公开(公告)号：US20080309784A1

公开(公告)日：2008-12-18

申请号：US12138034

申请日：2008-06-12

申请人： Keisuke ASARI ,  Kaihei KUWATA

发明人： Keisuke ASARI ,  Kaihei KUWATA

IPC分类号： H04N5/228

CPC分类号： B60R1/00 ,  B60R2011/004 ,  B60R2300/102 ,  B60R2300/303 ,  B60R2300/305 ,  B60R2300/602 ,  B60R2300/607 ,  B66C15/045

摘要： A camera system includes a camera unit for obtaining an image of a periphery of a rotating body that is capable of performing a rotating motion, and an image processing device for generating a display image based on a camera image obtained by the camera unit, so that the display image is delivered to a display device. The image processing device generates the display image in such a manner that a specific image area corresponding to an outer periphery position in a movable range of the rotating body when the rotating body rotates can be recognized visually on a display screen of the display device.

摘要翻译： 照相机系统包括用于获得能够进行旋转运动的旋转体的周边的图像的照相机单元和用于基于由照相机单元获得的照相机图像生成显示图像的图像处理装置，使得 显示图像被传送到显示装置。 图像处理装置以显示装置的显示画面可视地识别旋转体旋转时与旋转体的可动范围内的外周位置对应的特定图像区域的方式生成显示图像。

公开(公告)号：US20110181734A1

公开(公告)日：2011-07-28

申请号：US13013778

申请日：2011-01-25

申请人： Keisuke ASARI ,  Yohei ISHII

发明人： Keisuke ASARI ,  Yohei ISHII

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G06T7/80 ,  G06T2207/20101 ,  G06T2207/30208 ,  H04N5/23293

摘要： A calibration parameter creating apparatus includes a first reproducer. A first reproducer reproduces a reference image representing a state in which a plane is overlooked, along an X axis and a Y axis orthogonal to each other. A first acceptor accepts a first designating manipulation designating a plurality of X-Y coordinates on the reference image reproduced by the first reproducer. A determiner determines whether or not a designated manner by the first designating manipulation matches an error condition, based on the plurality of X-Y coordinates designated by the first designating manipulation. A first generator generates a notification when a determined result of the determiner is positive. A calculator calculates a calibration parameter indicating a corresponding relationship between an X-Y coordinate system and a U-V coordinate system based on the X-Y coordinates designated by the first designating manipulation, when the determined result of the determiner is negative.

摘要翻译： 校准参数产生装置包括第一再现器。 第一再生器沿着X轴和Y轴正交地再现表示平面被忽视的状态的参考图像。 第一受体接受在由第一再现器再现的参考图像上指定多个X-Y坐标的第一指定操作。 基于由第一指定操作指定的多个X-Y坐标，确定器确定第一指定操作的指定方式是否匹配错误条件。 当确定器的确定结果为肯定时，第一生成器生成通知。 当确定器的确定结果为负时，计算器基于由第一指定操作指定的X-Y坐标，计算指示X-Y坐标系和U-V坐标系之间的对应关系的校准参数。

公开(公告)号：US20110181733A1

公开(公告)日：2011-07-28

申请号：US13013766

申请日：2011-01-25

申请人： Yohei ISHII ,  Keisuke ASARI

发明人： Yohei ISHII ,  Keisuke ASARI

IPC分类号： H04N17/00

CPC分类号： G06T7/80 ,  G06T2207/10016 ,  G06T2207/30108

摘要： A calibrating apparatus includes a first reproducer which reproduces a reference image representing a state in which a plane is overlooked, along an X axis and a Y axis orthogonal to each other. A second reproducer reproduces a scene image outputted from a camera that captures the plane, along a U axis and a V axis orthogonal to each other. An acceptor accepts a designating manipulation of designating a first area of an X-Y coordinate system, in association with a reproducing process of the first reproducer. A first calculator calculates a second area of a U-V coordinate system corresponding to the first area designated by the designating manipulation, by referring to a calibration parameter indicating a corresponding relationship between the X-Y coordinate system and the U-V coordinate system. A definer defines the second area calculated by the first calculator, in association with a reproducing process of the second reproducer.

