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公开(公告)号：US06825779B2
公开(公告)日：2004-11-30
申请号：US09885095
申请日：2001-06-21
申请人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
发明人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
IPC分类号： G08G1123
CPC分类号： G06T11/00 , B60W2420/42 , G08G1/166
摘要： In a rendering device, a processor derives an estimated path to be traced by the left- and right-rear wheels of a vehicle based on a rudder angle that is provided by a rudder angle sensor. The processor then determines positions for overlaying indicators on the derived estimated path. The processor then renders the indicators on the determined points in a captured image which is provided by an image capture device, and generates a display image. In the display image, the indicators move along the estimated path in the direction the vehicle is heading towards. In this manner, the estimated path in the display image that is generated by the rendering device becomes noticeable for a driver of the vehicle.
摘要翻译： 在再现装置中，处理器基于由舵角传感器提供的方向舵角度，导出由车辆的左后轮和右后轮跟踪的估计路径。 然后处理器确定在导出的估计路径上覆盖指示符的位置。 然后，处理器在由图像捕获设备提供的捕获图像中的确定的点上呈现指示符，并且生成显示图像。 在显示图像中，指示器沿着车辆朝向的方向沿估计路径移动。 以这种方式，由该再现装置生成的显示图像中的估计路径对于车辆的驾驶员而言是显而易见的。
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公开(公告)号：US06366221B1
公开(公告)日：2002-04-02
申请号：US09892744
申请日：2001-06-28
申请人： Atsushi Iisaka , Nobuhiko Yasui , Akira Ishida , Takashi Yoshida
发明人： Atsushi Iisaka , Nobuhiko Yasui , Akira Ishida , Takashi Yoshida
IPC分类号： B60Q148
CPC分类号： B60R1/00 , B60Q9/005 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/305 , B60R2300/806 , B60R2300/8086 , B60T2201/10 , B62D15/0275
摘要： In a rendering device 10, ROM 4 stores a vehicle model. A rudder angle sensor 3 detects a rudder angle of the vehicle, and based thereon, CPU 6 calculates an estimated path for the vehicle. The CPU 6 receives captured images from cameras 21 to 2N. The CPU 6 generates a display image based on those captured images, the estimated path, and the vehicle model. This display image includes the vehicle model arranged on the estimated path, and displayed on a display device 8 placed in the vehicle. In this manner, the display image generated by the rendering device 10 is indicative and helpful for a driver of the vehicle to exactly figure out a parking space available for the vehicle.
摘要翻译： 在再现装置10中，ROM4存储车辆模型。 方向舵角传感器3检测车辆的舵角，并且基于此，CPU6计算车辆的估计路径。 CPU6从摄像机21至2N接收捕获的图像。 CPU6基于这些拍摄图像，估计路径和车辆模型生成显示图像。 该显示图像包括布置在估计路径上的车辆模型，并且显示在放置在车辆中的显示装置8上。 以这种方式，由再现装置10生成的显示图像是对车辆的驾驶者进行准确地确定可用于车辆的停车空间的指示和帮助。
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公开(公告)号：US06539288B2
公开(公告)日：2003-03-25
申请号：US09862312
申请日：2001-05-23
申请人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
IPC分类号： G05D100
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/404 , B60R2300/70 , B60R2300/802 , H04N7/181
摘要： In a rendering device, a processor receives surrounding images from image capture devices placed in a vehicle, and based thereon, generates a vehicle overlaid image. The processor also receives a rudder angle &thgr; from a rudder angle sensor placed in the vehicle. Then, based on the received rudder angle &thgr;, the processor calculates a 3D predictive trajectory of the vehicle, and on the vehicle overlaid image, renders the calculated 3D predictive trajectories thereby generating a display image. Therefore, the display image generated by the rendering device is driver-friendly.
摘要翻译： 在再现装置中，处理器从放置在车辆中的图像捕获装置接收周围图像，并且基于此，生成车辆重叠图像。 处理器还从放置在车辆中的舵角传感器接收舵角θ。 然后，基于接收到的方向舵角θ，处理器计算车辆的3D预测轨迹，并且在车辆重叠图像上，呈现所计算的3D预测轨迹从而生成显示图像。 因此，由再现装置生成的显示图像是驾驶者友好的。
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公开(公告)号：US07266219B2
公开(公告)日：2007-09-04
申请号：US10088606
申请日：2001-07-19
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/207 , B60R2300/30 , B60R2300/305 , B60R2300/404 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , G06T15/10
摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.
