公开(公告)号：US20250029401A1

公开(公告)日：2025-01-23

申请号：US18709662

申请日：2022-11-04

Applicant: Hitachi Astemo, Ltd.

Inventor： Felipe GOMEZCABALLERO ,  Haruki MATONO ,  Takeshi NAGASAKI

IPC: G06V20/56 ,  G06T7/20 ,  G06T7/593 ,  G06T7/70 ,  G06V20/58 ,  G06V20/64

Abstract: Provided is an image processing device that is capable of storing three-dimensional information relating to a road surface (3D road surface information), transforming/converting the stored 3D road surface information into a current time by using motion of a vehicle, using the three-dimensional information from the road surface together with monocular-based distance estimation processing, increasing the distance measurement accuracy without requiring a special sensor while maintaining the obstacle detection accuracy, and, in particular, supporting a case where an ego vehicle is turning at an intersection that may include a sidewalk area (that is, which includes a difference in ground height relative to a roadway area) that requires accurate monocular-based distance measurement for a detected obstacle. The obstacle ranging unit 161 performs monocular-based distance estimation processing, and uses the 3D road surface information stored via the 3D road surface information acquisition unit 131 and converted to the current time by the 3D road surface information management unit 141.

公开(公告)号：US20250168515A1

公开(公告)日：2025-05-22

申请号：US18841507

申请日：2022-07-29

Applicant: Hitachi Astemo, Ltd.

Inventor： Haruki MATONO ,  Hideaki KIDO ,  Kota IRIE

IPC: H04N23/73 ,  G06V10/141 ,  G06V20/58 ,  H04N13/204

Abstract: Provided is an on-board camera system capable of acquiring accurate three-dimensional information and object recognition information without being affected by a vehicle speed. An on-board camera system including a plurality of cameras arranged on an own vehicle so as to have a stereo vision area in which at least a part of a visual field area is overlapped; a movement amount calculation unit that obtains a movement amount of a feature point of the stereo vision area imaged by the plurality of cameras based on a behavior of the own vehicle; a first exposure condition determination unit that determines a first exposure condition of the plurality of cameras such that the movement amount becomes less than or equal to a threshold value; a second exposure condition determination unit that determines a second exposure condition of the plurality of cameras based on an external light condition of a vehicle exterior; a three-dimensional information acquisition unit that acquires three-dimensional information of the stereo vision area using an image imaged under the first exposure condition; an object recognition unit that recognizes an object around the own vehicle using an image imaged under the second exposure condition; and an exposure control unit that switches an exposure condition of each of the plurality of cameras to the first exposure condition or the second exposure condition.

公开(公告)号：US20230051270A1

公开(公告)日：2023-02-16

申请号：US17791753

申请日：2020-12-25

Applicant: HITACHI ASTEMO, LTD

Inventor： Masayuki TAKEMURA ,  Takeshi SHIMA ,  Haruki MATONO

IPC: G06V20/56 ,  G08G1/16 ,  G06V10/44 ,  G06V20/64 ,  G06V10/74 ,  G06V10/75

Abstract: Erroneous detection due to erroneous parallax measurement is suppressed to accurately detect a step present on a road. An in-vehicle environment recognition device 1 includes a processing device that processes a pair of images acquired by a stereo camera unit 100 mounted on a vehicle. The processing device includes a stereo matching unit 200 that measures a parallax of the pair of images and generates a parallax image, a step candidate extraction unit 300 that extracts a step candidate of a road on which the vehicle travels from the parallax image generated by the stereo matching unit 200, a line segment candidate extraction unit 400 that extracts a line segment candidate from the images acquired by the stereo camera unit 100, an analysis unit 500 that performs collation between the step candidate extracted by the step candidate extraction unit 300 and the line segment candidate extracted by the line segment candidate extraction unit 400 and analyzes validity of the step candidate based on the collation result and an inclination of the line segment candidate, and a three-dimensional object detection unit 600 that detects a step present on the road based on the analysis result of the analysis unit 500.

公开(公告)号：US20250159122A1

公开(公告)日：2025-05-15

申请号：US18836304

申请日：2022-03-15

Applicant: Hitachi Astemo, Ltd.

Inventor： Takeshi NAGASAKI ,  Haruki MATONO ,  Takuma OSATO ,  Hiroki MOIZUMI ,  Keisuke IWASAKI ,  Masayuki KOBAYASHI

IPC: H04N13/122 ,  G06V10/60 ,  H04N13/204

Abstract: An EXTERNAL ENVIRONMENT RECOGNITION DEVICE that reduces an influence on a ranging error caused by a temporal change of an optical system/imaging system is provided by focusing on characteristics (individual difference) of the optical system/imaging system of an in-vehicle stereo camera device. Thus, the EXTERNAL ENVIRONMENT RECOGNITION DEVICE includes a parallax calculation unit that calculates parallax by images captured by an in-vehicle camera device including a plurality of cameras, a ranging unit that obtains a distance to an object outside a vehicle by the parallax, a storage unit in which response characteristics and luminance characteristics of each lens of the plurality of cameras are recorded, a ranging correction necessity determination unit that determines whether the distance to the object is necessary to be corrected using the response characteristics and the luminance characteristics of the lens; and a ranging correction unit that corrects the distance to the object based on the response characteristics and the luminance characteristics of the lens when it is determined that the correction is necessary.

公开(公告)号：US20220366700A1

公开(公告)日：2022-11-17

申请号：US17767043

申请日：2020-09-08

Applicant: HITACHI ASTEMO, LTD.

Inventor： Takeshi ENDO ,  Haruki MATONO ,  Takeshi NAGASAKI

IPC: G06V20/58 ,  G06T7/55 ,  G06V20/64 ,  G06V20/56 ,  G06V10/20 ,  G06V10/26 ,  G08G1/16

Abstract: Provided is an object recognition device capable of accurately estimating a distance from an own vehicle to an object such as a pedestrian. There are provided: a part specification unit 104 that determines a specific part region in an object by analyzing an image of a region corresponding to the object detected by an overlapping region object detection unit 103; an image information storage unit 105 that stores image information on the part region determined by the part specification unit 104; a three-dimensional information acquisition unit 106 that acquires three-dimensional information of the part region specified by the part specification unit 104 on the basis of the distance information acquired by a distance information acquisition unit 102; a non-overlapping region object detection unit 107 that detects the part region specified by the part specification unit 104 with reference to the image information stored in the image information storage unit 105 for the non-overlapping region; and a distance calculation unit 108 that calculates a distance to an object including the part region on the basis of the detection region information on an image of the part region detected by the non-overlapping region object detection unit 107 and the three-dimensional information acquired by the three-dimensional information acquisition unit 106.