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公开(公告)号：US09886773B2
公开(公告)日：2018-02-06
申请号：US15003107
申请日：2016-01-21
Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO CORPORATION
Inventor： Naohide Uchida , Noriaki Shirai , Hirotake Ishigami
CPC classification number: G06T7/593 , G06K9/00805 , G06T2207/10021 , G06T2207/30261 , H04N13/204 , H04N2013/0081
Abstract: An object detection apparatus includes a camera and an ECU. The camera is mounted to a vehicle and captures an image. The ECU is configured to obtain a depth distance for each pixel area of the image based on the image; extract at least one potential object based on the depth distance; calculate an amount of change over time in the depth distance of the at least one potential object; and detect an object around the vehicle from among the at least one potential object using the amount of change over time. When a first potential object and a second potential object that are adjacent in the image are extracted, and a second amount of change over time is twice a first amount of change over time, the second potential object is determined to be the same object as the first potential object.
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公开(公告)号：US20150228057A1
公开(公告)日：2015-08-13
申请号：US14422502
申请日：2013-08-20
Applicant: DENSO CORPORATION , NIPPON SOKEN, INC. , TOYOTA JIDOSHA KABUSHIKI KAISHA
Inventor： Hirotake Ishigami , Noriaki Shirai , Masayuki Imanishi , Yoshinao Takamae
CPC classification number: G06T5/001 , G06T5/20 , G06T7/593 , G06T2207/10012 , G06T2207/20228
Abstract: There is provided an apparatus for generating a disparity map. According to the apparatus, an image acquisition section acquires a right-camera image and a left-camera image which are picked up from mutually different viewpoints by cameras. A disparity map generation section generates a disparity map that includes disparity expressed in terms of a difference in pixel positions between each of pixels and a corresponding one of pixels in the right-camera image and the left-camera image, respectively, as acquired. A weight determination section determines a weight that serves as a degree of contribution to disparity correction, for each of weight-calculation-target pixels composed of surrounding pixels. The weight-calculation-target pixels include a correction-target pixel or surrounding pixels that are present around the correction-target pixel in the disparity map. A disparity map correction section corrects the disparity of the correction-target pixel, using weighted average based on the determined weight.
Abstract translation: 提供了一种用于生成视差图的装置。 根据该装置，图像获取部获取通过照相机从相互不同的视点拾取的右摄像机图像和左摄像机图像。 视差图生成部生成视差图，该视差图包含以像素为单位的像素位置的差异以及右摄像机图像和左摄像机图像中的相应像素之间的像差所表示的视差。 权重确定部分对于由周围像素组成的权重计算目标像素中的每一个，确定用作对视差校正的贡献度的权重。 权重计算目标像素包括在视差图中的校正对象像素周围存在的校正对象像素或周围像素。 视差图校正部分使用基于确定的权重的加权平均来校正校正对象像素的差异。
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公开(公告)号：US10853666B2
公开(公告)日：2020-12-01
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：US10041791B2
公开(公告)日：2018-08-07
申请号：US15215367
申请日：2016-07-20
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Ken Tanabe , Hiroaki Ito , Masakazu Nishijima
Abstract: In an object detection apparatus, a range image generator, based on distance information indicative of distances from a given measurement point to objects in real space, generates a range image indicative of a distribution of distance information of objects located around the measurement point. A subgroup generator horizontally divides the range image into a number of column regions of prescribed width, and for each column region, generates one or more subgroups that extend continuously in a vertical direction of the range image and fall within a given range of distance information. A continuity determiner determines, for each of the subgroups, whether or not there is distance continuity between the subgroup and its horizontally adjacent subgroup in the range image. A merger merges together horizontally continuous-in-distance subgroups. An object detector detects an object in each of regions of the range image corresponding to the respective merged groups.
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公开(公告)号：US20160140401A1
公开(公告)日：2016-05-19
申请号：US14900852
申请日：2014-06-25
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki
CPC classification number: G06K9/00798 , B60R1/00 , B60W30/10 , G06K9/52 , G06T7/60
Abstract: A road surface information acquisition apparatus a lane line recognizer configured to, based on a road surface image of a carpool lane forward of a vehicle acquired by a camera, recognize lane lines of the carpool lane. The apparatus further includes a determiner configured to, based on a lane partition line recognized by the lane line recognizer, determine a start point and an end point of the entrance and exit, and a lane-width calculator configured to, based on the lane lines recognized by the lane line recognizer, calculate a lane width of the carpool lane. The apparatus further includes a lane-width corrector configured to, based on determinations made by the determiner, correct the lane width calculated by the lane-width calculator. Based on a broken line as the lane partition line, the determiner determines the start point and the end point of the entrance and exit of the carpool lane.
