公开(公告)号：US09160986B2

公开(公告)日：2015-10-13

申请号：US13884732

申请日：2011-11-09

申请人： Nobuharu Nagaoka ,  Makoto Aimura

发明人： Nobuharu Nagaoka ,  Makoto Aimura

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

CPC分类号： H04N7/183 ,  G06K9/00805 ,  G08G1/163

摘要： A device for monitoring surroundings of a vehicle mounted in a vehicle, captures an image of surroundings of the vehicle, extracts from the captured image an image area for a predetermined part of a desired type of object, and sets a predetermined area below the extracted image area. The device extracts candidates for the desired type of object present outside the vehicle based on the predetermined area and determines, for each of the extracted object candidates, whether the object candidate is the desired type of object. When no pattern different from the background is captured in the predetermined area, or when a pattern different from the background is captured only in one of a first and a second areas, then the object in the image area is excluded from the candidates for the desired type of object. Thus, a pedestrian, for example, can be distinguished from an artificial structure.

摘要翻译： 一种用于监视安装在车辆中的车辆的周围环境的装置，捕获车辆周围的图像，从捕获的图像中提取期望类型的物体的预定部分的图像区域，并将提取的图像下方的预定区域设置 区。 基于预定区域，设备提取车辆外部存在的期望类型的候选，并且为每个提取的对象候选确定对象候选是否是期望类型的对象。 当在预定区域中没有捕获与背景不同的图案时，或者当仅在第一和第二区域中的一个区域捕获与背景不同的图案时，则将图像区域中的对象从期望的候选者中排除 物件类型 因此，例如，行人可以与人造结构区分开。

公开(公告)号：US20120300076A1

公开(公告)日：2012-11-29

申请号：US13515618

申请日：2010-12-16

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： H04N7/18

CPC分类号： H04N7/18 ,  B60R1/00 ,  B60R2300/103 ,  B60R2300/107 ,  B60R2300/205 ,  B60R2300/301 ,  B60R2300/302 ,  B60R2300/307 ,  G06K9/00805 ,  G06K9/00825 ,  G08G1/16 ,  G08G1/166

摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.

摘要翻译： 车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。 扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别 如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

公开(公告)号：US08284253B2

公开(公告)日：2012-10-09

申请号：US12988551

申请日：2009-01-08

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Hideki Hashimoto

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Hideki Hashimoto

IPC分类号： H04N7/18

CPC分类号： G08G1/166 ,  G06T7/579 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30261

摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) at a high accuracy even when the object is moving.

摘要翻译： 提供一种能够即使当物体移动时能够高精度地测量物体的位置的装置。 根据车辆周围监视装置（10），当通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关度相关时， （k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为 局部区域（B（k））。 基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k）） 物体正在移动。

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：US20120041617A1

公开(公告)日：2012-02-16

申请号：US13265598

申请日：2010-01-14

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： G06F7/00

CPC分类号： G06K9/00805 ,  G06T7/593 ,  G06T2207/10016 ,  G06T2207/30261 ,  G08G1/166

摘要： Provided is a vehicle periphery monitoring device having: a first distance calculating unit (25) which calculates a distance between a vehicle (10) and an object, using a parallax gradient of image sections of the same object among a plurality of images captured by infrared cameras (2R, 2L) at different times within a predetermined sampling interval; a vehicular velocity sensor (4) which detects a vehicular velocity of the vehicle (10); and a sampling interval setting unit (23) which sets the sampling interval shorter with the increase of the vehicular velocity of the vehicle (10).

摘要翻译： 本发明提供一种车辆周边监视装置，其具有：第一距离计算部（25），其使用由红外线捕获的多个图像中的相同对象的图像部分的视差梯度来计算车辆（10）和物体之间的距离 相机（2R，2L）在预定采样间隔内的不同时间; 检测车辆（10）的车速的车速传感器（4）; 以及采样间隔设定单元（23），其随着车辆（10）的车速的增加来设定采样间隔较短的采样间隔设定单元。

公开(公告)号：US20080260208A1

公开(公告)日：2008-10-23

申请号：US12080906

申请日：2008-04-07

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Masakazu Saka ,  Takayuki Tsuji

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Masakazu Saka ,  Takayuki Tsuji

IPC分类号： G06K9/00

CPC分类号： G06K9/4604 ,  G06K9/00362 ,  G06K9/00805 ,  G06T7/13 ,  G06T7/73 ,  G06T2207/10012 ,  G06T2207/10048 ,  G06T2207/30261

摘要： The present invention provides an automotive environment monitoring device to detect the existence of an object, a pedestrian or the like, with high accuracy even if one part of the object is overlapped with the background of an image obtained from an imaging unit mounted on the vehicle. An area where the object exists in the image obtained from an infrared camera (102) is set as a first area (A1i) and a lower portion of the first area (A1i) is set as a second area (A2i). A feature of the object is extracted with respect to the second area (A2i) and the object is identified based on the extracted feature. Thereby, even in the case where the first area (A1i) has been set but the feature of an upper part of the object can not be extracted due to the upper part of the object being overlapped with the background of the image, the object can still be identified with high accuracy by extracting the feature of a lower part of the object in the second area (A2i).

