公开(公告)号：US08280105B2

公开(公告)日：2012-10-02

申请号：US11918518

申请日：2006-03-17

申请人： Kiyonari Kishikawa ,  Kouhei Tou ,  Toru Irie

发明人： Kiyonari Kishikawa ,  Kouhei Tou ,  Toru Irie

IPC分类号： G06K9/00 ,  G08G1/123

CPC分类号： G06K9/00798 ,  G01C15/00 ,  G01C21/26 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/20021 ,  G06T2207/30244 ,  G06T2207/30256

摘要： The imaging position of each of the frames in image data of a plurality of frames captured while a vehicle is traveling is accurately determined. An image data acquiring device captures a front image by means of a video camera while a vehicle is traveling. When in imaging, the device associates the vehicle speed pulse detected by a vehicle speed sensor with the frame data and records them. An image data processing device arranges data on each frame of the image along the initial path according to the correspondence with the vehicle speed pulse. The device determines the variation between the frames of a feature point such as a road lane marking included in the image, reflects the variation on the initial path, and corrects the errors in the direction perpendicular to the moving direction so as to determine the traveling path and imaging positions of the frames.

摘要翻译： 精确地确定在车辆行驶时捕获的多个帧的图像数据中的每个帧的成像位置。 图像数据获取装置在车辆行驶时通过摄像机拍摄前方图像。 当成像时，装置将由车速传感器检测到的车速脉冲与帧数据相关联并将其记录。 图像数据处理装置根据与车速脉冲的对应关系沿着初始路径布置图像的每帧的数据。 该装置确定图像中包括的道路车道标记等特征点的帧之间的变化，反映初始路径上的变化，并且校正与移动方向垂直的方向上的误差，以确定行进路径 和帧的成像位置。

公开(公告)号：US20090080697A1

公开(公告)日：2009-03-26

申请号：US11918518

申请日：2006-03-17

申请人： Kiyonari Kishikawa ,  Kouhei Tou ,  Toru Irie

发明人： Kiyonari Kishikawa ,  Kouhei Tou ,  Toru Irie

IPC分类号： G06K9/00

CPC分类号： G06K9/00798 ,  G01C15/00 ,  G01C21/26 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/20021 ,  G06T2207/30244 ,  G06T2207/30256

摘要： The imaging position of each of the frames in image data of a plurality of frames captured while a vehicle is traveling is accurately determined.An image data acquiring device (100) captures a front image by means of a video camera (120) while a vehicle is traveling. When in imaging, the device associates the vehicle speed pulse detected by a vehicle speed sensor (104) with the frame data and records them. An image data processing device (200) arranges data on each frame of the image along the initial path according to the correspondence with the vehicle speed pulse. The device determines the variation between the frames of a feature point such as a road lane marking included in the image, reflects the variation on the initial path, and corrects the errors in the direction perpendicular to the moving direction so as to determine the traveling path and imaging positions of the frames.With this, the accuracy in determining the imaging position of each frame is improved.

摘要翻译： 精确地确定在车辆行驶时捕获的多个帧的图像数据中的每个帧的成像位置。 图像数据获取装置（100）在车辆行驶时通过摄像机（120）捕获前方图像。 当成像时，装置将由车速传感器（104）检测的车速脉冲与帧数据相关联并将其记录。 图像数据处理装置（200）根据与车速脉冲的对应关系沿着初始路径布置图像的每帧的数据。 该装置确定图像中包括的道路车道标记等特征点的帧之间的变化，反映初始路径上的变化，并且校正与移动方向垂直的方向上的误差，以确定行进路径 和帧的成像位置。 由此，提高了确定每帧成像位置的精度。

公开(公告)号：US08600654B2

公开(公告)日：2013-12-03

申请号：US12677506

申请日：2008-10-21

申请人： Kiyonari Kishikawa ,  Eiji Teshima ,  Masatoshi Aramaki ,  Hideyuki Shimozuru ,  Masaya Ada ,  Tatsuji Kimura ,  Satomi Baba ,  Kouhei Tou ,  Toru Irie

