公开(公告)号：US08139821B2

公开(公告)日：2012-03-20

申请号：US13119324

申请日：2009-07-10

申请人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

发明人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

IPC分类号： G06K9/00

CPC分类号： G01C3/085 ,  G06K9/00805 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30252

摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.

摘要翻译： 车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分 在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

公开(公告)号：US20140153777A1

公开(公告)日：2014-06-05

申请号：US14131969

申请日：2012-08-31

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Kodai Matsuda

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Kodai Matsuda

IPC分类号： G06K9/00 ,  H04N5/33

CPC分类号： G06K9/00369 ,  G08G1/166 ,  H04N5/33 ,  H04N7/18

摘要： A living body recognizing device is equipped with a captured image acquiring unit which acquires captured images from infrared cameras having a characteristics that a luminance of an image portion of a target object becomes higher as a temperature of the target object becomes higher than a background, and vice versa, according to a temperature difference between the background and the target object, a living body image extracting unit which executes a first living body image extracting processing of extracting the image portion of the target object assumed as a living body, from a region in the captured image where the luminance is equal to or lower than a first threshold value, and a living body recognizing unit which recognizes an existence of the living body, based on the image portion of the target object extracted by the living body image extracting unit.

摘要翻译： 生物体识别装置配备有捕捉图像获取单元，其从具有目标对象的图像部分的亮度变得更高的特征的红外线照相机获取捕获图像，因为目标对象的温度变得高于背景，并且 反之亦然，根据背景和目标对象之间的温度差，生物体图像提取单元执行从假定为生物体的目标对象的图像部分提取的第一生物体图像提取处理， 基于由生物体图像提取单元提取的目标对象的图像部分，识别生物体的存在的生物体识别单元，其中亮度等于或低于第一阈值的拍摄图像。

公开(公告)号：US08983123B2

公开(公告)日：2015-03-17

申请号：US13511074

申请日：2010-10-18

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/00 ,  G06T7/00 ,  G06T7/60 ,  G08G1/16

CPC分类号： G06T7/0046 ,  G06T7/60 ,  G06T7/75 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/166

摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.

摘要翻译： 在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离 身体候选人的形象。 头部宽度约为15-16厘米。 基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高 基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

公开(公告)号：US20130243261A1

公开(公告)日：2013-09-19

申请号：US13817466

申请日：2011-06-22

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/00

CPC分类号： G06K9/00805 ,  G08G1/166

摘要： When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unit 13 performs a first distance calculating process of calculating a distance between a vehicle 1 and the physical body, on the basis of a correlative relationship between the distance from the vehicle 1 set on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unit 13 performs a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.

摘要翻译： 当确定对应于图像部分的实际空间中的身体的类型是交叉行人时，距离计算单元13执行计算车辆1和身体之间的距离的第一距离计算处理，在 根据图像部分的高度，基于假定行人高度和图像部分的高度之间的车辆1的距离之间的相关关系的基础。 当确定身体的类型不是交叉行人时，距离计算单元13基于大小的变化来执行计算身体和车辆之间的距离的第二距离计算处理 从时间序列拍摄图像中提取物理身体的图像部分。

公开(公告)号：US09292735B2

公开(公告)日：2016-03-22

申请号：US14131969

申请日：2012-08-31

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Kodai Matsuda

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Kodai Matsuda

IPC分类号： G06K9/00 ,  G08G1/16 ,  H04N7/18 ,  H04N5/33

CPC分类号： G06K9/00369 ,  G08G1/166 ,  H04N5/33 ,  H04N7/18

摘要： A living body recognizing device is equipped with a captured image acquiring unit which acquires captured images from infrared cameras having a characteristics that a luminance of an image portion of a target object becomes higher as a temperature of the target object becomes higher than a background, and vice versa, according to a temperature difference between the background and the target object, a living body image extracting unit which executes a first living body image extracting processing of extracting the image portion of the target object assumed as a living body, from a region in the captured image where the luminance is equal to or lower than a first threshold value, and a living body recognizing unit which recognizes an existence of the living body, based on the image portion of the target object extracted by the living body image extracting unit.

摘要翻译： 生物体识别装置配备有捕捉图像获取单元，其从具有目标对象的图像部分的亮度变得更高的特征的红外线照相机获取捕获图像，因为目标对象的温度变得高于背景，并且 反之亦然，根据背景和目标对象之间的温度差，生物体图像提取单元执行从假定为生物体的目标对象的图像部分提取的第一生物体图像提取处理， 基于由生物体图像提取单元提取的目标对象的图像部分，识别生物体的存在的生物体识别单元，其中亮度等于或低于第一阈值的拍摄图像。

公开(公告)号：US20120281878A1

公开(公告)日：2012-11-08

申请号：US13511074

申请日：2010-10-18

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/46

CPC分类号： G06T7/0046 ,  G06T7/60 ,  G06T7/75 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/16 ,  G08G1/166

摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.

