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公开(公告)号：US20080175437A1
公开(公告)日：2008-07-24
申请号：US12055132
申请日：2008-03-25
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , G06K9/00973 , G06K9/4604 , G06T7/74
摘要： A vehicle-onboard driving lane recognizing apparatus of a small scale includes an image pick-up unit (1) mounted on a motor vehicle for picking up images of scenes making appearance in front of the motor vehicle, an image data selecting unit (2) for selecting image data only of a predetermined region from the image picked up by the image pick-up unit (1), an image data storing unit (3) for storing the image data, and a driving lane recognizing unit (4) for detecting lane markings (21) on the road from the image data stored in the image data storing unit (3) to thereby recognize a driving lane extending along the lane markings (21). The image data selecting unit (2), the image data storing unit (3) and the driving lane recognizing unit (4) are all implemented in a single chip.
摘要翻译： 小型车载行车道识别装置包括安装在机动车辆上的摄像单元（1），用于拾取机动车辆前方出现的场景的图像，图像数据选择单元（2） 用于从由图像拾取单元（1）拾取的图像中仅选择预定区域的图像数据，用于存储图像数据的图像数据存储单元（3）和用于检测图像数据的行驶车道识别单元（4） 根据存储在图像数据存储单元（3）中的图像数据在道路上的车道标记（21），从而识别沿着车道标记（21）延伸的行驶车道。 图像数据选择单元（2），图像数据存储单元（3）和行驶车道识别单元（4）都被实现在单个芯片中。
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公开(公告)号：US07724921B2
公开(公告)日：2010-05-25
申请号：US12055132
申请日：2008-03-25
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , G06K9/00973 , G06K9/4604 , G06T7/74
摘要： A vehicle-onboard driving lane recognizing apparatus of a small scale includes an image pick-up unit (1) mounted on a motor vehicle for picking up images of scenes making appearance in front of the motor vehicle, an image data selecting unit (2) for selecting image data only of a predetermined region from the image picked up by the image pick-up unit (1), an image data storing unit (3) for storing the image data, and a driving lane recognizing unit (4) for detecting lane markings (21) on the road from the image data stored in the image data storing unit (3) to thereby recognize a driving lane extending along the lane markings (21). The image data selecting unit (2), the image data storing unit (3) and the driving lane recognizing unit (4) are all implemented in a single chip.
摘要翻译： 小型车载行车道识别装置包括安装在机动车辆上的摄像单元（1），用于拾取机动车辆前方出现的场景的图像，图像数据选择单元（2） 用于从由图像拾取单元（1）拾取的图像中仅选择预定区域的图像数据，用于存储图像数据的图像数据存储单元（3）和用于检测图像数据的行驶车道识别单元（4） 根据存储在图像数据存储单元（3）中的图像数据在道路上的车道标记（21），从而识别沿着车道标记（21）延伸的行驶车道。 图像数据选择单元（2），图像数据存储单元（3）和行驶车道识别单元（4）都被实现在单个芯片中。
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公开(公告)号：US20100098296A9
公开(公告)日：2010-04-22
申请号：US12055132
申请日：2008-03-25
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , G06K9/00973 , G06K9/4604 , G06T7/74
摘要： A vehicle-onboard driving lane recognizing apparatus of a small scale includes an image pick-up unit (1) mounted on a motor vehicle for picking up images of scenes making appearance in front of the motor vehicle, an image data selecting unit (2) for selecting image data only of a predetermined region from the image picked up by the image pick-up unit (1), an image data storing unit (3) for storing the image data, and a driving lane recognizing unit (4) for detecting lane markings (21) on the road from the image data stored in the image data storing unit (3) to thereby recognize a driving lane extending along the lane markings (21). The image data selecting unit (2), the image data storing unit (3) and the driving lane recognizing unit (4) are all implemented in a single chip.
摘要翻译： 小型车载行车道识别装置包括安装在机动车辆上的摄像单元（1），用于拾取机动车辆前方出现的场景的图像，图像数据选择单元（2） 用于从由图像拾取单元（1）拾取的图像中仅选择预定区域的图像数据，用于存储图像数据的图像数据存储单元（3）和用于检测图像数据的行驶车道识别单元（4） 根据存储在图像数据存储单元（3）中的图像数据在道路上的车道标记（21），从而识别沿着车道标记（21）延伸的行驶车道。 图像数据选择单元（2），图像数据存储单元（3）和行驶车道识别单元（4）都被实现在单个芯片中。
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公开(公告)号：US20050135658A1
公开(公告)日：2005-06-23
申请号：US10839247
申请日：2004-05-06
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06K9/46 , G06T1/00 , G06T7/00 , G06T7/60 , G08G1/16 , H04N7/18
CPC分类号： G06K9/4604 , G06K9/00798 , G06T7/73
摘要： A lane recognizing image processing system for recognizing lane markings laid on a driving road for motor vehicles includes a lane marking candidate point extraction means (20) for extracting lane marking candidate points (C) from an image (G) taken by an image pickup means (10) mounted on the motor vehicle, and a lane recognizing means (30) for recognizing a lane defined on the road on the basis of set of the lane marking candidate points (C). The lane recognizing means (30) includes a lane marking candidate point position converting means (31) for recognizing as lane marking candidate point positions the positions of the lane marking candidate points (C) transformed onto a straight line extending toward a null point.
