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公开(公告)号：US08242897B2
公开(公告)日：2012-08-14
申请号：US12608321
申请日：2009-10-29
申请人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
发明人： Makoto Aimura , Hideki Hashimoto , Masakazu Saka
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
摘要翻译： 车辆环境监测装置配备有被监视对象检测单元26，当从第一距离计算单元24的一个视差上的数据计算出的距离等于第一距离计算单元26时，通过应用近距离的对象检测算法来检测具有接触可能性的对象 或者小于预定距离，并且通过使用距离长于预定距离的远距离的物体检测算法，使用由视差梯度计算的物体与车辆之间的距离，来检测具有接触可能性的物体 第二距离计算单元25。
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公开(公告)号：US07580548B2
公开(公告)日：2009-08-25
申请号：US11287870
申请日：2005-11-28
CPC分类号： H04N17/002 , G06T7/0002 , H04N5/33
摘要： An abnormality detecting apparatus for an imaging apparatus that detects the presence of abnormalities in an imaging apparatus mounted on a vehicle to capture vehicle surroundings which includes: a region setting device that sets a region including at least a road boundary portion in an image obtained by the imaging apparatus; a luminance variance value calculating device that calculates a luminance variance value using the luminance value acquired from the image with respect to the region set by the region setting device; and an abnormality detecting device that detects the presence of abnormalities in the imaging apparatus according to the luminance variance value calculated by the luminance variance value calculating device.
摘要翻译： 一种用于检测安装在车辆上的摄像装置中存在异常以捕获车辆周围环境的成像装置的异常检测装置，包括：区域设定装置，其将至少包含道路边界部分的区域设定在由 成像设备; 亮度方差值计算装置，使用从图像获取的亮度值相对于由区域设定装置设定的区域来计算亮度方差值; 以及异常检测装置，其根据由亮度方差值计算装置计算的亮度方差值来检测摄像装置中的异常的存在。
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公开(公告)号：US20080212076A1
公开(公告)日：2008-09-04
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译： 一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。
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公开(公告)号：US20060115126A1
公开(公告)日：2006-06-01
申请号：US11287553
申请日：2005-11-23
CPC分类号： G06K9/00362 , G06K9/00805 , G06T7/593 , G08G1/166
摘要： An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
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公开(公告)号：US06731777B1
公开(公告)日：2004-05-04
申请号：US09567734
申请日：2000-05-10
申请人： Morimichi Nishigaki , Masakazu Saka
发明人： Morimichi Nishigaki , Masakazu Saka
IPC分类号： G06K900
CPC分类号： G01C3/085 , G06K9/00201 , G06K9/00805 , G06K9/342
摘要： An object recognition system includes one or more image sensors and a controller that is adapted for measuring the distance from the system to objects with respect to respective windows of an image captured by the sensors is provided. The controller forms clusters by uniting adjacent windows that have similar measured distances. The system includes a memory for storing data on a previously recognized physical object. The controller infers a physical object based on data on a previously recognized physical object and the speed of the vehicle relative to a previously recognized physical object and wherein said controller determines a combination of clusters that best matches the inferred physical object. The controller groups the clusters into one or more cluster groups according to the distance from the vehicle carrying the system and selects from one of the cluster groups those clusters that overlaps with a physical object inferred by the controller. The controller matches combinations of the selected clusters with the inferred physical object based on the attributes of the combined clusters and the attributes of the inferred physical object.
摘要翻译： 一种物体识别系统包括一个或多个图像传感器，并且提供适于测量相对于由传感器捕获的图像的各个窗口从系统到物体的距离的控制器。 控制器通过统一具有相似测量距离的相邻窗口来形成群集。 该系统包括用于存储先前识别的物理对象上的数据的存储器。 控制器基于先前识别的物理对象上的数据和车辆相对于先前识别的物理对象的速度来推测物理对象，并且其中所述控制器确定与所推断的物理对象最匹配的群集的组合。 控制器根据与携带系统的车辆的距离将群集分组成一个或多个群集组，并从集群组中的一个群组中选择与控制器推断的物理对象重叠的群集。 控制器根据组合集群的属性和推断的物理对象的属性，将所选集群的组合与推断的物理对象进行匹配。
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公开(公告)号：US06683969B1
公开(公告)日：2004-01-27
申请号：US09568447
申请日：2000-05-10
申请人： Morimichi Nishigaki , Masakazu Saka
发明人： Morimichi Nishigaki , Masakazu Saka
IPC分类号： G06K900
CPC分类号： B60K31/0008 , B60Q9/008 , B60W2550/308 , G06K9/00805 , G06K9/2054 , G08G1/166
摘要： An object detection system comprises a physical object recognition unit which recognizes physical objects outside the vehicle, and a physical object memory which stores information concerning the physical objects. A controller recognizes presence of a physical object when the physical object is sensed by one or more sensors a predetermined number of times, which is larger for a central portion of the detecting area than for a peripheral portion of the detecting area. The system includes a memory for storing information about the physical objects. The controller holds the physical object stored in the memory indicating that the physical object is existent until the controller fails to recognize presence of the corresponding physical object a predetermined number of recognition cycles.