摘要翻译： 在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离 身体候选人的形象。 头部宽度约为15-16厘米。 基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高 基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

公开(公告)号：US20110170748A1

公开(公告)日：2011-07-14

申请号：US13119324

申请日：2009-07-10

申请人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

发明人： Makoto Aimura ,  Nobuharu Nagaoka ,  Kodai Matsuda

IPC分类号： G06K9/00

CPC分类号： G01C3/085 ,  G06K9/00805 ,  G06T7/593 ,  G06T7/70 ,  G06T2207/10021 ,  G06T2207/30252

摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.

摘要翻译： 车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分 在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

公开(公告)号：US08965056B2

公开(公告)日：2015-02-24

申请号：US13817466

申请日：2011-06-22

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Makoto Aimura

IPC分类号： G06K9/00 ,  G08G1/16

CPC分类号： G06K9/00805 ,  G08G1/166

摘要： When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unit 13 performs a first distance calculating process of calculating a distance between a vehicle 1 and the physical body, on the basis of a correlative relationship between the distance from the vehicle 1 set on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unit 13 performs a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.

摘要翻译： 当确定对应于图像部分的实际空间中的身体的类型是交叉行人时，距离计算单元13执行计算车辆1和身体之间的距离的第一距离计算处理，在 根据图像部分的高度，基于假定行人高度和图像部分的高度之间的车辆1的距离之间的相关关系的基础。 当确定身体的类型不是交叉行人时，距离计算单元13基于大小的变化来执行计算身体和车辆之间的距离的第二距离计算处理 从时间序列拍摄图像中提取物理身体的图像部分。

公开(公告)号：US20130103299A1

公开(公告)日：2013-04-25

申请号：US13808120

申请日：2011-06-15

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Hiroshi Hattori

IPC分类号： G06F17/00

CPC分类号： G06F17/00 ,  G06K9/00805 ,  G06K9/00825 ,  G06T7/579 ,  G06T2207/10048 ,  G06T2207/30196 ,  G06T2207/30261 ,  G08G1/166

摘要： Category determination is performed on an object candidate extracted from a captured image after an exclusion process is performed in advance. In the exclusion process, a distance from a vehicle to the object candidate is calculated based on a size of the object candidate in a current image, a moved distance of the vehicle occurring in a time interval from a time a previous image was captured to a time the current image is captured is calculated, the size of the object candidate in the current image is decreased at a change ratio based on the distance to the object candidate and the moved distance, and a size of the object candidate in the previous image and a size of the object candidate decreased at the change ratio are compared. The object candidate with difference between them being determined to be larger than a predetermined value is removed.

摘要翻译： 在预先执行排除处理之后，对从拍摄图像提取的对象候选进行类别判定。 在排除处理中，基于当前图像中的对象候选者的大小，从从前一图像拍摄到时间的时间间隔中发生的车辆的移动距离，计算从车辆到候选对象的距离 计算当前图像被捕获的时间，基于到目标候选者的距离和移动的距离以及前一图像中的候选对象的大小，以当前图像中的对象候选者的大小以变化比减少， 比较以变化比减少的对象候选者的大小。 被确定为大于预定值的差异的对象候选者被去除。

公开(公告)号：US20110234805A1

公开(公告)日：2011-09-29

申请号：US13124171

申请日：2009-10-08

申请人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Izumi Takatsudo

发明人： Kodai Matsuda ,  Nobuharu Nagaoka ,  Izumi Takatsudo

IPC分类号： H04N5/33

CPC分类号： B60R1/00 ,  B60R2300/105 ,  B60R2300/205 ,  B60R2300/301 ,  B60R2300/307 ,  B60R2300/70 ,  B60R2300/8033 ,  G06K9/00369 ,  G06K9/00805 ,  G06K2209/07 ,  G06T7/11 ,  G06T7/136 ,  G06T2207/10048 ,  G06T2207/20132 ,  G06T2207/30196 ,  G06T2207/30261

摘要： Provided is a device for monitoring the surrounding area of a vehicle. The device separates and extracts an object around the vehicle in better precision from the background. The device detects the ambient temperature of the vehicle, and determines a temperature difference between the ambient temperature and an object surface temperature estimated on the basis of the ambient temperature. On the basis of the brightness value of the background of a captured image obtained by an infrared camera and a brightness difference corresponding to the temperature difference, the brightness value of the object is calculated. The captured image is binarized by using the brightness value of the object as a threshold value, and the object is extracted. Since the binary threshold value is set on the basis of the relation between the ambient temperature and the object surface temperature, the object can be separated and extracted in the better precision from the background.

摘要翻译： 提供了用于监视车辆的周围区域的装置。 该设备从背景中更精确地分离并提取车辆周围的物体。 该装置检测车辆的环境温度，并且确定环境温度和基于环境温度估计的物体表面温度之间的温度差。 基于由红外线摄像机获得的拍摄图像的背景的亮度值和对应于温度差的亮度差，计算对象的亮度值。 通过使用对象的亮度值作为阈值对拍摄图像进行二值化处理，并提取对象。 由于根据环境温度和物体表面温度之间的关系来设定二值阈值，所以可以从背景中以更好的精度分离和提取物体。