公开(公告)号：USRE37610E1

公开(公告)日：2002-03-26

申请号：US09102880

申请日：1998-06-24

申请人： Hideaki Tsuchiya ,  Keiji Hanawa ,  Keiji Saneyoshi

发明人： Hideaki Tsuchiya ,  Keiji Hanawa ,  Keiji Saneyoshi

IPC分类号： B60Q100

CPC分类号： G06K9/00805 ,  G01S11/12 ,  G05D1/0251 ,  G05D2201/0213 ,  G06T7/593 ,  G06T2200/28 ,  G06T2207/10012 ,  G06T2207/30252 ,  H04N13/10 ,  H04N13/167 ,  H04N13/189 ,  H04N13/239 ,  H04N2013/0081 ,  H04N2013/0092 ,  H04N2013/0096

摘要： A running guide apparatus for a vehicle includes stereoscopic picture processing element for processing a pair of stereoscopic pictures of an object outside a vehicle imaged by a imaging system mounted on the vehicle, construction detection element for detecting a plurality of various constructions by using three dimensional position data calculated with each portion of the object corresponding to the distance distribution data from the stereoscopic picture processing element; gap distance calculation element for respectively calculating the nearest distance as right and left gap distances each between an extended line of right or left side of the vehicle and each of ends on the vehicle side of the plurality of various constructions detected by the construction detection element; and information element for informing the driver of data related to the right and left gap data calculated by the gap distance calculation element; so as to obtain a distance distribution of an entire picture in dependency upon a discrepancy amount positions corresponding to of the pair of the stereoscopic pictures in accordance with a principle of a triangulation.

摘要翻译： 一种用于车辆的行驶引导装置，包括用于处理由安装在车辆上的成像系统成像的车辆外部的对象的一对立体图像的立体图像处理元件，用于通过使用三维位置来检测多个各种结构的构造检测元件 根据与来自立体图像处理元件的距离分布数据对应的对象的每个部分计算的数据; 间隙距离计算元件，用于分别计算最近的距离，作为由所述构造检测元件检测到的所述车辆的右侧或左侧的延伸线与所述多个各种结构中的车辆侧的每个端部之间的左右间隙距离; 以及信息单元，用于通知驾驶员与间隙距离计算单元计算的与左右间隙数据有关的数据; 以便根据三角测量原理，根据与一对立体图像对应的差异量位置获得整个图像的距离分布。

公开(公告)号：US5530420A

公开(公告)日：1996-06-25

申请号：US364104

申请日：1994-12-27

申请人： Hideaki Tsuchiya ,  Keiji Hanawa ,  Keiji Saneyoshi

发明人： Hideaki Tsuchiya ,  Keiji Hanawa ,  Keiji Saneyoshi

IPC分类号： G01C21/00 ,  B60R21/00 ,  B60W30/00 ,  G01C3/06 ,  G01S11/12 ,  G05D1/02 ,  G06T1/00 ,  G08G1/16 ,  H04N7/18 ,  H04N13/00 ,  B60Q1/00

CPC分类号： H04N13/0239 ,  G01S11/12 ,  G05D1/0251 ,  G06K9/00805 ,  G06T7/0075 ,  G05D2201/0213 ,  G06T2200/28 ,  G06T2207/10012 ,  G06T2207/30252 ,  H04N13/0003 ,  H04N13/0051 ,  H04N13/0055 ,  H04N2013/0081 ,  H04N2013/0092 ,  H04N2013/0096

摘要： A running guide apparatus for a vehicle includes stereoscopic picture processing element for processing a pair of stereoscopic pictures of an object outside a vehicle imaged by a imaging system mounted on the vehicle, construction detection element for detecting a plurality of various constructions by using three dimensional position data calculated with each portion of the object corresponding to the distance distribution data from the stereoscopic picture processing element; gap distance calculation element for respectively calculating the nearest distance as right and left gap distances each between an extended line of right or left side of the vehicle and each of ends on the vehicle side of the plurality of various constructions detected by the construction detection element; and information element for informing the driver of data related to the right and left gap data calculated by the gap distance calculation element; so as to obtain a distance distribution of an entire picture in dependency upon a discrepancy amount positions corresponding to of the pair of the stereoscopic pictures in accordance with a principle of a triangulation.

