-
公开(公告)号：US10043106B2
公开(公告)日：2018-08-07
申请号：US15171606
申请日：2016-06-02
Applicant: DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
CPC classification number: G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
Abstract: A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.
-
公开(公告)号：US20140200801A1
公开(公告)日：2014-07-17
申请号：US14154561
申请日：2014-01-14
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
IPC: G01C21/34
CPC classification number: B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
Abstract: When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.
Abstract translation: 当要为车辆生成行驶路径时，检测并记录限定车辆的行车道的路面线（白线等）以及车辆环境中的外部物体，并将其登记为相应的障碍物。 特定点被限定在每个障碍物上的适当位置处，并且通过将相对的特定点对之间的各个中点位置连接而产生行进路径，每对定义在相对的（左侧，右侧）对 的登记障碍。
-
Patent Agency Ranking
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
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
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：US09796378B2
公开(公告)日：2017-10-24
申请号：US14154561
申请日：2014-01-14
Applicant: DENSO CORPORATION
Inventor： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
CPC classification number: B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
Abstract: When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.
-
公开(公告)号：US20160358325A1
公开(公告)日：2016-12-08
申请号：US15171606
申请日：2016-06-02
Applicant: DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
Inventor： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
CPC classification number: G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
Abstract: A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.
Abstract translation: 相应的点搜索方法通过使用预定的第一种方法（例如维特比算法）来搜索参考图像中的每个像素的车载相机获取的多个图像中的相应点。 该方法通过使用预定的第二方法（例如光流法）来搜索参考图像中的每个像素的多个图像中的对应点。 该方法检测在通过预定的第一方法获得的参考图像中划分的每个区域中的相应点的搜索精度是否不小于参考值。 当不小于参考值时，该方法选择通过预定的第一种方法获得的相应点。 当小于参考值时，搜索方法选择通过预定的第二方法获得的对应点。 搜索方法以高精度提供多个图像之间的对应点。
-
公开(公告)号：US20160252617A1
公开(公告)日：2016-09-01
申请号：US15055239
申请日：2016-02-26
Applicant: DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
Inventor： Hossein Tehrani Niknejad , Utsushi Sakai , Takashi Ogawa , Seiichi Mita , Qiwei Xie
CPC classification number: G01S17/42 , G01S7/4802 , G01S7/4808 , G01S17/936
Abstract: In an object recognition apparatus, a range point acquirer irradiates each of irradiation areas arranged in a horizontally and vertically extending grid and forming a detection area for detecting a target with laser light and receives the reflected light from the respective irradiation areas, thereby acquiring a plurality of range points representing per-irradiation area coordinates of the target. A noise remover is configured to, based on either or both of degrees of angle proximity and degrees of distance proximity between a plurality of subject range points to be determined whether to be a noise point, of the plurality of range points, as viewed from a reference point, determine whether or not each of the subject range points is a noise point, and remove the noise point from the plurality of range points. An object recognizer uses the plurality of range points other than the noise points to recognize the object.
Abstract translation: 在物体识别装置中，范围点获取器照射布置在水平和垂直延伸的格栅中的每个照射区域，并且形成用于用激光检测目标的检测区域，并接收来自各个照射区域的反射光，从而获得多个 表示目标的每个照射区域坐标的范围点。 噪声去除器被配置为基于从多个距离点中观察到的多个距离点之间的角度接近程度和待确定的是否为噪声点的多个被摄体范围点之间的距离接近度的一个或两个 参考点，确定每个对象范围点是否是噪声点，并且从多个范围点去除噪声点。 对象识别器使用除了噪声点以外的多个范围点来识别对象。
-
-
-
-
-
-
Search Results
7
records
(took 0.012 seconds)