摘要翻译： 为了支持复杂的驾驶操作，向驾驶员呈现合成图像。 司机可以查看此图像，从而以安全感驱动。 合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比 车辆区域。
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公开(公告)号：US06999602B2
公开(公告)日：2006-02-14
申请号：US09892741
申请日：2001-06-28
申请人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
发明人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
IPC分类号： G06K9/00
CPC分类号： G06T11/00 , B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/305 , B60R2300/607 , B60R2300/8086
摘要： In a rendering device Urnd1, a CPU 7 receives a captured image each from two image capture devices 1 and 2. The CPU 7 then receives a steering angle of a steering wheel of a vehicle from a steering angle sensor 3. Based on the steering angle, the CPU 7 derives an estimated trajectory for the vehicle to take in the course of time. Then, with reference to the estimated trajectory, the CPU 7 selects several pixels each from the captured images, and then generates a drive assistant image based on those pixels. In this manner, the drive assistant image generated by the rendering device Urnd1 hardly causes the driver to feel strange.
摘要翻译： 在渲染设备Urnd 1中，CPU7从两个图像捕获设备1和2接收捕获的图像。然后，CPU 7从转向角传感器3接收车辆的方向盘的转向角。基于转向 角度，CPU 7导出车辆在时间过程中估计的轨迹。 然后，参考估计的轨迹，CPU7从捕获的图像中选择几个像素，然后基于这些像素生成驱动辅助图像。 以这种方式，由渲染装置Urnd 1生成的驱动辅助图像几乎不会使驾驶员感到奇怪。
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公开(公告)号：US20050002545A1
公开(公告)日：2005-01-06
申请号：US10492214
申请日：2002-10-08
申请人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
发明人： Nobuhiko Yasui , Takashi Yoshida , Atsushi Iisaka , Akira Ishida
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/8006
摘要： An image processor has two types of image pickup devices connected thereto. One image pickup device shoots the state of the surroundings of a vehicle, and the other shoots the state of the inside of the vehicle. A processor uses images from the image pickup devices to generate a driving assist image representing both of the state of the surroundings of the vehicle and the state of the inside thereof. With this, it is possible to provide an image processor which generates a driving assist image capable of providing more information to a driver.
摘要翻译： 图像处理器具有与其连接的两种类型的图像拾取装置。 一个图像拾取装置拍摄车辆的周围环境，另一个拍摄车辆内部的状态。 处理器使用来自图像拾取装置的图像来产生表示车辆的周围状态和其内部的状态的驾驶辅助图像。 由此，能够提供能够向驾驶员提供更多信息的驾驶辅助图像的图像处理装置。
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7.发明授权公开(公告)号：US07304651B2
公开(公告)日：2007-12-04
申请号：US09861548
申请日：2001-05-22
申请人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Akira Ishida , Atsushi Iisaka , Takashi Yoshida
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/302 , B60R2300/304 , B60R2300/404 , B60R2300/70 , B60R2300/802 , H04N7/181
摘要： In a rendering device Urnd1, a processor 1 receives a front-left image Sfl and a front-right image Sfr at regular intervals, and therefrom, cuts out a partial front-left image and a partial front-right image for overlay onto a mask image. The processor 1 then overlays, with a predetermined timing, any one of vehicle model images varying in size onto the mask image. Here, the vehicle model image is overlaid in such manner as to create a moving picture as if the vehicle model image is moving forward. With such vehicle model image, a driver of a vehicle can instantaneously recognize that a drive assistant device is now showing the front side of the vehicle.