公开(公告)号：US5410346A

公开(公告)日：1995-04-25

申请号：US31728

申请日：1993-03-15

申请人： Keiji Saneyoshi ,  Keiji Hanawa

发明人： Keiji Saneyoshi ,  Keiji Hanawa

IPC分类号： B60R21/00 ,  B60W30/00 ,  G01B11/24 ,  G01B11/245 ,  G01C3/06 ,  G01C11/06 ,  G01S11/12 ,  G05D1/02 ,  G06K9/00 ,  G06T1/00 ,  G06T7/00 ,  G06T7/20 ,  G06T7/60 ,  G08G1/16 ,  H04N13/00 ,  H04N7/18

CPC分类号： G06T7/0075 ,  B60R1/00 ,  G01C11/06 ,  G01S11/12 ,  G06K9/00798 ,  H04N13/0051 ,  H04N13/0239 ,  G06K2209/23 ,  G06T2207/10012 ,  H04N13/0003 ,  H04N13/0055 ,  H04N2013/0081 ,  H04N2013/0092 ,  H04N2013/0096

摘要： A distance between a running vehicle and an object is determined over an imaged picture with high reliability. Three-dimensional objects or a road shape along with accurate position or dimension are also detected. An object within a set region outside a vehicle is imaged by a stereoscopic optical system to input the imaged picture of the object into a stereoscopic picture processing apparatus. The stereoscopic picture processing apparatus processes the picture imaged by the stereoscopic optical system to calculate a distance distribution over the entire picture. A road/three-dimensional object detecting apparatus calculates three-dimensional positions of respective portions of objects corresponding to information of the distance distribution to detect the shape of the road and a plurality of three-dimensional objects by using information of these three-dimensional positions securely and with high reliability.

摘要翻译： 在高可靠性的成像图像上确定行驶车辆和物体之间的距离。 还检测到三维物体或道路形状以及精确的位置或尺寸。 通过立体光学系统对车辆外部的设定区域内的物体进行成像，将被摄体的成像图像输入立体图像处理装置。 立体图像处理装置处理由立体光学系统成像的图像，以计算整个图像上的距离分布。 道路/三维物体检测装置通过使用这些三维位置的信息来计算与距离分布的信息对应的各部分的三维位置，以检测道路的形状和多个三维物体 安全可靠。

公开(公告)号：US6122597A

公开(公告)日：2000-09-19

申请号：US048332

申请日：1998-03-26

申请人： Keiji Saneyoshi ,  Keiji Hanawa

发明人： Keiji Saneyoshi ,  Keiji Hanawa

IPC分类号： G01B11/00 ,  B60R21/00 ,  B60W30/00 ,  G01C3/06 ,  G06K9/00 ,  G06T5/00 ,  G08G1/16 ,  H04N7/18 ,  H04N13/00 ,  G01C3/14

CPC分类号： H04N13/0239 ,  G06K9/00805 ,  G06T7/0081 ,  G06T2207/10012 ,  G06T2207/10016 ,  G06T2207/30256 ,  G06T2207/30261 ,  H04N13/0003 ,  H04N13/0051 ,  H04N13/0055 ,  H04N13/0059 ,  H04N2013/0081 ,  H04N2013/0092

摘要： A vehicle monitoring apparatus for obtaining a distance image including an image data and three-dimensional distance information and for monitoring surrounding conditions on the basis of the distance image, comprises: means for dividing the distance image into a plurality of blocks composed of picture elements, means for collecting the blocks having a similar distance data and for grouping the blocks into an independent group, means for calculating an area size of the independent group, means for extracting the image data as an object data if the area size of the group is larger than a predetermined value and for discarding the image data as a false data if the area size is smaller than the predetermined value, means for preparing a histogram having a lateral axis representing a deviation amount and a longitudinal axis representing a frequency corresponding to a number of the image data, and means for detecting an object and a distance to the object by deleting the frequency having a smaller number of the image data than a threshold value along the lateral axis on the histogram. Thereby, false data can be removed from the image data and a mismatching can be prevented.