摘要翻译： 校准装置包括：第一再生器，其沿着X轴和Y轴彼此正交地再现表示平面被忽视的状态的参考图像。 第二再现器再现沿相机正交的U轴和V轴拍摄平面的照相机输出的场景图像。 接收器接受与第一再现器的再现处理相关联的指定X-Y坐标系的第一区域的指定操作。 参照表示X-Y坐标系和U-V坐标系之间的对应关系的校准参数，第一计算器计算对应于由指定操作指定的第一区域的U-V坐标系的第二区域。 定义者与第二再现器的再现处理相关联地定义由第一计算器计算的第二区域。

公开(公告)号：US20080181488A1

公开(公告)日：2008-07-31

申请号：US12023407

申请日：2008-01-31

申请人： Yohei ISHII ,  Hiroshi KANO ,  Keisuke ASARI

发明人： Yohei ISHII ,  Hiroshi KANO ,  Keisuke ASARI

IPC分类号： G06K9/00

CPC分类号： G06K9/00791 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/402 ,  B60R2300/607 ,  B60R2300/802 ,  B60R2300/8093

摘要： Cameras are installed at the front, right, left, and back side of a vehicle, and two feature points are located at each of the common field of view areas between the front-right cameras, front-left cameras, back-right cameras, and back-left cameras. A camera calibration device includes a parameter extraction unit for extracting transformation parameters for projecting each camera's captured image on the ground and synthesizing them. After transformation parameters for the left and right cameras are obtained by a perspective projection transformation, transformation parameters for the front and back cameras are obtained by a planar projective transformation so as to accommodate transformation parameters for the front and back cameras with the transformation parameters for the left and right cameras.

摘要翻译： 相机安装在车辆的前方，右侧，左侧和后侧，两个特征点位于前右相机，左前相机，右后相机之间的每个公共视野区域， 和左后相机。 相机校准装置包括参数提取单元，用于提取用于将每个相机的拍摄图像投射到地面上并将其合成的变换参数。 通过透视投影变换获得左右相机的变换参数，通过平面投影变换获得前后相机的变换参数，以便适应前后相机的变换参数，其变换参数为 左右相机。

公开(公告)号：US20110001819A1

公开(公告)日：2011-01-06

申请号：US12823409

申请日：2010-06-25

申请人： Keisuke ASARI

发明人： Keisuke ASARI

IPC分类号： H04N7/18

CPC分类号： G01C21/3647 ,  G01C21/3667

摘要： An image processing apparatus includes a plurality of cameras which are arranged at respectively different positions of a moving body moving on a reference surface, and output an object scene image representing a surrounding area of the moving body. A first creator creates a bird's-eye view image relative to the reference surface, based on the object scene images outputted from the plurality of cameras. A first displayer displays the bird's-eye view image created by the first creator, on a monitor screen. A detector detects a location of the moving body in parallel with a creating process of the first creator. A second creator creates navigation information based on a detection result of the detector and map information. A second displayer displays the navigation information created by the second creator on the monitor screen in association with a displaying process of the first displayer.

摘要翻译： 一种图像处理装置，包括：多个照相机，被配置在分别位于基准面上的移动体的不同位置，并输出表示上述移动体的周边区域的物体场景图像。 基于从多个照相机输出的对象场景图像，第一创建者相对于参考表面创建鸟瞰图图像。 第一显示器在监视器屏幕上显示由第一创建者创建的鸟瞰视图图像。 检测器与第一创建者的创建过程并行地检测移动体的位置。 第二创建者基于检测器的检测结果和地图信息来创建导航信息。 第二显示器与第一显示器的显示处理相关联地在监视器屏幕上显示由第二创建者创建的导航信息。

公开(公告)号：US20090303024A1

公开(公告)日：2009-12-10

申请号：US12478193

申请日：2009-06-04

申请人： Keisuke ASARI

发明人： Keisuke ASARI

IPC分类号： B60Q1/00 ,  G09G5/00 ,  G06T15/00

CPC分类号： B60Q1/484 ,  B60Q9/005 ,  G06T1/0007 ,  G09G2340/125 ,  G09G2380/10

摘要： An image processing apparatus includes: a guide superimposition portion that obtains a photographed image taken by an imaging device from the imaging device incorporated in a vehicle and superimposes a guide on the photographed image; and a specific region detection portion that detects a specific region which is able to be included in the photographed image. If the specific region is detected by the specific region detection portion, the guide superimposition portion does not superimpose the guide on the specific region.