Abstract translation: 路面信息获取装置，车道线识别装置，被配置为基于由相机获取的车辆前方的拼车车道的路面图像，识别拼车车道的车道线。 该装置还包括：确定器，被配置为基于由车道线识别器识别的车道分隔线，确定入口和出口的起始点和终点;以及车道宽度计算器，其被配置为基于车道线 由车道线识别器识别，计算拼车车道的车道宽度。 所述装置还包括车道宽度校正器，其被配置为基于由所述确定器进行的确定来校正由所述车道宽度计算器计算出的车道宽度。 基于虚线作为车道分隔线，确定器确定拼车车道的入口和出口的起点和终点。
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Patent Agency Ranking
公开(公告)号：US10074019B2
公开(公告)日：2018-09-11
申请号：US14900852
申请日：2014-06-25
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki
CPC classification number: G06K9/00798 , B60R1/00 , B60W30/10 , G06K9/52 , G06T7/60
Abstract: A road surface information acquisition apparatus a lane line recognizer configured to, based on a road surface image of a carpool lane forward of a vehicle acquired by a camera, recognize lane lines of the carpool lane. The apparatus further includes a determiner configured to, based on a lane partition line recognized by the lane line recognizer, determine a start point and an end point of the entrance and exit, and a lane-width calculator configured to, based on the lane lines recognized by the lane line recognizer, calculate a lane width of the carpool lane. The apparatus further includes a lane-width corrector configured to, based on determinations made by the determiner, correct the lane width calculated by the lane-width calculator. Based on a broken line as the lane partition line, the determiner determines the start point and the end point of the entrance and exit of the carpool lane.
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公开(公告)号：US20170024875A1
公开(公告)日：2017-01-26
申请号：US15215367
申请日：2016-07-20
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Ken Tanabe , Hiroaki Ito , Masakazu Nishijima
CPC classification number: G01C3/08 , G01C3/14 , G06K9/00805
Abstract: In an object detection apparatus, a range image generator, based on distance information indicative of distances from a given measurement point to objects in real space, generates a range image indicative of a distribution of distance information of objects located around the measurement point. A subgroup generator horizontally divides the range image into a number of column regions of prescribed width, and for each column region, generates one or more subgroups that extend continuously in a vertical direction of the range image and fall within a given range of distance information. A continuity determiner determines, for each of the subgroups, whether or not there is distance continuity between the subgroup and its horizontally adjacent subgroup in the range image. A merger merges together horizontally continuous-in-distance subgroups. An object detector detects an object in each of regions of the range image corresponding to the respective merged groups.
Abstract translation: 在物体检测装置中，距离图像生成器基于指示从给定测量点到实际空间中的物体的距离的距离信息，生成指示位于测量点周围的物体的距离信息分布的范围图像。 子组生成器将范围图像水平分割成规定宽度的列区域，并且对于每个列区域，生成在范围图像的垂直方向上连续延伸并落入给定距离信息范围内的一个或多个子组。 对于每个子组，连续性确定器确定范围图像中子组与其水平相邻子组之间是否存在距离连续性。 合并将横向连续远程子组合在一起。 对象检测器检测对应于各合并组的范围图像的每个区域中的对象。
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公开(公告)号：US09542606B2
公开(公告)日：2017-01-10
申请号：US14635540
申请日：2015-03-02
Applicant: DENSO CORPORATION
Inventor： Hirotake Ishigami , Naoki Kawasaki , Syunya Kumano , Shunsuke Suzuki , Satoshi Osanai , Tetsuya Takafuji
CPC classification number: G06K9/00798 , G06T7/13 , G06T7/60 , G06T2207/20061 , G06T2207/30256
Abstract: In a lane line recognition apparatus, an abnormality determiner is configured to determine whether or not a width of a travel lane defined by left-side and right-side lane lines is abnormal, and a lane-line recognizer is configured to, when the width of the travel lane is not abnormal, recognize both of the left-side and right-side lane lines in a both-side line recognition mode, and when the width of the travel lane is abnormal, recognize one of the lane lines in a one-side line recognition mode. In the one-side line recognition mode, the lane-line recognizer is configured to, for each of the left-side and right-side lane lines, calculate two or more parameters of the lane line, and then integrate recognition results for the respective two or more parameters, and based on the integrated recognition results of the left-side and right-side lane lines, select one of the lane lines to be recognized.
Abstract translation: 在车道线识别装置中，异常判定器被配置为确定由左侧车道线和右侧车道线限定的行驶车道的宽度是否异常，并且车道线识别器被配置为当宽度 行驶车道不正常的情况下，在双方侧线路识别模式下识别左侧车道线路和右侧车道线路两侧，并且当行驶车道的宽度异常时，识别一条车道线路 边线识别模式。 在单面线识别模式中，车道线识别器被配置为对于左侧车道线和右侧车道线中的每一条，计算车道线的两个或更多个参数，然后将各个车道线的识别结果集成 两个或多个参数，并且基于左侧和右侧车道线的集成识别结果，选择要被识别的车道线之一。
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公开(公告)号：US10953885B2
公开(公告)日：2021-03-23
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 a camera sensor 11 for taking images of a region in front of a vehicle, and an electronic control unit (ECU) configured to: calculate, based on a taken image, parallax information including a parallax of each pixel composing the taken image; extract a pixel corresponding to a road surface from the taken image; acquire, based on information of the extracted pixel, information-indicating-a-road-surface; calculate, 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; determine whether or not an absolute value of a coefficient of a quadratic term of this formula is greater than a coefficient threshold; and invalidate 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：US10733749B2
公开(公告)日：2020-08-04
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
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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