摘要翻译： 一种车道识别图像处理系统，用于识别布置在用于机动车辆的行驶道路上的道路标线，包括车道标记候选点提取装置，用于从图像拾取装置拍摄的图像（G）中提取车道标记候选点（C） （10），以及车道识别装置（30），用于基于车道标记候补点（C）的集合来识别在道路上限定的车道。 车道识别装置（30）包括车道标记候选点位置转换装置（31），用于将车道标记候选点（C）的位置识别为车道标记候选点位置，该车道标记候补点（C）变换到朝向零点延伸的直线上。
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5.发明授权Video imaging apparatus having non-linear input-output characteristic for improved image contrast control 失效具有用于改善图像对比度控制的非线性输入 - 输出特性的视频成像设备公开(公告)号：US07639287B2
公开(公告)日：2009-12-29
申请号：US11050703
申请日：2005-02-07
IPC分类号： H04N9/68
CPC分类号： H04N5/2355 , B60R11/04 , B60R2011/0026 , H04N5/20 , H04N5/208 , H04N5/243
摘要： An imaging apparatus of a wide dynamic range can be achieved at low cost while making improvement in contrast and the maintenance or reduction of a circuit size compatible with each other. The apparatus includes a photoelectric conversion part that converts a signal from a light receiving element into a voltage in accordance with an amount of incident light, an analog signal processing part that processes an analog video signal output from the photoelectric conversion part, an A/D conversion part that converts the analog video signal into a digital video signal, and a high frequency emphasis part that emphasizes a high frequency component of the video signal. The high frequency emphasis part suppresses a low frequency component of brightness in the video signal to emphasize the high frequency component, whereby image data of good contrast can be obtained while keeping a dynamic range of the signal.
摘要翻译： 可以以低成本实现宽动态范围的成像装置，同时改善对比度和维持或减少彼此兼容的电路尺寸。 该装置包括：光电转换部，其根据入射光量将来自光接收元件的信号转换成电压;处理从光电转换部输出的模拟视频信号的模拟信号处理部，A / D 转换部分，其将模拟视频信号转换为数字视频信号;以及高频重点部分，其强调视频信号的高频分量。 高频重点部分抑制视频信号中的低频分量，以强调高频分量，由此可以在保持信号的动态范围的同时获得良好对比度的图像数据。
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公开(公告)号：US07889274B2
公开(公告)日：2011-02-15
申请号：US11188641
申请日：2005-07-26
CPC分类号： H04N5/2351 , H04N5/2355
摘要： An image input apparatus can acquire an image with a high contrast without saturating a camera output even for a subject having a large light and dark difference while achieving a wide dynamic range. An image sensor has an input-output characteristic varying with a plurality of regions delimited according to a difference in the amount of incident light. A video luminance signal level is detected from a video signal of the image sensor. An amount of light on a screen is calculated from the image luminance signal level. The image sensor is adjusted to make the amount of light on the screen coincide with a target light amount. The target light amount is set such that a relation between the target light amount R and an amount of light Q at a change point that is at the lowest luminance in an input-output characteristic of the image sensor satisfies R
摘要翻译： 图像输入装置可以获得具有高对比度的图像，即使对于具有大的明暗差异的对象，也不会使相机输出饱和，同时实现宽的动态范围。 图像传感器具有根据入射光量的差定义的多个区域而变化的输入 - 输出特性。 从图像传感器的视频信号检测视频亮度信号电平。 根据图像亮度信号电平计算屏幕上的光量。 调整图像传感器以使屏幕上的光量与目标光量一致。 目标光量被设定为使得目标光量R与在图像传感器的输入输出特性中处于最低亮度的变化点处的光量Q之间的关系满足R
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公开(公告)号：US07295683B2
公开(公告)日：2007-11-13
申请号：US10839247
申请日：2004-05-06
IPC分类号： G06K9/30
CPC分类号： G06K9/4604 , G06K9/00798 , G06T7/73
摘要： A lane recognizing image processing system for recognizing lane markings laid on a driving road for motor vehicles includes a lane marking candidate point extraction means (20) for extracting lane marking candidate points (C) from an image (G) taken by an image pickup means (10) mounted on the motor vehicle, and a lane recognizing means (30) for recognizing a lane defined on the road on the basis of set of the lane marking candidate points (C). The lane recognizing means (30) includes a lane marking candidate point position converting means (31) for recognizing as lane marking candidate point positions the positions of the lane marking candidate points (C) transformed onto a straight line extending toward a null point.