摘要翻译： 物体检测系统包括识别车辆外的物理物体的物理物体识别单元和存储有关物理物体的信息的物理物体存储器。 当物理对象被一个或多个传感器检测到预定次数时，控制器识别物体的存在，该检测区域对于检测区域的中心部分而言大于检测区域的周边部分。 该系统包括用于存储关于物理对象的信息的存储器。 控制器保存存储在存储器中的物理对象，指示物理对象存在，直到控制器未能将相应的物理对象的存在识别为预定数量的识别周期。
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公开(公告)号：US07949151B2
公开(公告)日：2011-05-24
申请号：US11799963
申请日：2007-05-03
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus is provided herein which is capable of determining an object type, particularly capable of determining an animal other than a human being among objects. The vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera (2R, 2L) mounted on the vehicle, including an object extraction process unit which extracts an image area of the object from the captured image (steps 1 to 6) and an object type determination process unit which determines the object type according to whether the image area of the object extracted by the object extraction process unit includes a first object area in which the ratio of widths in different directions is within a predetermined range and a plurality of second object areas located below the first object area and smaller in area than the first object area (steps 31 to 37).
摘要翻译： 本文提供一种能够确定物体类型的车辆周围环境监测装置，特别是能够确定物体之外的人类以外的动物。 车辆周边监视装置，其通过使用由安装在车辆上的照相机（2R，2L）拍摄的图像监视车辆的周围环境，包括物体提取处理单元，其从拍摄图像中提取物体的图像区域（步骤 1至6）和对象类型确定处理单元，其根据由对象提取处理单元提取的对象的图像区域是否包括第一对象区域来确定对象类型，其中不同方向的宽度的比率在预定的 范围和位于第一对象区域下方的多个第二对象区域，并且比第一对象区域小的区域（步骤31至37）。
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公开(公告)号：US07672510B2
公开(公告)日：2010-03-02
申请号：US10928768
申请日：2004-08-27
申请人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Masakazu Saka , Takayuki Tsuji
CPC分类号： B60R21/013 , B60R21/0134 , B60R21/34 , G06K9/00362 , G06T7/66 , G06T2207/10048 , G06T2207/30261
摘要： A vehicle environment monitoring device identifies objects from an image taken by an infrared camera. Object extraction from images is performed in accordance with the state of the environment as determined by measurements extracted from the images as follows: N1 binarized objects are extracted from a single frame. Height of a grayscale objects corresponding to one of the binarized objects are calculated. If a ratio of the number of binarized objects C, where the absolute value of the height difference is less than the predetermined value ΔH, to the total number N1 of binarized objects, is greater than a predetermined value X1, the image frame is determined to be rainfall-affected. If the ratio is less than the predetermined value X1, the image frame is determined to be a normal frame. A warning is provided if it is determined that the object is a pedestrian and if a collision is likely.
摘要翻译： 车辆环境监测装置从红外摄像机拍摄的图像识别物体。 根据从图像提取的测量结果确定的环境状态，执行从图像的对象提取：从单个帧提取N1个二值化对象。 计算与其中一个二值化对象对应的灰度对象的高度。 如果高度差的绝对值小于预定值＆Dgr; H的二值化对象C的数量与二值化对象的总数N1的比率大于预定值X1，则图像帧为 决定受到降雨影响。 如果比率小于预定值X1，则确定图像帧为正常帧。 如果确定对象是行人并且碰撞可能，则提供警告。
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公开(公告)号：US07330568B2
公开(公告)日：2008-02-12
申请号：US10801413
申请日：2004-03-16
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/205 , B60R2300/207 , B60R2300/30 , B60R2300/302 , B60R2300/8053 , G06K9/00369 , G06K9/00805
摘要： A device for monitoring around a vehicle capable of detecting objects present around the vehicle based on an image captured by at least one infrared camera member provided with the vehicle. An area which is inferred to correspond to the pedestrian's head is established as a reference area. Two object areas are established above the reference area so as to correspond to spaces above the shoulders on both sides of the pedestrian's head. An area which corresponds to the head and the shoulders in an infra-red ray image is acknowledged. Another object area which is inferred to correspond to the shoulders and arms of the pedestrian is established. If a distance from an entire pedestrian and a distance from an area which corresponds to the shoulders and arms are equal, it is acknowledged that a binary object including the area which corresponds to the shoulders and arms indicates a pedestrian.
摘要翻译： 一种用于基于由至少一个设置有车辆的红外线摄像机构件拍摄的图像来监视车辆周围的能够检测车辆周围的物体的装置。 建立与行人头部对应的推断区域作为参照区域。 在参考区域上方建立两个物体区域，以对应于行人头部两侧的肩膀上方的空间。 在红外线图像中对应于头部和肩部的区域被确认。 建立了与行人的肩膀和手臂相对应的另一个物体区域。 如果距离整个行人的距离和与肩膀和手臂相对应的区域的距离相等，则确认包括对应于肩膀和手臂的区域的二进制对象表示行人。
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公开(公告)号：US20070269079A1
公开(公告)日：2007-11-22
申请号：US11799987
申请日：2007-05-03
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus is provided herein which is capable of determining an object type, particularly capable of determining an animal other than a human being among objects. The vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera (2R, 2L) mounted on the vehicle, including an object extraction process unit which extracts an image area of the object from the captured image (steps 1 to 6) and an object type determination process unit which determines the object type according to whether the image area of the object extracted by the object extraction process unit includes a first object area of an inverse triangular shape and a second object area located below the first object area and within a predetermined range from the first object area (steps 31 to 36).
摘要翻译： 本文提供一种能够确定物体类型的车辆周围环境监测装置，特别是能够确定物体之外的人类以外的动物。 一种车辆周边监视装置，其通过使用安装在车辆上的照相机（2R，2L）拍摄的图像来监视车辆的周围环境，包括物体提取处理单元，其从拍摄图像中提取物体的图像区域 （步骤1至6）和对象类型确定处理单元，其根据由对象提取处理单元提取的对象的图像区域是否包括反三角形形状的第一对象区域和位于第三对象区域的第二对象区域来确定对象类型 在第一对象区域的下方并且在距离第一对象区域的预定范围内（步骤31至36）。
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