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

IPC: G06K9/00 ,  G06K9/62 ,  H04N13/02 ,  G06K9/78 ,  G06K9/20 ,  G06T7/246 ,  G06T7/292

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.

公开(公告)号：US20170363416A1

公开(公告)日：2017-12-21

申请号：US15611386

申请日：2017-06-01

Applicant: DENSO CORPORATION ,  NAGOYA INSTITUTE OF TECHNOLOGY

Inventor： Kazuhisa ISHIMARU ,  Noriaki SHIRAI ,  Jun SATO ,  Fumihiko SAKAUE

IPC: G01B11/00 ,  G06T7/70 ,  G06K9/46 ,  H04N5/247

CPC classification number: G01B11/002 ,  G06K9/00791 ,  G06K9/46 ,  G06T7/70 ,  H04N5/247

Abstract: A position measuring apparatus detects, from respective first and second imaging planes of first and second captured images, first and second corresponding points estimated to represent a common three-dimensional position. The apparatus calculates first to fourth projected points. Each of the first and second projected points represents a projected point of the first corresponding point on a corresponding one of the first and second common planes. Each of the third and fourth projected points represents a projected point of the second corresponding point on a corresponding one of the first and second common planes. The apparatus calculates a first beam connecting the first and second projected points, a second beam connecting the third and fourth projected points, and a point having a minimum square distance relative to each of the first and second beams as a restored point representing the three-dimensional position of the first and second corresponding points.