摘要翻译： 一种车道识别图像处理系统，用于识别布置在用于机动车辆的行驶道路上的道路标线，包括车道标记候选点提取装置，用于从图像拾取装置拍摄的图像（G）中提取车道标记候选点（C） （10），以及车道识别装置（30），用于基于车道标记候补点（C）的集合来识别在道路上限定的车道。 车道识别装置（30）包括车道标记候选点位置转换装置（31），用于将车道标记候选点（C）的位置识别为车道标记候选点位置，该车道标记候补点（C）变换到朝向零点延伸的直线上。
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公开(公告)号：US07209832B2
公开(公告)日：2007-04-24
申请号：US11003468
申请日：2004-12-06
IPC分类号： G06K9/00
CPC分类号： G01S17/936 , G01S5/16 , G01S11/12 , G06K9/00798
摘要： A lane recognition image processing apparatus can improve lane marking recognition performance by preventing false detection by addition of a condition without changing the basic principle of an one-dimensional image filter. A search area is set for each lane marking with respect to images stored in a image storage part through a window. A candidate point extraction part extracts candidate points of each lane marking from the search area thus set. A lane marking mathematical model equation is derived by approximating sets of extracted candidate points by a mathematical model equation. The candidate point extraction part includes a kernel size setting part, a filtering part that outputs, as a filtering result, the smaller of differences between the gray value of a pixel of interest and those of pixels forwardly and rearwardly apart a kernel size from the pixel of interest in a scanning direction, respectively, and a binarization part that binarizes the filtering result.
摘要翻译： 车道识别图像处理装置可以通过在不改变一维图像滤波器的基本原理的情况下添加条件来防止错误检测来改善车道标记识别性能。 针对通过窗口存储在图像存储部分中的图像，针对每个车道标记设置搜索区域。 候选点提取部分从如此设置的搜索区域中提取每个车道标记的候选点。 通过数学模型方程逼近提取的候选点集来导出车道标记数学模型方程。 候选点提取部分包括核大小设置部分，滤波部分作为滤波结果输出感兴趣像素的灰度值与像素之间的像素向前和向后分离的较小的像素 分别对扫描方向感兴趣的二值化部分和二值化滤波结果的二值化部分。
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公开(公告)号：US20060028560A1
公开(公告)日：2006-02-09
申请号：US11050703
申请日：2005-02-07
IPC分类号： H04N9/68
CPC分类号： H04N5/2355 , B60R11/04 , B60R2011/0026 , H04N5/20 , H04N5/208 , H04N5/243
摘要： An imaging apparatus of a wide dynamic range can be achieved at low cost while making improvement in contrast and the maintenance or reduction of a circuit size compatible with each other. The apparatus includes a photoelectric conversion part that converts a signal from a light receiving element into a voltage in accordance with an amount of incident light, an analog signal processing part that processes an analog video signal output from the photoelectric conversion part, an A/D conversion part that converts the analog video signal into a digital video signal, and a high frequency emphasis part that emphasizes a high frequency component of the video signal. The high frequency emphasis part suppresses a low frequency component of brightness in the video signal to emphasize the high frequency component, whereby image data of good contrast can be obtained while keeping a dynamic range of the signal.
摘要翻译： 可以以低成本实现宽动态范围的成像装置，同时改善对比度和维持或减少彼此兼容的电路尺寸。 该装置包括：光电转换部，其根据入射光量将来自光接收元件的信号转换成电压;处理从光电转换部输出的模拟视频信号的模拟信号处理部，A / D 转换部分，其将模拟视频信号转换为数字视频信号;以及高频重点部分，其强调视频信号的高频分量。 高频重点部分抑制视频信号中的低频分量，以强调高频分量，由此可以在保持信号的动态范围的同时获得良好对比度的图像数据。
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公开(公告)号：US20060015252A1
公开(公告)日：2006-01-19
申请号：US11003468
申请日：2004-12-06
CPC分类号： G01S17/936 , G01S5/16 , G01S11/12 , G06K9/00798
摘要： A lane recognition image processing apparatus can improve lane marking recognition performance by preventing false detection by addition of a condition without changing the basic principle of an one-dimensional image filter. A search area is set for each lane marking with respect to images stored in a image storage part through a window. A candidate point extraction part extracts candidate points of each lane marking from the search area thus set. A lane marking mathematical model equation is derived by approximating sets of extracted candidate points by a mathematical model equation. The candidate point extraction part includes a kernel size setting part, a filtering part that outputs, as a filtering result, the smaller of differences between the gray value of a pixel of interest and those of pixels forwardly and rearwardly apart a kernel size from the pixel of interest in a scanning direction, respectively, and a binarization part that binarizes the filtering result.
摘要翻译： 车道识别图像处理装置可以通过在不改变一维图像滤波器的基本原理的情况下添加条件来防止错误检测来改善车道标记识别性能。 针对通过窗口存储在图像存储部分中的图像，针对每个车道标记设置搜索区域。 候选点提取部分从如此设置的搜索区域中提取每个车道标记的候选点。 通过数学模型方程逼近提取的候选点集来导出车道标记数学模型方程。 候选点提取部分包括核大小设置部分，滤波部分作为滤波结果输出感兴趣像素的灰度值与像素之间的像素向前和向后分离的较小的像素 分别对扫描方向感兴趣的二值化部分和二值化滤波结果的二值化部分。
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