发明人： Kiyonari Kishikawa ,  Eiji Teshima ,  Masatoshi Aramaki ,  Hideyuki Shimozuru ,  Masaya Ada ,  Tatsuji Kimura ,  Satomi Baba ,  Kouhei Tou ,  Toru Irie

IPC分类号： G01C21/00

CPC分类号： G06T19/003 ,  G01C21/3632 ,  G01C21/3658 ,  G06F17/30241

摘要： A route guidance device is provided with a two-dimensional road network for a route search, a three-dimensional road network for a route guidance, and guiding line shape data. The guiding line shape data is three-dimensional guidance display data for guiding an operator to go straight through, or to make a right turn, left turn, etc. at intersections in accordance with a passage mode, or to switch lanes before entering an intersection. A link node of the two-dimensional road network is associated with the guiding line shape data through the three-dimensional road network. The route search uses the two-dimensional road network, and the route guidance uses the guiding line shape data associated with the link node acquired by the route search. The present invention can realize an instinctively understandable route guidance that follows a passage mode without increasing a load of a route search.

摘要翻译： 路线引导装置具有用于路线搜索的二维道路网络，用于路线引导的三维道路网络和引导线形状数据。 引导线形状数据是用于引导操作者按照通过模式直接通过或在交叉路口处进行右转，左转等的三维引导显示数据，或者在进入交叉点之前切换车道 。 二维道路网络的链路节点通过三维道路网与引导线形状数据相关联。 路线搜索使用二维道路网络，路线引导使用与通过路线搜索获取的链路节点相关联的引导线形状数据。 本发明可以在不增加路径搜索的负载的情况下实现跟随通道模式的本能可理解的路线引导。

公开(公告)号：US20110054783A1

公开(公告)日：2011-03-03

申请号：US12677506

申请日：2008-10-21

申请人： Kiyonari Kishikawa ,  Eiji Teshima ,  Masatoshi Aramaki ,  Hideyuki Shimozuru ,  Masaya Ada ,  Tatsuji Kimura ,  Satomi Baba ,  Kouhei Tou ,  Toru Irie

发明人： Kiyonari Kishikawa ,  Eiji Teshima ,  Masatoshi Aramaki ,  Hideyuki Shimozuru ,  Masaya Ada ,  Tatsuji Kimura ,  Satomi Baba ,  Kouhei Tou ,  Toru Irie

IPC分类号： G01C21/34 ,  G01C21/00

CPC分类号： G06T19/003 ,  G01C21/3632 ,  G01C21/3658 ,  G06F17/30241

摘要： It is an object to realize a route guidance that follows a real passage mode without a feeling of wrongness. In a route guidance device, aside from a two-dimensional road network for a route search, a three-dimensional road network used for the route guidance and guiding line shape data are prepared. The guiding line shape data are three-dimensional guidance display data that guide you to go straight through a crossroads, to turn right, to turn left, etc. in accordance with a passage mode or guide you to change a car lane before you enter a crossroads. A link node of the two-dimensional road network is associated with the guiding line shape data through the three-dimensional road network. The route search is carried out by using the two-dimensional road network. The route guidance is carried out by using the guiding line shape data associated with the link node acquired by the route search. This can realize an instinctively understandable route guidance that follows a passage mode without increasing a load of a route search.

摘要翻译： 实现在没有错误感的情况下遵循真正的通行模式的路线引导的对象。 在路线引导装置中，除了用于路线搜索的二维道路网之外，准备了用于路线引导和引导线形状数据的三维道路网。 引导线形状数据是三维引导显示数据，可以引导您直接穿过十字路口，按照通道模式向右转，左转等，或者指导您在进入之前更换车道 十字路口。 二维道路网络的链路节点通过三维道路网与引导线形状数据相关联。 路线搜索是通过二维道路网进行的。 通过使用与通过路线搜索获取的链路节点相关联的引导线形状数据来执行路线引导。 这可以实现沿着通道模式而不增加路线搜索的负载的本能可理解的路线引导。

