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    Surroundings monitoring apparatus and surroundings monitoring method for reducing distortion caused by camera position displacement
    4.
    发明授权
    Surroundings monitoring apparatus and surroundings monitoring method for reducing distortion caused by camera position displacement 有权
    环境监测装置及周边环境监测方法，用于减少摄像机位置位移引起的失真

    公开(公告)号：US08139114B2

    公开(公告)日：2012-03-20

    申请号：US11541684

    申请日：2006-10-03

    申请人： Kunio Nobori ,  Masaki Sato

    发明人： Kunio Nobori ,  Masaki Sato

    IPC分类号： H04N7/18

    CPC分类号： G07C5/0891 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/301 ,  B60R2300/305 ,  B60R2300/402 ,  B60R2300/607 ,  B60R2300/806 ,  H04N7/181

    摘要： A surrounding monitoring apparatus reduces distortion caused by camera position displacement. A position displacement information obtainment unit obtains position displacement information and outputs it as camera position displacement information, a moving object state detection unit detects vehicle information and outputs it as a moving object state, a coordinate transformation parameter selection unit selects a coordinate transformation parameter according to the camera position displacement information, an image synthesis parameter selection unit selects a reference image synthesis parameter and a graphics parameter according to the moving object state, a coordinate transformation unit performs coordinate transformation on image coordinates of a captured image which are included in the reference image synthesis parameter using the coordinate transformation parameter and outputs the image coordinates as a transformed image synthesis parameter, and an image synthesis unit generates and outputs a synthetic image according to the transformed image synthesis parameter.

    摘要翻译： 周围的监视装置减少由相机位置偏移引起的失真。 位置信息获取单元获取位置信息并将其作为相机位置位移信息输出，运动对象状态检测单元检测车辆信息并将其输出为运动对象状态，坐标变换参数选择单元根据 相机位置位移信息，图像合成参数选择单元根据移动对象状态来选择参考图像合成参数和图形参数，坐标变换单元对包括在参考图像中的拍摄图像的图像坐标进行坐标变换 合成参数，并输出图像坐标作为变换图像合成参数，图像合成单元根据变换图像合成参数生成并输出合成图像。

    Surroundings monitoring apparatus and surroundings monitoring method
    7.
    发明申请
    Surroundings monitoring apparatus and surroundings monitoring method 有权
    环境监测仪器及周边环境监测方法

    公开(公告)号：US20070041659A1

    公开(公告)日：2007-02-22

    申请号：US11541684

    申请日：2006-10-03

    申请人： Kunio Nobori ,  Masaki Sato

    发明人： Kunio Nobori ,  Masaki Sato

    IPC分类号： G06K9/36 ,  G06K9/32

    CPC分类号： G07C5/0891 ,  B60R1/00 ,  B60R2300/102 ,  B60R2300/105 ,  B60R2300/301 ,  B60R2300/305 ,  B60R2300/402 ,  B60R2300/607 ,  B60R2300/806 ,  H04N7/181

    摘要： The present invention provides a surroundings monitoring apparatus and a surroundings monitoring method which can reduce, in a displayed image, distortions caused by camera position displacement in the case where the camera position displacement is present. The surroundings monitoring apparatus includes: a position displacement information obtainment unit which obtains a degree of the position displacement in each camera and outputs it as camera position displacement information; a moving object state detection unit which detects vehicle speed, a shift lever, and a steering angle of a vehicle and outputs them as a moving object state; a coordinate transformation parameter selection unit which selects a coordinate transformation parameter according to the camera position displacement information; an image synthesis parameter selection unit which selects a reference image synthesis parameter and a graphics parameter according to the moving object state; a coordinate transformation unit which performs coordinate transformation on image coordinates of a captured image which are included in the reference image synthesis parameter using the coordinate transformation parameter and outputs the image coordinates as a transformed image synthesis parameter; and an image synthesis unit which generates a synthetic image according to the transformed image synthesis parameter and outputs the generated synthetic image.

