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公开(公告)号：US11182626B2
公开(公告)日：2021-11-23
申请号：US16556906
申请日：2019-08-30
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An attached object detection apparatus includes a setting part, a calculator, and a detector. A setting part sets a plurality of divided regions within a captured image captured by an image capturing apparatus. A calculator calculates, for each of the plurality of divided regions and based on luminance of pixels in the divided region, a representative luminance value and an amount of luminance dispersion. A detector detects, as an attached region that has an attached object, a divided region among the plurality of divided regions that satisfies the following conditions: i) a first difference is equal to or smaller than a first predetermined difference, ii) a second difference is equal to or smaller than a second predetermined difference, and iii) the representative luminance value of the current divided region is equal to or smaller than a first predetermined value.
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公开(公告)号：US11120291B2
公开(公告)日：2021-09-14
申请号：US16566422
申请日：2019-09-10
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An extraneous-matter detecting apparatus includes a region setting unit, a computing unit, a change-value setting unit, an updating unit, and a detection unit. The region setting unit sets divided regions for a captured image captured by an image capturing device. The computing unit computes, for a corresponding divided region, a first difference between a past representative value of luminance and a present representative value of luminance and a second difference between a past dispersion amount of luminance and a present dispersion amount of luminance. The change-value setting unit sets, based on the first and the second differences, a change value of a counter value that indicates an adhesion state of an extraneous matter in the divided region. The updating unit updates the counter value based on the change value. The detection unit detects, based on the counter value, an adhesion state of an extraneous matter in the divided region.
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公开(公告)号：US11037266B2
公开(公告)日：2021-06-15
申请号：US16564794
申请日：2019-09-09
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An attached substance detection device according to an embodiment includes a calculation unit and a determination unit. The calculation unit calculates a score of a divided region that is provided by dividing a predetermined target region, based on an edge intensity in each pixel region of a captured image that is captured by an image-capturing device. The determination unit determines whether or not the target region is an attached substance region where an attached substance is attached to a lens of the image-capturing device, based on the score that is calculated by the calculation unit.
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公开(公告)号：US10970592B2
公开(公告)日：2021-04-06
申请号：US16562815
申请日：2019-09-06
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An adhering substance detection apparatus includes calculating, first and second detecting, and generating units. The calculating unit calculates a variation in a feature value related to luminance in past and current captured images captured by an image capturing device, based on the luminance of pixels included in the captured images. The first detecting unit detects a first region in which the variation calculated by the calculating unit falls within a threshold range, and the feature value in the current captured image falls within a threshold range. The second detecting unit detects a second region in which an irregularity in a distribution of the luminance of the pixels included in the captured image satisfies a predetermined irregularity condition. The generating unit generates a sum region being a sum of the first and second regions, as an adhering substance region corresponding to an adhering substance adhering to the image capturing device.
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公开(公告)号：US10735667B1
公开(公告)日：2020-08-04
申请号：US16713225
申请日：2019-12-13
发明人： Yusuke Kida , Nobuhisa Ikeda
摘要： When each of a right IR projector and a left IR projector has been set to an IR OFF state and a final radiation ON condition becomes satisfied, a PVM-ECU sets each of the right IR projector and the left IR projector to an IR ON state. When each of the right IR projector and the left IR projector has been set to the IR ON state and a final radiation ON condition becomes satisfied, the PVM-ECU sets each of the right IR projector and the left IR projector to the IR ON state.
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公开(公告)号：US20180314907A1
公开(公告)日：2018-11-01
申请号：US15920951
申请日：2018-03-14
申请人： DENSO TEN Limited
CPC分类号： G06K9/4647 , G06K9/00791 , G06K9/3233 , G06K9/4661
摘要： An extraneous-matter detecting apparatus including a dividing unit that divides a captured image into a plurality of regions. The captured image is output from an image capturing device; a computing unit detecting luminance values of pixels included in each of the regions divided by the dividing unit, and computes, for each of target regions, an average value or a standard deviation of luminance values of the detected luminance values. The corresponding target region corresponds to the one or more regions; and a detection unit that extracts the target regions having the average values or the standard deviations of the luminance values computed by the computing unit, which are within a predetermined range, and detects, when the extracted target regions are adjacent to each other, the adjacent target regions as an extraneous-matter region. The extraneous-matter region is a region of the image capturing device to which an extraneous matter is adhered.
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公开(公告)号：US11354795B2
公开(公告)日：2022-06-07
申请号：US17019513
申请日：2020-09-14
申请人： DENSO TEN Limited
发明人： Nobunori Asayama , Nobuhisa Ikeda , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes a detection module and a storage processing module. The detection module detects a deposit region corresponding to a deposit adhering to an imaging device, based on brightness information of an image captured by the imaging device. The storage processing module stores deposit information on the deposit region in a storage unit that is nonvolatile, when an ignition power of a vehicle is turned off in a state in which the deposit region is detected. For an initial detection process after the ignition power is turned on, the detection module detects the deposit region based on the deposit information stored in the storage unit.
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公开(公告)号：US11250553B2
公开(公告)日：2022-02-15
申请号：US17019853
申请日：2020-09-14
申请人： DENSO TEN Limited
发明人： Nobunori Asayama , Nobuhisa Ikeda , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A deposit detection device according to an embodiment includes a calculation module, an extraction module, and a decision module. The calculation module calculates a brightness average for each of small regions into which a predetermined region of an image captured by an imaging device is divided. The extraction module extracts, as a high-brightness region, the small region in which the brightness average calculated by the calculation module is equal to or larger than a predetermined value. The decision module decides on a brightness threshold value for detecting a deposit region corresponding to a deposit adhering to the imaging device, based on the area of the high-brightness region extracted by the extraction module.
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公开(公告)号：US11170487B2
公开(公告)日：2021-11-09
申请号：US16670120
申请日：2019-10-31
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： An adhered substance detection apparatus includes a controller configured to function as a determination part, an extractor, and a detector. The determination part determines a representative edge direction using a predetermined angle range as a unit for each pixel area of a plurality of pixel areas of a photographic image photographed by a photographing device, the representative edge direction being determined for each of the pixel areas based on an edge angle of each pixel included in the pixel area. The extractor extracts an array pattern in which a plurality of the pixel areas having a same representative edge direction are continuously arranged along a predetermined scanning direction based on the representative edge directions of the pixel areas determined by the determination part. The detector detects whether an adhered substance area exists on a lens of the photographing device based on the array pattern extracted by the extractor.
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公开(公告)号：US10997743B2
公开(公告)日：2021-05-04
申请号：US16703958
申请日：2019-12-05
申请人： DENSO TEN Limited
发明人： Nobuhisa Ikeda , Nobunori Asayama , Takashi Kono , Yasushi Tani , Daisuke Yamamoto , Tomokazu Oki , Teruhiko Kamibayashi
摘要： A decision part decides a representative edge direction using a predetermined angle range as a unit for each pixel area of a plurality of pixel areas of a photographic image photographed by a camera based on an edge angle of each pixel contained in the pixel area. An extractor extracts two of the pixel areas that are adjacent to each other as a pair area among the pixel areas of the photographic image, when the two pixel areas that are adjacent to each other have opposite representative edge directions. A determination part determines whether or not there is an attachable matter on a lens of the camera based on at least one of (1) a number of the pair areas extracted by the extractor and (2) a total sum of edge intensities of the pixel areas contained in the pair areas.
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