摘要翻译： 在渲染设备Urnd 1中，处理器1以规则的间隔接收前左图像Sfl和前右图像Sfr，并从中切出部分前左图像和部分右前图像以覆盖到 掩模图像。 然后，处理器1以预定的定时将大小变化的车辆模型图像中的任何一个叠加到掩模图像上。 这里，车辆模型图像以如同车辆模型图像向前移动的方式创建运动图像的方式被覆盖。 利用这种车辆模型图像，车辆的驾驶员可以立即识别出驾驶辅助装置正在显示车辆的前侧。
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8.发明授权Rendering device for generating a drive assistant image for drive assistance 有权用于产生用于驱动器辅助的驱动辅助图像的渲染装置公开(公告)号：US06369701B1
公开(公告)日：2002-04-09
申请号：US09892740
申请日：2001-06-28
申请人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
发明人： Takashi Yoshida , Nobuhiko Yasui , Atsushi Iisaka , Akira Ishida
IPC分类号： B60Q100
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/105 , B60R2300/107 , B60R2300/305 , B60R2300/60 , B60R2300/802 , B60R2300/806 , B60R2300/8086 , G06T5/006 , G06T15/20
摘要： In a rendering device Urnd, a CPU generates a lower viewpoint image based on captured images captured by image capture devices both securely mounted to a vehicle. Here, the lower viewpoint image shows a region rear of the vehicle viewed from those image capture devices. Then, the CPU executes viewpoint conversion processing onto the captured images, and generates an upper viewpoint image. Here, the upper viewpoint image shows also the region rear of the vehicle but viewed from a camera virtually placed above the vehicle. The CPU then stitches the upper and lower viewpoint images together to generate a drive assistant image. In such manner, the drive assistant image generated by the rendering device Urnd becomes informative enough for a driver of the vehicle.
摘要翻译： 在渲染设备Urnd中，CPU基于被牢固地安装到车辆的图像捕获设备捕获的捕获图像来生成较低的视点图像。 这里，下视点图像示出从那些图像捕获装置观看的车辆后方的区域。 然后，CPU对拍摄图像执行视点转换处理，并生成上视点图像。 这里，上视点图像还示出了车辆的区域后方，但是从实际上放置在车辆上方的相机观察。 然后，CPU将上下视点图像缝合在一起以产生驱动辅助图像。 以这种方式，由渲染设备Urnd生成的驱动辅助图像对于车辆的驾驶者来说变得足够信息。
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公开(公告)号：US08201199B2
公开(公告)日：2012-06-12
申请号：US12369979
申请日：2009-02-12
CPC分类号： G06T15/20 , B60R1/00 , B60R2300/207 , B60R2300/30 , B60R2300/60 , B60R2300/8066 , G06T5/006 , H04N7/181
摘要： A camera for taking a state behind a vehicle is installed in a position laterally shifted from the rear center of the vehicle. An image processing unit generates a rear image from a camera image by shifting merely a rectangular area of the camera image so that a vertical center line thereof can substantially accord with the center line along the lengthwise direction of the vehicle. Furthermore, processing for correcting lens distortion may be performed. As a result, when the vehicle is moved straight backward, an object present on the center line of the vehicle moves vertically in substantially the center of the screen, so that a user can be prevented from having an odd feeling to see the image.
摘要翻译： 在车辆后方拍摄状态的照相机安装在从车辆后方侧向偏移的位置。 图像处理单元仅通过仅移动摄像机图像的矩形区域从而使其垂直中心线基本上与沿着车辆的长度方向的中心线一致，从摄像机图像生成后方图像。 此外，可以执行用于校正透镜失真的处理。 结果，当车辆向后移动时，存在于车辆的中心线上的物体在屏幕的大致中心处垂直移动，从而可以防止用户看到图像的奇怪的感觉。
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公开(公告)号：US07502048B2
公开(公告)日：2009-03-10
申请号：US10271411
申请日：2002-10-15
申请人： Shusaku Okamoto , Masamichi Nakagawa , Atsushi Morimura , Kazufumi Mizusawa , Atsushi Iisaka , Takashi Yoshida
发明人： Shusaku Okamoto , Masamichi Nakagawa , Atsushi Morimura , Kazufumi Mizusawa , Atsushi Iisaka , Takashi Yoshida
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/303 , B60R2300/305 , B60R2300/607
摘要： The invention provides a vehicle surroundings monitoring system for synthesizing and displaying images captured by a plurality of cameras to provide images that, near the border between partial images, are more accurate and more readily understood by the user than has been the case conventionally. In the synthesized image, a partial image captured by a first camera and a partial image captured by a second camera are adjacent to one another at their border. Near this border, the capturing directions of the first and the second cameras both substantially match the direction of the border. Consequently, images of objects near the border extend along the border, and thus do not disappear on the synthesized image.
摘要翻译： 本发明提供了一种用于合成和显示由多个摄像机拍摄的图像的车辆周边监视系统，以提供在部分图像之间的边界附近比现有情况更为精确和更易于理解的图像。 在合成图像中，由第一相机拍摄的部分图像和由第二相机拍摄的部分图像在其边界处彼此相邻。 在该边界附近，第一和第二相机的拍摄方向基本上与边界的方向相匹配。 因此，边界附近的物体的图像沿边界延伸，因此不会在合成图像上消失。
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