    摘要翻译： 本发明提供了一种环境监视装置和周围监视方法，其可以在显示的图像中减少在存在相机位置位移的情况下由相机位置偏移引起的失真。 周边监视装置包括：位置信息获取单元，其获得每个摄像机中的位置偏移度，并将其作为相机位置位移信息输出; 移动物体状态检测单元，其检测车辆的车速，变速杆和转向角，并将其输出为运动对象状态; 坐标变换参数选择单元，其根据摄像机位置位移信息选择坐标变换参数; 图像合成参数选择单元，其根据移动对象状态选择参考图像合成参数和图形参数; 坐标变换单元，使用坐标变换参数对包含在参考图像合成参数中的拍摄图像的图像坐标进行坐标变换，并输出图像坐标作为变换图像合成参数; 以及图像合成单元，其根据变换图像合成参数生成合成图像，并输出所生成的合成图像。

    Moving object detection apparatus and moving object detection method
    9.
    发明授权
    Moving object detection apparatus and moving object detection method 有权
    移动物体检测装置和移动物体检测方法

    公开(公告)号：US08300892B2

    公开(公告)日：2012-10-30

    申请号：US12976169

    申请日：2010-12-22

    申请人： Masahiro Iwasaki ,  Kunio Nobori

    发明人： Masahiro Iwasaki ,  Kunio Nobori

    IPC分类号： G06K9/00

    CPC分类号： G06T7/292 ,  G06T7/215 ,  G06T2207/10016 ,  G06T2207/20021 ,  G06T2207/30196 ,  G06T2207/30241

    摘要： To provide a moving object detection apparatus which accurately performs region extraction, regardless of the pose or size of a moving object. The moving object detection apparatus includes: an image receiving unit receiving the video sequence; a motion analysis unit calculating movement trajectories based on motions of the image; a segmentation unit performing segmentation so as to divide the movement trajectories into subsets, and setting a part of the movement trajectories as common points shared by the subsets; a distance calculation unit calculating a distance representing a similarity between a pair of movement trajectories, for each of the subsets; a geodesic distance calculation unit transforming the calculated distance into a geodesic distance; an approximate geodesic distance calculation unit calculating an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points; and a region extraction unit performing clustering on the calculated approximate geodesic distance.

    摘要翻译： 提供一种移动物体检测装置，其能够精确地执行区域提取，而不管移动物体的姿态或尺寸如何。 移动物体检测装置包括：图像接收单元，接收视频序列; 运动分析单元，基于图像的运动来计算运动轨迹; 分割单元，其执行分割，以将所述移动轨迹划分为子集，并将所述移动轨迹的一部分设置为由所述子集共享的共同点; 距离计算单元，对于每个子集，计算表示一对移动轨迹之间的相似度的距离; 测距距离计算单元，将计算出的距离变换为测地距离; 近似测地距离计算单元，通过集成包括公共点的测地距离来计算桥接在子集上的近似测地距离; 以及区域提取单元，对计算出的近似测距距离进行聚类。

    MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD
    10.
    发明申请
    MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD 有权
    移动物体检测装置和移动物体检测方法

    公开(公告)号：US20120206597A1

    公开(公告)日：2012-08-16

    申请号：US13454577

    申请日：2012-04-24

    申请人： Ayako Komoto ,  Kunio Nobori ,  Masahiro Iwasaki

    发明人： Ayako Komoto ,  Kunio Nobori ,  Masahiro Iwasaki

    IPC分类号： H04N7/18 ,  G06K9/48 ,  G06K9/34 ,  G06K9/46

    CPC分类号： G06K9/00805 ,  G06T7/215 ,  G06T2207/30241

    摘要： A moving object detection apparatus includes: a stationary measure calculation unit calculating, for each of trajectories, a stationary measure representing likelihood that the trajectory belongs to a stationary object; a distance calculation unit calculating a distance representing similarity between trajectories; and a region detection unit (i) performing a transformation based on the stationary measures and the distances between the trajectories, so that a ratio of a distance between a trajectory on stationary object and a trajectory on moving object, to a distance between trajectories both belonging to stationary object becomes greater than a ratio obtained before the transformation and (ii) detecting the moving object region by separating the trajectory on the moving object from the trajectory on the stationary object, based on a geodesic distance between the trajectories.

    摘要翻译： 移动物体检测装置包括：静止测量计算单元针对每个轨迹计算表示轨迹属于静止物体的可能性的静止测量值; 距离计算单元，计算表示轨迹之间的相似度的距离; 以及区域检测单元（i）基于静止测量和轨迹之间的距离执行变换，使得静止物体上的轨迹与移动物体上的轨迹之间的距离与所属轨迹之间的距离 到静止对象变得大于在变换之前获得的比率，以及（ii）基于轨迹之间的测地距离，通过将移动物体上的轨迹与静止物体上的轨迹分开来检测运动物体区域。