公开(公告)号：US20160154094A1

公开(公告)日：2016-06-02

申请号：US14905951

申请日：2014-06-25

Applicant: DENSO CORPORATION

Inventor： Kazuhisa Ishimaru ,  Kiyokazu Takagi ,  Naoki Kawasaki

IPC: G01S7/48 ,  G01S17/93 ,  G08G1/16 ,  G01S17/42

CPC classification number: G01S7/4802 ,  G01S7/4873 ,  G01S17/42 ,  G01S17/936 ,  G08G1/16

Abstract: A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.

Abstract translation: 提供监视装置。 当确定位于搜索范围内的物体的部分是否是空中物质的确定处理时，测距器针对形成搜索范围的多个单位区域中的每一个测量到位于搜索范围内的物体的距离， 变量测量计算器计算针对各个单位区域测量的距离（单独的距离）的方差，可变阈值设定器基于各个距离可变地设置变化度量阈值，并且确定器确定至少部分对象是 如果计算出的方差超过变化量阈值，则空气中的物质。

公开(公告)号：US20160042236A1

公开(公告)日：2016-02-11

申请号：US14783060

申请日：2014-04-04

Applicant: DENSO CORPORATION

Inventor： Kazuhisa Ishimaru ,  Shunsuke Suzuki ,  Tetsuya Takafuji

IPC: G06K9/00 ,  H04N7/18 ,  G06T7/00

CPC classification number: G06K9/00798 ,  G06T7/12 ,  G06T2207/20076 ,  G06T2207/30256 ,  G08G1/167 ,  H04N7/183

Abstract: This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.

Abstract translation: 本发明提供有：摄像机，用于拍摄行进路径的图像; 边缘点提取单元，用于基于由照相机拍摄的图像的亮度提取边缘点; 候选行提取单元，用于根据所提取的边缘点的连续性，提取划分行驶路径的边界线的候选行; 频率计算单元，用于根据候选行提取单元提取的属于候选行的边缘点，计算用于指定边界线宽度的参数的边缘点的频率分布; 概率生成单元，其基于由所述频率计算单元计算出的频率分布，计算所述参数的候补行为边界线的概率的分布; 以及边界线识别单元，用于基于由概率生成单元计算的概率分布来识别边界线。

公开(公告)号：US10060740B2

公开(公告)日：2018-08-28

申请号：US14947941

申请日：2015-11-20

Applicant: DENSO CORPORATION

Inventor： Kazuhisa Ishimaru ,  Noriaki Shirai

IPC: G01C3/08 ,  H04N13/02 ,  G06T7/593

CPC classification number: G01C3/085 ,  G06T7/593 ,  G06T2207/30261 ,  H04N13/225 ,  H04N13/239 ,  H04N2013/0081

Abstract: A distance detection device calculates a pixel cost, every reference pixel, based on a difference between reference pixel information in a reference image and comparative pixel information in a comparative image while switching the reference and comparative images. The device calculates a parallax cost, every reference pixel, representing a cost regarding a change-amount of the parallax as a coordinate difference between a reference pixel and a comparative pixel when the reference image is switched. The device calculates a combination of each reference pixel and a comparative pixel having a minimum total cost every reference pixel. The minimum total cost represents a sum of the pixel cost and the parallax cost. The device obtains a relationship of a corresponding point between each reference pixel and its corresponding comparative pixel, and calculates a distance to an object in each captured image based on the relationship of the corresponding point.

公开(公告)号：US10033981B2

公开(公告)日：2018-07-24

申请号：US14961465

申请日：2015-12-07

Applicant: DENSO CORPORATION

Inventor： Taiki Kawano ,  Masaki Masuda ,  Naoki Kawasaki ,  Kazuhisa Ishimaru

IPC: H04N13/00 ,  G06K9/62 ,  H04N13/02 ,  G06T7/50

Abstract: In an image processing apparatus, an image acquiring unit acquires a first image and a second image that form stereoscopic images. A first sub-image extracting unit extracts first sub-images from the first image. A second sub-image extracting unit extracts second sub-images from the second image. A matching unit matches each pair of the first and second sub-images to determine a degree of similarity therebetween. A similar sub-image setting unit sets the second sub-image having a highest degree of similarity to the first sub-image to be a similar sub-image to the first sub-image. A brightness comparing unit compares in brightness each pair of the first and second sub-images. The matching unit is configured to, if a result of comparison made by the brightness comparing unit between a pair of the first and second sub-images is out of a predetermined brightness range, exclude such a pair of the first and second sub-images.