公开(公告)号：US08718974B2

公开(公告)日：2014-05-06

申请号：US13258681

申请日：2010-03-19

申请人： Kiyonari Kishikawa ,  Kouhei Tou

发明人： Kiyonari Kishikawa ,  Kouhei Tou

IPC分类号： G01B11/14 ,  G01B5/28 ,  G01C22/00 ,  G01P3/486 ,  G01B11/275

CPC分类号： G01C22/00 ,  G01B11/275 ,  G01P3/486

摘要： Measuring devices each include a rotating body arranged between a wheel and a wheel hub with rotation centers aligned with each other, and an optical detector fixed to a body frame. The rotating body is formed of a disk portion attached between the wheel and a mounting surface of the wheel hub, and a cylindrical portion extending from the disk portion to the body frame and encompassing an outer circumferential surface of the wheel hub. In a circumferential surface of the cylindrical portion, there are provided elongate holes as light-transmitting portions that transmit light therethrough. The optical detector includes a light-emitting element serving as a light-emitting portion and a light-receiving element serving as a light-receiving portion, which are fixed to the body frame by a mounting bracket.

摘要翻译： 测量装置各自包括设置在车轮和轮毂之间的旋转体，旋转中心彼此对准，光学检测器固定在车架上。 旋转体由安装在车轮与轮毂的安装面之间的圆盘部分和从圆盘部分延伸到主体框架并且包围轮毂的外圆周表面的圆柱形部分形成。 在圆柱形部分的圆周表面中，设置有透光部分的细长孔作为透光部分。 光检测器包括用作发光部分的发光元件和用作光接收部分的光接收元件，其通过安装支架固定到主体框架。

公开(公告)号：US20120016629A1

公开(公告)日：2012-01-19

申请号：US13258681

申请日：2010-03-19

申请人： Kiyonari Kishikawa ,  Kouhei Tou

发明人： Kiyonari Kishikawa ,  Kouhei Tou

IPC分类号： G01P3/486 ,  G01B11/14

CPC分类号： G01C22/00 ,  G01B11/275 ,  G01P3/486

摘要： Measuring devices each include a rotating body arranged between a wheel and a wheel hub with rotation centers aligned with each other, and an optical detector fixed to a body frame. The rotating body is formed of a disk portion attached between the wheel and a mounting surface of the wheel hub, and a cylindrical portion extending from the disk portion to the body frame and encompassing an outer circumferential surface of the wheel hub. In a circumferential surface of the cylindrical portion, there are provided elongate holes as light-transmitting portions that transmit light therethrough. The optical detector includes a light-emitting element serving as a light-emitting portion and a light-receiving element serving as a light-receiving portion, which are fixed to the body frame by a mounting bracket.

摘要翻译： 测量装置各自包括设置在车轮和轮毂之间的旋转体，旋转中心彼此对准，光学检测器固定在车架上。 旋转体由安装在车轮与轮毂的安装面之间的圆盘部分和从圆盘部分延伸到主体框架并且包围轮毂的外圆周表面的圆柱形部分形成。 在圆柱形部分的圆周表面中，设置有透光部分的细长孔作为透光部分。 光检测器包括用作发光部分的发光元件和用作光接收部分的光接收元件，其通过安装支架固定到主体框架。

公开(公告)号：US07343268B2

公开(公告)日：2008-03-11

申请号：US10481393

申请日：2002-06-19

申请人： Kiyonari Kishikawa

发明人： Kiyonari Kishikawa

IPC分类号： G06F17/50 ,  G06T17/00 ,  G06T15/00

CPC分类号： G06F17/50 ,  G06F17/5004 ,  G06T7/50 ,  G06T15/04 ,  G06T17/00 ,  G06T17/05 ,  G06T17/10

摘要： When creating three-dimensional electronic map data, three-dimensional modeling of a building is performed as follows without measuring height of the building. Firstly, a building is photographed and the photographing position and photographing parameters (camera direction, angle of view) are recorded. Secondly, in a virtual space prepared on a computer, a photograph is arranged so as to reproduce the state upon the photographing according to these data. In combination with this, a plan view of the building is arranged according to the two-dimensional map data. Thirdly, the plan view is moved in the height direction until it is overlapped with the photograph, thereby modeling the building. Thus, it is possible to realize three-dimensional modeling without measuring the height.

