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：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.