公开(公告)号：US20200151912A1

公开(公告)日：2020-05-14

申请号：US16739472

申请日：2020-01-10

Applicant: DENSO CORPORATION

Inventor： Takamichi TORIKURA ,  Kenji OKANO ,  Matias FOCKEN

IPC: G06T7/90 ,  G06T7/00

Abstract: In a vehicle surroundings recognition apparatus that recognizes a specific target around a vehicle from an image captured by an imaging unit, a shadow detection unit is configured to detect a shadow region based on a difference, between a plurality of elements constituting the image, in intensity of a specific color component included in colors represented by the plurality of elements and a difference in luminance between the plurality of elements, the shadow region being a region in the image in which a shadow is cast on a surface of the road. A feature point detection unit is configured to detect feature points in the image. A recognition unit is configured to recognize the target based on the shadow region detected by the shadow detection unit and a group of feature points detected by the feature point detection unit.

公开(公告)号：US20180253630A1

公开(公告)日：2018-09-06

申请号：US15448287

申请日：2017-03-02

Applicant: Denso International America, Inc. ,  DENSO CORPORATION

Inventor： Malok Alamir TAMER ,  Kenji OKANO

IPC: G06K9/62 ,  H04N7/18 ,  G06T11/60 ,  G06K9/46 ,  G06T7/246 ,  H04N5/247 ,  B60R11/04 ,  G08G1/16

CPC classification number: G08G1/167 ,  G06K9/00805 ,  G06T7/248 ,  G06T11/60 ,  G06T2207/30241 ,  H04N5/217 ,  H04N5/228 ,  H04N5/232 ,  H04N5/235 ,  H04N5/247 ,  H04N7/181

Abstract: A camera monitoring system for a vehicle includes a plurality of cameras disposed around an exterior of a vehicle. An image processing module communicates with the plurality of cameras, generating overhead view images from raw images taken by at least one of the plurality of cameras. A histogram module communicates with the image processing module, generating at least one histogram from the overhead view images. A likelihood module communicates with the histogram module and determines a likelihood of blockage for at least one of the plurality of cameras. A line alignment module communicates with the likelihood module and the image processing module to determine whether a trajectory of detected feature points in a selected camera aligns with a trajectory of detected feature points in an adjacent camera. A reporting module communicates with the line alignment module and reports a camera blockage status to at least one vehicle system or controller.

公开(公告)号：US20230388477A1

公开(公告)日：2023-11-30

申请号：US18323256

申请日：2023-05-24

Applicant: DENSO CORPORATION

Inventor： Hiroaki MARUNO ,  Kenji OKANO ,  Hirofumi TAKASUKA ,  Atsushi YOSHIHARA

IPC: H04N13/246 ,  G06T7/80

CPC classification number: H04N13/246 ,  G06T7/80

Abstract: A calibration verification method for verifying a calibration result of a camera mounted to a vehicle includes: an image acquiring step for acquiring an image captured by a camera; an overlay position calculation step for calculating a display position of a required accuracy range based on positional information of a verification target and a required accuracy of the camera; an overlay image generation step for generating an overlay image indicating a display position of the required accuracy range, and causing a display device to display a verification image where the overlay image is overlaid on the image captured by the camera; and a determination step for determining that the calibration result of the camera satisfies the required accuracy of the camera.

公开(公告)号：US20200074209A1

公开(公告)日：2020-03-05

申请号：US16553631

申请日：2019-08-28

Applicant: DENSO CORPORATION

Inventor： Takuya MIWA ,  Kenji OKANO

IPC: G06K9/32 ,  G06F16/583 ,  G06T15/60 ,  G06K9/00

Abstract: In an object recognition device, an object recognition unit is configured to acquire a captured image and recognize an object in the acquired captured image. In the object recognition device, a shadow detection unit is configured to determine whether a shadow of the object is present in the acquired captured image, and an output unit is configured to output a determination result based on whether a shadow of the object is present.

公开(公告)号：US20200039437A1

公开(公告)日：2020-02-06

申请号：US16339613

申请日：2017-10-02

Applicant: DENSO CORPORATION

Inventor： Hiroshi ISHIDA ,  Kenji OKANO

IPC: B60R1/00 ,  G08G1/16 ,  G06T11/20

Abstract: An image processing device includes an image acquiring unit, a detection unit, and a display processing unit. The image acquiring unit is configured to acquire a captured image from an image capturing device configured to capture an image of the periphery of a vehicle. The detection unit is configured to detect a lane marker defining a traveling track of the vehicle from the captured image acquired by the image acquiring unit. The display processing unit is configured to display, on a display device, a superimposition image as the captured image on which a marker image for supporting visibility of the lane marker is superimposed such that the marker image is superimposed on the lane marker detected by the detection unit.

公开(公告)号：US20180181821A1

公开(公告)日：2018-06-28

申请号：US15855880

申请日：2017-12-27

Applicant: DENSO CORPORATION

Inventor： Shuichi SHIMIZU ,  Kenji OKANO ,  Takamichi TORIKURA

IPC: G06K9/00

CPC classification number: G06K9/00798 ,  B60R11/04 ,  G06K9/4604 ,  G06K9/6205

Abstract: The image processing device counts the number of lane marking feature points. The image processing device determines whether the count number of the lane marking feature points is equal to or greater than a first threshold. The image processing device arranges the setting to use the lane marking feature points in the lane marking detection process when the count number of the lane marking feature points is equal to or greater than the first threshold. On the other hand, the image processing device counts the number of Botts' Dot feature points when the count number of the lane marking feature points is smaller than the first threshold. The image processing device arranges the setting to use the Botts' Dot feature points in the lane marking detection process when the count number of the Botts' Dot feature points is equal to or greater than the second threshold.

公开(公告)号：US20180012084A1

公开(公告)日：2018-01-11

申请号：US15643350

申请日：2017-07-06

Applicant: DENSO CORPORATION

Inventor： Kenji OKANO ,  Akinobu SAKAI ,  Takamichi TORIKURA

IPC: G06K9/00 ,  G06K9/46

CPC classification number: G06K9/00798 ,  G06K9/46

Abstract: A division line recognition apparatus is provided with a feature detector detecting bright features showing an area which is brighter than a road surface from captured images, and a reflection determination unit which determines straight lines as road surface reflection areas, when the bright feature points are detected in a same position between frames of images captured at a preset period and form a straight line shorter than a preset threshold length, among the detected bright feature points. A white line recognition unit which recognizes a white line from the bright feature points having the bright feature points showing a short line determined as the road surface reflection, removed therefrom.