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1.发明申请公开(公告)号：US20120327188A1
公开(公告)日：2012-12-27
申请号：US13575173
申请日：2010-08-13
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
CPC分类号： G08G1/16 , G01S11/12 , G06K9/00798 , G06K9/00825 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
摘要翻译： 一种车载环境识别装置，包括简单模式匹配单元，其通过使用预先存储的图案形状从通过车载图像捕获装置获取的图像中提取目标候选，并输出对象候选者的位置，区域变化 量预测单元，其基于对通过划分所获取的图像，检测到的车辆行为信息和输入的获得的图像获得的多个区域的每个区域设置不同的对象变化量预测计算方法来计算提取的候选对象的变化量预测 并且输出对象的预测位置，以及基于输入的对象的预测位置跟踪对象的跟踪单元。
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2.发明授权公开(公告)号：US09064418B2
公开(公告)日：2015-06-23
申请号：US13575173
申请日：2010-08-13
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
CPC分类号： G08G1/16 , G01S11/12 , G06K9/00798 , G06K9/00825 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
摘要翻译： 一种车载环境识别装置，包括简单模式匹配单元，其通过使用预先存储的图案形状从通过车载图像捕获装置获取的图像中提取目标候选，并输出对象候选者的位置，区域变化 量预测单元，其基于对通过划分所获取的图像，检测到的车辆行为信息和输入的获得的图像获得的多个区域的每个区域设置不同的对象变化量预测计算方法来计算提取的候选对象的变化量预测 并且输出对象的预测位置，以及基于输入的对象的预测位置跟踪对象的跟踪单元。
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公开(公告)号：US07899213B2
公开(公告)日：2011-03-01
申请号：US12176744
申请日：2008-07-21
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译： 一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。 图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。 多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。 图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域， 第二次曝光确定第二个区域成为第二个三维物体。
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4.发明授权Image processing system which processes an image captured by an imaging device through a lens having a focus which is adjusted to a point beyond the glass 有权图像处理系统，其通过具有被调整到超过玻璃点的焦点的透镜来处理由成像装置拍摄的图像公开(公告)号：US07208723B2
公开(公告)日：2007-04-24
申请号：US10916444
申请日：2004-08-12
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system that detects foreign matter on a glass window of a vehicle and objects in front of the vehicle. The system includes an image processor, a first lamp, and a second lamp. On/off control of the first and second lamps is controlled by the image processor. Light from the first lamp is reflected from the outer sauce of the glass when raindrops are present on the outside of the glass. Light from the second lamp is reflected from the inner surface of the glass when moisture is present on the inside of the glass. Any reflected light goes through a lens and an optical filter with prescribed optical characteristics to an image device. The lens is focused to a point beyond the window so that the image processor an also detect objects in front of the vehicle.
摘要翻译： 一种图像处理系统，其检测车辆的玻璃窗上的异物和车辆前方的物体。 该系统包括图像处理器，第一灯和第二灯。 第一和第二灯的开/关控制由图像处理器控制。 当玻璃外面存在雨滴时，来自第一灯的光从玻璃的外部酱汁反射出来。 当玻璃内部存在湿气时，来自第二灯的光从玻璃的内表面反射出来。 任何反射的光通过具有规定的光学特性的透镜和具有光学特性的滤光器到图像装置。 透镜被聚焦到超出窗口的点上，使得图像处理器还可以检测车辆前方的物体。
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公开(公告)号：US20050036660A1
公开(公告)日：2005-02-17
申请号：US10915603
申请日：2004-08-11
IPC分类号： B60R21/00 , B60Q1/08 , B60Q1/14 , B60Q1/52 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/16 , G01C21/26
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译： 本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。 本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。 该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。 图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。 图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。
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公开(公告)号：US07247838B2
公开(公告)日：2007-07-24
申请号：US11474337
申请日：2006-06-26
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system includes a lamp which emits light to a glass, an imaging device which captures light which is emitted from the lamp and reflected by the glass, and an optical filter, located between the glass and the imaging device, which transmits rays with a specific wavelength of the reflected light. A lens is provided in front of the imaging device, and a focus of the lens is adjusted to a point beyond the glass, and an image processor is provided which processes an image captured by the imaging device and detects moisture on the glass.
摘要翻译： 图像处理系统包括向玻璃发光的灯，捕获从灯发射并被玻璃反射的光的成像装置和位于玻璃与成像装置之间的光学滤光器，其将光线与 反射光的特定波长。 在成像装置的前方设置透镜，并且将透镜的焦点调整到超过玻璃的点，并且提供处理由成像装置拍摄的图像并检测玻璃上的水分的图像处理器。
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公开(公告)号：US20060243894A1
公开(公告)日：2006-11-02
申请号：US11474337
申请日：2006-06-26
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system includes a lamp which emits light to a glass, an imaging device which captures light which is emitted from the lamp and reflected by the glass, and an optical filter, located between the glass and the imaging device, which transmits rays with a specific wavelength of the reflected light. A lens is provided in front of the imaging device, and a focus of the lens is adjusted to a point beyond the glass, and an image processor is provided which processes an image captured by the imaging device and detects moisture on the glass.
摘要翻译： 图像处理系统包括向玻璃发光的灯，捕获从灯发射并被玻璃反射的光的成像装置和位于玻璃与成像装置之间的光学滤光器，其将光线与 反射光的特定波长。 在成像装置的前方设置透镜，并且将透镜的焦点调整到超过玻璃的点，并且提供处理由成像装置拍摄的图像并检测玻璃上的水分的图像处理器。
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公开(公告)号：US07512252B2
公开(公告)日：2009-03-31
申请号：US10915603
申请日：2004-08-11
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译： 本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。 本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。 该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。 图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。 图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。
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公开(公告)号：US20080278577A1
公开(公告)日：2008-11-13
申请号：US12176744
申请日：2008-07-21
IPC分类号： H04N7/18
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译： 一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。 图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。 多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。 图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域， 第二次曝光确定第二个区域成为第二个三维物体。
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公开(公告)号：US20050035926A1
公开(公告)日：2005-02-17
申请号：US10916444
申请日：2004-08-12
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system which detects foreign matter on window of a vehicle with high reliability. The system includes an image processor, a first lamp, and a second lamp and when to turn on the first and second lamps is controlled by the image processor. Light from the first lamp passes through the glass. If there are raindrops on the outer surface of the glass, light is reflected by raindrops and light from the second lamp is reflected by a surface of the glass and such reflected light goes through a lens and an optical filter with prescribed optical characteristics to an imaging device.
摘要翻译： 一种以高可靠性检测车辆窗户外的异物的图像处理系统。 该系统包括图像处理器，第一灯和第二灯，并且何时打开第一和第二灯由图像处理器控制。 来自第一盏灯的光通过玻璃。 如果玻璃外表面有雨滴，则会被雨滴反射，第二根灯的光线被玻璃的表面反射，反射光通过具有规定光学特性的透镜和滤光片成像 设备。
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