摘要翻译： 一种用于获得包括图像数据和三维距离信息并用于基于距离图像监视周围条件的距离图像的车辆监视装置，包括：用于将距离图像分割成由图像元素组成的多个块的装置， 用于收集具有类似距离数据的块并将块分组为独立组的装置，用于计算独立组的面积大小的装置，用于当组的面积大小较大时提取图像数据作为对象数据的装置 如果所述区域尺寸小于所述预定值，则将所述图像数据作为假数据丢弃的装置，用于准备具有表示偏离量的横向轴的直方图和表示与所述预定值相对应的频率的纵轴的装置 图像数据，以及通过删除具有该对象的频率来检测对象和到达对象的距离的装置 比图像数据更大的数量，而不是直方图上沿着横轴的阈值。 因此，可以从图像数据中去除伪数据，并且可以防止错配。

公开(公告)号：US6148250A

公开(公告)日：2000-11-14

申请号：US246456

申请日：1999-02-09

申请人： Keiji Saneyoshi ,  Hideaki Tsuchiya

发明人： Keiji Saneyoshi ,  Hideaki Tsuchiya

IPC分类号： G01C11/00 ,  G01C3/06 ,  G01C5/00 ,  G01C11/06 ,  G06T1/00 ,  H04N13/00 ,  G05D1/00

CPC分类号： H04N13/0239 ,  G01C11/06 ,  G01C5/005 ,  G06T7/004 ,  G06T2207/10012 ,  H04N13/0003 ,  H04N13/0055 ,  H04N13/0221 ,  H04N13/0296 ,  H04N2013/0081

摘要： A three-dimensional image of a ground surface taken by a stereoscopic camera is converted to a distance image in a stereoscopic processing section. In an altitude calculating section, after peculiar points contained in the distance image are deleted and further the lens distortion is deleted from the distance image, the distance image is transferred to a real space coordinate. Then, an equation approximating to a plane is obtained from data of the distance image and a length of a perpendicular line to the plane is calculated as a ground altitude.

摘要翻译： 由立体摄像机拍摄的地面的三维图像被转换为​​立体处理部分中的距离图像。 在高度计算部分中，在包含在距离图像中的特有点被删除之后，并且从距离图像中删除透镜失真，将距离图像传送到实际空间坐标。 然后，从距离图像的数据获得近似于平面的方程，并计算与该平面的垂直线的长度作为地面高度。

公开(公告)号：US06385334B1

公开(公告)日：2002-05-07

申请号：US09265379

申请日：1999-03-10

申请人： Keiji Saneyoshi ,  Hideaki Tsuchiya

发明人： Keiji Saneyoshi ,  Hideaki Tsuchiya

IPC分类号： G06K900

CPC分类号： H04N13/239 ,  H04N13/111 ,  H04N13/167 ,  H04N13/189 ,  H04N13/246 ,  H04N13/25 ,  H04N13/296 ,  H04N2013/0081 ,  H04N2013/0092

摘要： In a correction operating part 10c, three regions including two distant regions and one near region are selected on a reference image picked up by a main camera 2, and distance data are added to the positions of the respective regions to define a range, in which corresponding regions exist, in a comparative image picked up by a sub-camera 3 to search the range to determine the positions of the regions at a resolution of one pixel or less. Then, on the basis of one of the distant regions, a translation correction value and an angle of rotation for the comparative image are derived from the relationship between the positions of the respective regions to be added to the set value of an affine transforming circuit 18 to parallel-displace and rotate the comparative image. Thereafter, an angle of rotation for causing the horizontal line of the main camera 2 to be parallel to the base line of a stereo camera is derived to be added to the set value of an affine transforming circuit 17 to rotate the reference image. Thus, the deviation of the optical axis of the stereo camera is automatically adjusted while carrying out a usual operation for picking up an image of an ordinary landscape to carry out the stereo image processing.

摘要翻译： 在校正操作部分10c中，在由主摄像机2拍摄的参考图像上选择包括两个遥远区域和一个近区域的三个区域，并且将距离数据添加到各个区域的位置以限定范围，其中 在由副摄像机3拾取的比较图像中存在相应的区域，以搜索该范围以确定以一个像素或更小的分辨率的区域的位置。 然后，根据远距离区域之一，根据要添加到仿射变换电路18的设定值的各个区域的位置之间的关系导出比较图像的平移校正值和旋转角度 平行移位并旋转比较图像。 此后，导出用于使主摄像机2的水平线平行于立体照相机的基线的旋转角度被添加到仿射变换电路17的设定值以旋转参考图像。 因此，在执行用于拾取普通景观的图像的通常操作来执行立体图像处理时，立体相机的光轴的偏差被自动调整。