公开(公告)号：US09626573B2

公开(公告)日：2017-04-18

申请号：US14806361

申请日：2015-07-22

Applicant: DENSO CORPORATION

Inventor： Yuu Maeda ,  Shunsuke Suzuki ,  Yusuke Ueda ,  Kazuhisa Ishimaru ,  Osamu Shimomura ,  Naoki Kawasaki

IPC: G06K9/00 ,  G06F19/00

CPC classification number: G06K9/00798

Abstract: A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

公开(公告)号：US09626572B2

公开(公告)日：2017-04-18

申请号：US14404224

申请日：2013-05-31

Applicant: DENSO CORPORATION ,  NIPPON SOKEN, INC.

Inventor： Kazuhisa Ishimaru ,  Naoki Kawasaki ,  Shunsuke Suzuki ,  Tetsuya Takafuji

IPC: H04N7/18 ,  G06K9/00 ,  G08G1/16 ,  G06T7/00 ,  B60R1/00

CPC classification number: G06K9/00798 ,  B60R1/00 ,  G06T7/12 ,  G06T2207/10024 ,  G06T2207/30256 ,  G08G1/167

Abstract: In vehicle-lane boundary line detection, low-luminance values are acquired from areas corresponding to below a tire and directly below a vehicle center based on a road surface image. A snow rut degree is calculated based on a luminance ration between the areas. A probability is calculated from a map based on the calculated snow rut degree. A parameter indicating the degree of snow rut likeness is calculated by a low-pass filtering process. A snow rut determination is made by the calculation result being compared with a predetermined threshold. A final determination of whether or not a snow rut is present is made, with reference to an outside temperature. When determined that a snow rut is present, a determination is made not to perform the detection. When determined that a snow rut is not present, a determination is made to perform the detection.

公开(公告)号：US20160146602A1

公开(公告)日：2016-05-26

申请号：US14947941

申请日：2015-11-20

Applicant: DENSO CORPORATION

Inventor： Kazuhisa Ishimaru ,  Noriaki Shirai

IPC: G01C3/08 ,  G06K9/62 ,  B60R11/04 ,  H04N13/02 ,  H04N7/18 ,  G06T7/00 ,  G06K9/46

CPC classification number: G01C3/085 ,  G06T7/593 ,  G06T2207/30261 ,  H04N13/225 ,  H04N13/239 ,  H04N2013/0081

Abstract: A distance detection device calculates a pixel cost, every reference pixel, based on a difference between reference pixel information in a reference image and comparative pixel information in a comparative image while switching the reference and comparative images. The device calculates a parallax cost, every reference pixel, representing a cost regarding a change-amount of the parallax as a coordinate difference between a reference pixel and a comparative pixel when the reference image is switched. The device calculates a combination of each reference pixel and a comparative pixel having a minimum total cost every reference pixel. The minimum total cost represents a sum of the pixel cost and the parallax cost. The device obtains a relationship of a corresponding point between each reference pixel and its corresponding comparative pixel, and calculates a distance to an object in each captured image based on the relationship of the corresponding point.

Abstract translation: 距离检测装置基于参考图像中的参考像素信息和比较图像中的比较像素信息之间的差异来计算像素成本，每个参考像素，同时切换参考和比较图像。 该装置计算视差成本，每个参考像素，表示当参考图像被切换时作为参考像素和比较像素之间的坐标差的视差变化量的成本。 该装置计算每个参考像素和每个参考像素具有最小总成本的比较像素的组合。 最小总成本代表像素成本和视差成本的总和。 该装置获得每个参考像素与其对应的比较像素之间的对应点的关系，并且基于相应点的关系来计算每个拍摄图像中的对象的距离。

公开(公告)号：US20170201736A1

公开(公告)日：2017-07-13

申请号：US15320986

申请日：2015-06-17

Applicant: DENSO CORPORATION ,  TOYOTA SCHOOL FOUNDATION

Inventor： Kazuhisa Ishimaru ,  Hossein Tehrani Niknejad ,  Seiichi Mita ,  Qian Long

