公开(公告)号：US20120327236A1

公开(公告)日：2012-12-27

申请号：US13532912

申请日：2012-06-26

申请人： Masahiro KIYOHARA ,  Shoji Muramatsu ,  Kota Irie ,  Yoshitaka Uchida

发明人： Masahiro KIYOHARA ,  Shoji Muramatsu ,  Kota Irie ,  Yoshitaka Uchida

IPC分类号： H04N7/18

CPC分类号： G06K9/00369 ,  G06K9/00805

摘要： With a simple configuration, a vehicle periphery monitoring system that easily detects pedestrian that has a possibility to collide with a vehicle to which the monitoring system is installed. Based on a change rate in the size of the image of the observation object captured at a preset time interval by an onboard camera 111 and the presence or absence of the deformation of the observation object image between the captured images, it is determined whether the observation object is a pedestrian relatively approaching the vehicle to which the monitoring system is installed.

摘要翻译： 通过简单的结构，车辆周边监视系统能够容易地检测到具有与安装有监视系统的车辆碰撞的可能性的行人。 基于通过机载摄像机111以预设时间间隔拍摄的观察对象的图像的大小的变化率以及拍摄图像之间的观察对象图像的变形的存在或不存在，确定观察 物体是相对靠近安装监控系统的车辆的行人。

公开(公告)号：US09177196B2

公开(公告)日：2015-11-03

申请号：US13532912

申请日：2012-06-26

申请人： Masahiro Kiyohara ,  Shoji Muramatsu ,  Kota Irie ,  Yoshitaka Uchida

发明人： Masahiro Kiyohara ,  Shoji Muramatsu ,  Kota Irie ,  Yoshitaka Uchida

IPC分类号： H04N7/18 ,  G06K9/00

CPC分类号： G06K9/00369 ,  G06K9/00805

摘要： With a simple configuration, a vehicle periphery monitoring system that easily detects pedestrian that has a possibility to collide with a vehicle to which the monitoring system is installed. Based on a change rate in the size of the image of the observation object captured at a preset time interval by an onboard camera 111 and the presence or absence of the deformation of the observation object image between the captured images, it is determined whether the observation object is a pedestrian relatively approaching the vehicle to which the monitoring system is installed.

摘要翻译： 通过简单的结构，车辆周边监视系统能够容易地检测到具有与安装有监视系统的车辆碰撞的可能性的行人。 基于通过机载摄像机111以预设时间间隔拍摄的观察对象的图像的大小的变化率以及拍摄图像之间的观察对象图像的变形的存在或不存在，确定观察 物体是相对靠近安装监控系统的车辆的行人。

公开(公告)号：US20120269382A1

公开(公告)日：2012-10-25

申请号：US12918042

申请日：2009-04-24

申请人： Masahiro Kiyohara ,  Kota Irie ,  Naoki Kourogi ,  Tatsuhiko Monji ,  Yoshitaka Takahashi ,  Shoji Muramatsu

发明人： Masahiro Kiyohara ,  Kota Irie ,  Naoki Kourogi ,  Tatsuhiko Monji ,  Yoshitaka Takahashi ,  Shoji Muramatsu

IPC分类号： G06K9/00

CPC分类号： G01C21/26 ,  G06K9/00798 ,  G06T5/006 ,  G06T7/254 ,  G06T2207/30256 ,  G08G1/09623 ,  G08G1/165

摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.

摘要翻译： 物体识别装置包括： 安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

公开(公告)号：US08818026B2

公开(公告)日：2014-08-26

申请号：US12918042

申请日：2009-04-24

申请人： Masahiro Kiyohara ,  Kota Irie ,  Naoki Kourogi ,  Tatsuhiko Monji ,  Yoshitaka Takahashi ,  Shoji Muramatsu

发明人： Masahiro Kiyohara ,  Kota Irie ,  Naoki Kourogi ,  Tatsuhiko Monji ,  Yoshitaka Takahashi ,  Shoji Muramatsu

IPC分类号： G06K9/00

CPC分类号： G01C21/26 ,  G06K9/00798 ,  G06T5/006 ,  G06T7/254 ,  G06T2207/30256 ,  G08G1/09623 ,  G08G1/165

摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.

摘要翻译： 物体识别装置包括： 安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

公开(公告)号：US08204276B2

公开(公告)日：2012-06-19

申请号：US12018649

申请日：2008-01-23

申请人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/00

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。

公开(公告)号：US08212878B2

公开(公告)日：2012-07-03

申请号：US11769986

申请日：2007-06-28

申请人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： H04N5/225

CPC分类号： G06T7/80 ,  G06T2207/30252

摘要： An on-vehicle camera calibration apparatus includes: an on-vehicle camera; a camera parameter calculation unit configured to calculate camera parameters from a characteristic amount of a road surface sign photographed by the on-vehicle camera and recognized by an image processing and to output the camera parameters, wherein the camera parameters include an installation height and installation angle of the on-vehicle camera in photographing; and a camera parameter calibration unit configured to perform optical axis calibration control of the on-vehicle camera by the camera parameters output from the camera parameter calculation unit.

摘要翻译： 车载摄像机校准装置包括：车载摄像机; 摄像机参数计算单元，被配置为根据由车载摄像机拍摄并通过图像处理识别的路面符号的特征量来计算摄像机参数并输出摄像机参数，其中摄像机参数包括安装高度和安装角度 的车载摄像头; 以及相机参数校准单元，被配置为通过从相机参数计算单元输出的相机参数来执行车载摄像机的光轴校准控制。

公开(公告)号：US07957559B2

公开(公告)日：2011-06-07

申请号：US11777585

申请日：2007-07-13

申请人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi Shima ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.

摘要翻译： 在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。 在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。 此外，相机的下压角度大，获取物体的时间短。 因此，难以提高识别率并减少错误识别。 使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置， 该对象出现。 然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。 此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。 然后调整向后放置的相机的增益和曝光时间。

公开(公告)号：US20080013789A1

公开(公告)日：2008-01-17

申请号：US11777585

申请日：2007-07-13

申请人： Takeshi SHIMA ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

发明人： Takeshi SHIMA ,  Shoji Muramatsu ,  Yuji Otsuka ,  Kimiyoshi Machii ,  Mirai Higuchi ,  Tatsuhiko Monji ,  Kota Irie

IPC分类号： G06K9/00

CPC分类号： G06K9/00798

摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.

摘要翻译： 在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。 在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。 此外，相机的下压角度大，获取物体的时间短。 因此，难以提高识别率并减少错误识别。 使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置， 该对象出现。 然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。 此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。 然后调整向后放置的相机的增益和曝光时间。

公开(公告)号：US08885888B2

公开(公告)日：2014-11-11

申请号：US13474750

申请日：2012-05-18

申请人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai Higuchi ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/00 ,  G08G1/16

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。

公开(公告)号：US20120224747A1

公开(公告)日：2012-09-06

申请号：US13474750

申请日：2012-05-18

申请人： Mirai HIGUCHI ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

发明人： Mirai HIGUCHI ,  Yuji Otsuka ,  Takeshi Shima ,  Kimiyoshi Machii ,  Shoji Muramatsu ,  Kota Irie ,  Tatsuhiko Monji

IPC分类号： G06K9/62

CPC分类号： G08G1/16 ,  G06K9/00791 ,  G06K9/00798 ,  G08G1/166 ,  G08G1/167

摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.

摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。