公开(公告)号：US5307136A

公开(公告)日：1994-04-26

申请号：US960688

申请日：1992-10-14

申请人： Keiji Saneyoshi

发明人： Keiji Saneyoshi

IPC分类号： G08G1/04 ,  B60Q1/52 ,  G01C3/06 ,  G01C11/06 ,  G01S11/12 ,  G06T7/20 ,  G08G1/16 ,  H04N13/00 ,  G01C3/00 ,  B60T7/16

CPC分类号： G06T7/0075 ,  B60Q9/008 ,  B60R1/00 ,  G01C11/06 ,  G01S11/12 ,  H04N13/0239 ,  H04N13/0242 ,  G06T2200/28 ,  G06T2207/10012 ,  G06T2207/30252 ,  G06T2207/30261 ,  H04N13/0025 ,  H04N13/0055 ,  H04N2013/0081

摘要： An automobile distance detection system includes an image camera system which photographs an object which exists in a required range external to an automobile, from a plurality of different directions and obtains a plurality of pictures, and a picture processing unit which processes the plural number of pictures photographed by the camera system and outputs a distance distribution for an entire picture. The image processing unit includes a coincidence calculation element which performs high-speed calculation of a degree of coincidence for each required region, and corresponding to the plural number of pictures photographed by the camera system, and a discrepancy amount determination element determines discrepancy amounts corresponding to the plural number of pictures on the basis of a minimum value for the coincidence, as information relating to the distance distribution.

摘要翻译： 汽车距离检测系统包括从多个不同方向拍摄存在于汽车外部的所需范围内的对象并获得多个图像的图像摄像系统，以及处理多个图像的图像处理单元 由相机系统拍摄并输出整个图像的距离分布。 图像处理单元包括对每个所需区域执行一致度高速计算的符合计算单元，并且与由照相机系统拍摄的多个图像相对应，并且差异量确定单元确定对应于 基于与重合的最小值相对应的多个图像作为与距离分布有关的信息。

公开(公告)号：US6025790A

公开(公告)日：2000-02-15

申请号：US127843

申请日：1998-08-03

申请人： Keiji Saneyoshi

发明人： Keiji Saneyoshi

IPC分类号： G01C11/06 ,  G01B11/00 ,  G01C3/06 ,  G01C11/34 ,  G01C15/00 ,  G01C21/20 ,  G05D1/02 ,  G06T1/00 ,  G06T7/00 ,  H04N13/00 ,  G08B21/00

CPC分类号： H04N13/0239 ,  G05D1/0251 ,  G06T7/004 ,  H04N13/0296 ,  G05D2201/0213 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/30252 ,  H04N13/0003 ,  H04N13/0055 ,  H04N13/0059 ,  H04N13/0246 ,  H04N13/0257 ,  H04N2013/0081 ,  H04N2013/0085 ,  H04N2013/0096

摘要： A camera assembly 10 images a distant landscape and a downward landscape every a predetermined period of time. A position recognizing unit 30 of a moving object (autonomous running vehicle) detects the movement of the moving object on the basis of the movement between the imaged pictures of the distant and downward landscapes, which are imaged at different imaging times. That is, the movements of the distant-view and down-view images are converted to the moving amounts in the actual space on the basis of the distance images thereof, respectively, and the component of rotational speed based on the movement of the distant-view image is removed from the component of velocity based on the movement of the down-view image to derive a pure component of translation speed. Then, the pure component of translation speed is converted to a component of translation viewed from the ranging starting point to be accumulated to derive a navigation locus in a three-dimensional space to recognize the moving-object's own position. Thus, it is possible to analyze the surrounding environment in a three-dimensional space to cause the analyzed surrounding environment to be reflected on a navigation information, so that it is possible to obtain a precise and minute navigation information.

摘要翻译： 相机组件10在预定的时间段内对遥远的景观和向下的景观进行成像。 运动物体（自动运行车辆）的位置识别单元30基于在不同成像时间成像的远距离和向下风景的成像图像之间的运动来检测运动物体的移动。 也就是说，遥视图像和下视图图像的移动分别基于其距离图像被转换为​​实际空间中的移动量，并且基于遥视图像的移动， 基于下拉图像的移动，视频图像从速度分量中移除，得到平移速度的纯分量。 然后，将转换速度的纯分量转换为从测距开始点观看的平移分量，以便累积，以导出三维空间中的导航轨迹，以识别运动对象本身的位置。 因此，可以分析三维空间中的周围环境，使得分析的周围环境能够反映在导航信息上，使得可以获得精确和微小的导航信息。