摘要翻译： 当创建三维电子地图数据时，建筑物的三维建模如下进行，而不测量建筑物的高度。 首先，对建筑物进行拍摄，记录拍摄位置和拍摄参数（照相机方向，视角）。 其次，在计算机上准备的虚拟空间中，布置照片，以便根据这些数据再现拍摄时的状态。 结合此，根据二维地图数据布置建筑物的平面图。 第三，平面视图在高度方向上移动，直到与照片重叠，从而对建筑物进行建模。 因此，可以在不测量高度的情况下实现三维建模。

公开(公告)号：US20050177350A1

公开(公告)日：2005-08-11

申请号：US10481393

申请日：2002-06-19

申请人： Kiyonari Kishikawa

发明人： Kiyonari Kishikawa

IPC分类号： G06T17/05 ,  G01C21/00 ,  G01C21/26 ,  G06T7/00 ,  G06T17/00 ,  G06T17/10 ,  G06T19/20 ,  G08G1/0969 ,  G09B29/00 ,  G06F17/50

CPC分类号： G06F17/50 ,  G06F17/5004 ,  G06T7/50 ,  G06T15/04 ,  G06T17/00 ,  G06T17/05 ,  G06T17/10

摘要： When creating three-dimensional electronic map data, three-dimensional modeling of a building is performed as follows without measuring height of the building. Firstly, a building is photographed and the photographing position and photographing parameters (camera direction, angle of view) are recorded. Secondly, in a virtual space prepared on a computer, a photograph is arranged so as to reproduce the state upon the photographing according to these data. In combination with this, a plan view of the building is arranged according to the two-dimensional map data. Thirdly, the plan view is moved in the height direction until it is overlapped with the photograph, thereby modeling the building. Thus, it is possible to realize three-dimensional modeling without measuring the height.

摘要翻译： 当创建三维电子地图数据时，建筑物的三维建模如下进行，而不测量建筑物的高度。 首先，对建筑物进行拍摄，记录拍摄位置和拍摄参数（照相机方向，视角）。 其次，在计算机上准备的虚拟空间中，布置照片，以便根据这些数据再现拍摄时的状态。 结合此，根据二维地图数据布置建筑物的平面图。 第三，平面视图在高度方向上移动，直到与照片重叠，从而对建筑物进行建模。 因此，可以在不测量高度的情况下实现三维建模。

公开(公告)号：US06622085B1

公开(公告)日：2003-09-16

申请号：US09890081

申请日：2001-10-01

申请人： Junya Amita ,  Yaheiji Hattori ,  Hiroki Kobayashi ,  Kiyonari Kishikawa

发明人： Junya Amita ,  Yaheiji Hattori ,  Hiroki Kobayashi ,  Kiyonari Kishikawa

IPC分类号： G06F1700

CPC分类号： G06T17/05 ,  G01C21/32 ,  G06T11/203 ,  G09B29/00

摘要： An object of the present invention is to accomplish the automatic preparation of road data in which roads and intersections are expressed by polygons that show accurate agreement with the complicated road shapes on city maps. In simple polygon preparation processing 3, the respective line segments of road network data 2 in which roads are expressed as line segments are expanded in the direction of the width dimension, thus producing simple road polygon data 4 which has a width that is slightly greater than the width of the roads in the city map data 5. Next, in scissors data preparation processing 6, scissors data 7 which defines the outlines of roads is prepared from the city map data 5 by connecting shape lines in the vicinity of roads. Next, in road polygon preparation processing 9, road polygon data 9 which shows good agreement with the shapes of roads in the city map data is prepared by trimming the simple road polygons along the road outlines defined by the scissors data.

摘要翻译： 本发明的目的是完成道路数据的自动准备，其中道路和交叉点由与城市地图上的复杂道路形状准确一致的多边形表示。 在简单多边形准备处理3中，在宽度尺寸的方向上扩展道路被表示为线段的道路网络数据2的各个线段，从而生成简单的道路多边形数据4，其宽度略大于 城市地图数据5中的道路的宽度。接下来，在剪刀数据准备处理6中，通过连接道路附近的形状线，从城市地图数据5准备定义道路轮廓的剪刀数据7。 接下来，在道路多边形准备处理9中，通过沿着由剪刀数据定义的道路轮廓修剪简单道路多边形来准备与城市地图数据中的道路形状良好一致的道路多边形数据9。