摘要翻译： 图像处理装置包括：引导叠加部，其从搭载于车辆的摄像装置获取由摄像装置拍摄的拍摄图像，并将指南叠加在拍摄图像上; 以及特定区域检测部，其检测能够包括在所拍摄的图像中的特定区域。 如果由特定区域检测部分检测到特定区域，则引导叠加部分不将引导件叠加在特定区域上。

公开(公告)号：US20100092042A1

公开(公告)日：2010-04-15

申请号：US12576107

申请日：2009-10-08

申请人： Keisuke ASARI

发明人： Keisuke ASARI

IPC分类号： G06K9/00

CPC分类号： B60R1/00 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/303 ,  B60R2300/305 ,  B60R2300/607 ,  B63B49/00

摘要： A maneuvering assisting apparatus includes a plurality of cameras. Each camera is arranged in a downward attitude on a side surface of a ship hull, and captures surroundings of the ship. A CPU creates a whole-circumference bird's eye view image representing in an aerially viewed manner the surroundings of the ship, based on outputs of these cameras. Also, the CPU transparently multiplexes a graphic image representing at least an extension of the aerially viewed ship, onto the whole-circumference bird's eye view image. Moreover, the CPU non-transparently multiplexes a graphic image representing one portion of the aerially viewed ship, onto the whole-circumference bird's eye view image.

摘要翻译： 机动辅助装置包括多个照相机。 每个相机在船体的侧面以向下的姿势布置，并捕获船的周围。 基于这些摄像机的输出，CPU以空中查看的方式创建船舶周围环境的全景鸟瞰图图像。 此外，CPU将表示至少空中观看的船的延伸的图形图像透明地多路复用到全周鸟瞰图图像上。 此外，CPU将表示空中观看船的一部分的图形图像不透明地多路复用到全周鸟瞰图图像上。

公开(公告)号：US20080231710A1

公开(公告)日：2008-09-25

申请号：US12022853

申请日：2008-01-30

申请人： Keisuke ASARI ,  Hiroshi Kano ,  Kozo Okuda ,  Yohei Ishii

发明人： Keisuke ASARI ,  Hiroshi Kano ,  Kozo Okuda ,  Yohei Ishii

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G06T7/80

摘要： A camera calibration apparatus has a parameter deriver adapted to find parameters for projecting images shot with N cameras (where N is an integer of 3 or more) onto a predetermined surface and merging the images together. The N cameras comprise a first camera, a second camera, . . . and an N-th camera. The i-th camera (where i is every integer between 1 and N, inclusive) shares a common shooting area with at least one of the other (N−1) cameras, so that there are a plurality of such common shooting areas in total. The parameter deriver finds the parameters based on the results of the shooting of the calibration patterns arranged in the common shooting areas with the corresponding cameras. The calibration patterns are arranged separate from one another.

摘要翻译： 相机校准装置具有参数提取器，其适于找到将用N个相机（其中N是3或更大的整数）拍摄的图像投影到预定表面上并将图像合并在一起的参数。 N个相机包括第一相机，第二相机。 。 。 和第N台摄像机。 第i个摄像机（其中i是包括1和N之间的整数）与至少一个其它（N-1）个摄像机共享一个共同的拍摄区域，使得总共存在多个这样的公共拍摄区域 。 参数提取器根据使用相应的摄像机在普通拍摄区域中排列的校准图案的拍摄结果找到参数。 校准图案彼此分开排列。

公开(公告)号：US20080175436A1

公开(公告)日：2008-07-24

申请号：US12018306

申请日：2008-01-23

申请人： Keisuke ASARI ,  Yohei Ishii

发明人： Keisuke ASARI ,  Yohei Ishii

IPC分类号： G06K9/00

CPC分类号： G06T3/0062 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/30 ,  B60R2300/60

摘要： An image processor includes an acquisition unit configured to acquire a camera image captured by a camera provided on a vehicle, a first image converter configured to project the camera image onto a flat surface to convert the camera image into a flat surface projection image, and a second image converter configured to project the camera image onto a curved surface to convert the camera image into a curved surface projection image. The first image converter converts a first image region having a predetermined width within the camera image into the flat surface projection image, and the second image converter converts a second image region outside the first image region in a width direction, within the camera image, into the curved surface projection image.

摘要翻译： 图像处理器包括：获取单元，被配置为获取由设置在车辆上的相机拍摄的相机图像;第一图像转换器，被配置为将相机图像投影到平坦表面上，以将相机图像转换为平面投影图像;以及 第二图像转换器，被配置为将相机图像投影到曲面上，以将相机图像转换成曲面投影图像。 第一图像转换器将具有预定宽度的第一图像区域转换成平面投影图像，并且第二图像转换器将相机图像内的宽度方向上的第一图像区域之外的第二图像区域转换为 曲面投影图像。