度 在第二图像上垂直方向的位置的基础。
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公开(公告)号：US07349581B2
公开(公告)日：2008-03-25
申请号：US11750565
申请日：2007-05-18
IPC分类号： G06K9/36
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.
摘要翻译： 一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的对应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得相似度D和 获得的相似度P均为参考平面区域， 在差异K大的位置处，当没有相似度等于或大于预先设定的关于所有图像的垂直方向的阈值的相似度K时，没有障碍物，并且检测 当在图像的垂直方向存在等于或大于阈值的相似度的差异K时存在障碍。
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