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公开(公告)号：US20190100215A1
公开(公告)日：2019-04-04
申请号：US16144556
申请日：2018-09-27
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Hirotake ISHIGAMI , Naohide UCHIDA , Ken TANABE , Masaki KUWAHARA
Abstract: A road surface detecting apparatus comprises imaging means 11 for taking an image of a region in front of a vehicle, parallax information calculating means for calculating, based on a taken image, parallax information including a parallax of each pixel composing the taken image, road surface information acquiring means for extracting a pixel corresponding to a road surface from the taken image, and acquiring, based on information of extracted pixel, information-indicating-a-road-surface, road surface gradient formula calculating means for calculating, based on the information-indicating-a-road-surface, a road surface gradient formula by approximating a gradient of the road surface by a quadratic function, gradient change determining means for determining whether or not an absolute value of a coefficient of a quadratic term of this formula is greater than a coefficient threshold, and invalidating means for invalidating the information-indicating-a-road-surface when the absolute value is determined to be greater than the threshold.
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公开(公告)号：US20190102602A1
公开(公告)日：2019-04-04
申请号：US16145361
申请日：2018-09-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Naohide UCHIDA , Fumio SUGAYA , Ken TANABE , Hirotake ISHIGAMI , Masaki KUWAHARA
IPC: G06K9/00 , H04N13/239 , G08G1/04
Abstract: An apparatus comprises three-dimensional object detecting means for detecting a three-dimensional object in a taken image, temporarily determining means for calculating, based on parallax information, a lower end height from a road surface to a lower end of the object, for temporarily determining that the object is a ground-contacting object when the lower end height is less than or equal to a threshold, and for temporarily determining that the object is a floating object when the lower end height exceeds the threshold, and finally determining means for finally determining whether the object is a ground-contacting object or a floating object. The finally determining means finally determines that the object is a ground-contacting object at the current computation timing when the object is determined to be a ground-contacting object in at least one of the temporary determination at the current computation timing and the final determination at the previous computation timing.
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Patent Agency Ranking
公开(公告)号：US20170357863A1
公开(公告)日：2017-12-14
申请号：US15617636
申请日：2017-06-08
Applicant: DENSO CORPORATION
Inventor： Tomohiko TSURUTA , Naoki KAWASAKI , Kazuhisa ISHIMARU , Noriaki SHIRAI , Hirotake ISHIGAMI
CPC classification number: G06K9/00805 , G06K9/00369 , G06T7/254 , G06T7/285 , G06T2207/30261 , H04N13/106 , H04N13/239
Abstract: In an object detection apparatus and an object detection method, as first and second images, captured images of an area ahead of a vehicle in a vehicle advancing direction are acquired from first and second imaging units provided in the vehicle. Based on the first and second images, whether or not an object is present in a blind spot ahead of the vehicle in the vehicle advancing direction is determined. When the object is determined to be present in the blind spot, the first and second images are held in time series. As first and second image differences, differences in a feature quantity between a previous image and a current image in the first and second images are acquired. Based on the first and second image differences, whether or not the object is approaching the area ahead of the vehicle is determined.
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公开(公告)号：US20190102633A1
公开(公告)日：2019-04-04
申请号：US16145346
申请日：2018-09-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Naohide UCHIDA , Ken TANABE , Hirotake ISHIGAMI , Masaki KUWAHARA
Abstract: A target object estimating apparatus comprises parallax information calculating means for calculating parallax information including a parallax between corresponding pixels of taken images taken at a same computation timing, road surface region detecting means for detecting a road surface region in the taken image based on the parallax information, road surface region determining means for determining whether or not each pixel in the taken image corresponds to the road surface region, transition information calculating means for calculating transition information including a change amount of a position of each pixel, using temporally sequential taken images, and estimated value calculating means for estimating a position and a speed of a target object by calculating, based on the parallax/transition information, estimated values of the position and the speed of each pixel. The estimated value calculating means does not calculate the estimated values for a pixel determined to correspond to the road surface region.
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公开(公告)号：US20190096075A1
公开(公告)日：2019-03-28
申请号：US16136905
申请日：2018-09-20
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toshihiko TERADA , Naohide UCHIDA , Hirotake ISHIGAMI , Hiroaki ITO
IPC: G06T7/593
CPC classification number: G06T7/593 , G06T2207/10012 , G06T2207/20221 , G06T2207/20228 , G06T2207/30252
Abstract: An apparatus for supervising a vicinity of a vehicle includes: an image capturing unit that captures a plurality of images in which an object is simultaneously captured from different locations; a parallax calculation unit that performs a sub pixel estimation based on the plurality of images to calculate a parallax value; a parallax offset calculation unit that calculates a parallax offset value based on the parallax value under a condition where a decimal part S of the parallax value is within a predetermined range; and a parallax correction unit that corrects the parallax value using the parallax offset value.
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公开(公告)号：US20190102900A1
公开(公告)日：2019-04-04
申请号：US16145348
申请日：2018-09-28
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Naohide UCHIDA , Ken TANABE , Hirotake ISHIGAMI , Masaki KUWAHARA , Noriaki SHIRAI
IPC: G06T7/593 , H04N13/239 , G06K9/62
CPC classification number: G06T7/593 , G06K9/6202 , G06T2207/10012 , G06T2207/20021 , G06T2207/30252 , H04N13/128 , H04N13/239 , H04N2013/0081
Abstract: A parallax calculating apparatus comprises first parallax calculating means for calculating a first parallax on a basis of a reference image for all pixels in the reference image using SGM method, second parallax calculating means for calculating a second parallax on a basis of the reference image for at least a part of pixels among pixels in the reference image using BM method, and final parallax calculating means for calculating a final parallax of each of pixels in the reference image based on the first and second parallaxes, The final parallax calculating means calculates the first parallax as the final parallax for a pixel for which only the first parallax has been calculated and calculates a parallax where a decimal part of the first parallax is replaced with that of the second parallax as the final parallax for a pixel for which the first and second parallaxes have been calculated,
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公开(公告)号：US20190095761A1
公开(公告)日：2019-03-28
申请号：US16136891
申请日：2018-09-20
Applicant: DENSO CORPORATION , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Toshihiko TERADA , Naohide UCHIDA , Hirotake ISHIGAMI , Hiroaki ITO
Abstract: A vicinity supervising device includes an image capturing unit that captures a plurality of images in which an object is simultaneously captured from different locations; a matching processing unit that calculates a parallax point and a reliability point, the parallax point being the number of pixel regions from which a parallax is calculated among a plurality of pixel regions divided by the plurality of images, and the reliability point being the number of pixel regions having high recognition reliability among the plurality of pixel regions; and an evaluation unit that evaluates, based on the parallax point and the reliability point, an imaging environment where the plurality of images are captured.
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