IPC: H04N13/00 ,  H04N13/02 ,  G01C3/06

CPC classification number: H04N13/128 ,  G01C3/06 ,  G01C3/10 ,  H04N13/243 ,  H04N13/246 ,  H04N13/271 ,  H04N2013/0081

Abstract: A range correction device includes an image acquiring unit, a collimating unit, a disparity calculating unit, and an updating unit. The image acquiring unit acquires stereo images formed of a plurality of simultaneously captured images. The collimating unit collimates the stereo images acquired by the image acquiring unit, using a correction parameter for correcting a vertical displacement between stereo images. The disparity calculating unit calculates a distribution of horizontal disparities between the stereo images from the stereo images collimated by the collimating unit. The updating unit calculates a distribution of vertical displacements between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit and updates the correction parameter on the basis of the distribution of the calculated vertical displacements.

公开(公告)号：US20170064286A1

公开(公告)日：2017-03-02

申请号：US15240916

申请日：2016-08-18

Applicant: DENSO CORPORATION ,  TOYOTA SCHOOL FOUNDATION

Inventor： Kazuhisa Ishimaru ,  Noriaki Shirai ,  Seiichi Mita ,  Qian Long

IPC: H04N13/02 ,  B60R1/00 ,  G06T7/00 ,  G06K9/00 ,  G06T3/40

CPC classification number: G06T7/00 ,  G01C3/14 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/20016 ,  G06T2207/20021 ,  G06T2207/30261 ,  H04N13/271 ,  H04N2013/0081

Abstract: A parallax detection device receives right side image and a left side image, makes right and left low resolution images, and divides the right low resolution image into blocks composed of pixels. For every block, the device detects a parallax of the block by searching the block in the left low resolution image having the region the same as the region of the block of the right low resolution image by using a dynamic programming method. The device divides the right side image into blocks, and searches a resolution corresponding block in the left side image having the region the same as the region of the block for every block by using a block matching method to detect a parallax of the block. The device limits the searching range of the resolution corresponding block in the left side image based on the parallax detection result obtained by the dynamic programming method.

Abstract translation: 视差检测装置接收右侧图像和左侧图像，进行左右低分辨率图像，并将右侧低分辨率图像分割为由像素组成的块。 对于每个块，通过使用动态规划方法，通过搜索具有与右低分辨率图像的区域的区域相同的区域的左低分辨率图像中的块来检测块的视差。 该装置将右侧图像划分为块，并且通过使用块匹配方法来搜索具有与块的区域相同的区域的左侧图像中的分辨率对应块，以检测块的视差。 该装置基于通过动态编程方法获得的视差检测结果来限制左侧图像中的分辨率对应块的搜索范围。

公开(公告)号：US20160026879A1

公开(公告)日：2016-01-28

申请号：US14806361

申请日：2015-07-22

Applicant: DENSO CORPORATION

Inventor： Yuu Maeda ,  Shunsuke Suzuki ,  Yusuke Ueda ,  Kazuhisa Ishimaru ,  Osamu Shimomura ,  Naoki Kawasaki

IPC: G06K9/00

CPC classification number: G06K9/00798

Abstract: A traffic lane marking recognition apparatus includes a candidate detecting unit, a gap detecting unit, and a recognition reducing unit. The candidate detecting unit detects a lane dividing line candidate which is a candidate for a lane dividing line that defines a traffic lane on a road, based on an image of the road captured by an on-board camera that is mounted in a vehicle. The gap detecting unit detects a gap included in the lane dividing line candidate detected by the candidate detecting unit. When the gap is detected by the gap detecting unit, the recognition reducing unit reduces a probability of recognition of the lane dividing line candidate as a lane dividing line to a first probability that is lower than the probability when the gap detecting unit does not detect the gap, in a region from the gap closest to the vehicle towards a direction away from the vehicle.

Abstract translation: 行车道标识识别装置包括候选检测单元，间隙检测单元和识别减少单元。 候选检测单元基于由安装在车辆中的车载摄像机捕获的道路的图像，检测作为道路上的行车道的车道划分线候选的车道划分线路候补。 间隙检测单元检测由候选检测单元检测到的车道划分线候选中包括的间隙。 当间隙检测单元检测到间隙时，识别降低单元将作为通道分割线的车道划分线候选的识别概率降低到低于间隙检测单元未检测到的概率的第一概率 间隙，从最接近车辆的间隙朝向远离车辆的方向的区域中。