摘要翻译： 本发明提供了一种汽车环境监视装置，即使一部分物体与从安装在车辆上的摄像单元获得的图像的背景重叠，也能够高精度地检测物体，行人等的存在 。 将从红外线摄像机（102）获得的图像中的物体存在的区域被设定为第一区域（A SUB1i1）和第一区域（A＆lt; 1i＆lt; 1i＆lt; SUB>）被设置为第二区域（A 2i 1）。 相对于第二区域（A 2i 1 N）提取对象的特征，并且基于所提取的特征来识别对象。 因此，即使在已经设置了第一区域（A 1i 1i））的情况下，由于物体的上部与物体的上部重叠而不能提取物体的上部的特征 通过提取第二区域（A 2i 2 i）中的对象的下部的特征，图像的背景，仍然可以高精度地识别对象。

公开(公告)号：US09030560B2

公开(公告)日：2015-05-12

申请号：US13700289

申请日：2011-05-30

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： H04N9/18 ,  G08G1/16 ,  G06T7/00

CPC分类号： G08G1/166 ,  G06K9/00362 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10048 ,  G06T2207/30261

摘要： The vehicle surroundings monitoring apparatus is provided with an imaging device and a device that transforms captured image to digital image. A first edge extraction mask is applied to detect multiple horizontal edges. The apparatus further includes a detector that detects upper end of the head of the object by detecting a horizontal edge having a highest edge intensity out of the multiple horizontal edges. A second edge extraction mask is used to detect the lower end of the head of the physical object by detecting multiple vertical edges and matching the positional variation of the multiple vertical edges with predetermined patterns.

摘要翻译： 车辆周边监视装置具备成像装置和将拍摄图像变换为数字图像的装置。 应用第一边缘提取掩模来检测多个水平边缘。 该装置还包括检测器，其通过检测多个水平边缘中具有最高边缘强度的水平边缘来检测物体的头部的上端。 第二边缘提取掩模用于通过检测多个垂直边缘并且利用预定图案匹配多个垂直边缘的位置变化来检测物体的头部的下端。

公开(公告)号：US08953840B2

公开(公告)日：2015-02-10

申请号：US13579754

申请日：2011-02-21

申请人： Nobuharu Nagaoka ,  Hideki Hashimoto ,  Makoto Aimura

发明人： Nobuharu Nagaoka ,  Hideki Hashimoto ,  Makoto Aimura

IPC分类号： G06K9/00 ,  B60R1/00 ,  G06T5/00 ,  G08G1/16

CPC分类号： B60R1/00 ,  B60R2300/105 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/8033 ,  B60R2300/8093 ,  G06T5/008 ,  G08G1/163 ,  G08G1/165

摘要： An imaging means mounted on a vehicle performs imaging resulting in grayscale images having brightness values corresponding to object temperature, and objects around the vehicle are detected from said images. On the basis of said grayscale images, display images to be displayed on a display device mounted on the vehicle are generated and displayed on the display device. The display images are generated by lowering the brightness of areas not corresponding to the objects detected in the grayscale images. The display device is positioned in the vehicle width direction at no more than a prescribed distance away from an imaginary line passing through the center of rotation of the vehicle steering wheel and extending in the longitudinal direction of the vehicle. Accordingly, because display images are generated in which only the objects are spotlighted, the driver can quickly comprehend the objects present when using a display device.

摘要翻译： 安装在车辆上的成像装置执行成像，产生具有与物体温度对应的亮度值的灰度图像，并且从所述图像检测车辆周围的物体。 基于所述灰度图像，生成显示装置上显示在显示装置上的显示图像。 通过降低与灰度图像中检测到的对象不相对应的区域的亮度来生成显示图像。 显示装置位于车宽方向上，距离通过车辆用方向盘的旋转中心的假想线规定距离，并且在车辆的长度方向上延伸。 因此，由于生成只显示对象的显示图像，所以当使用显示装置时，驾驶员可以快速理解存在的对象。

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：US20130070098A1

公开(公告)日：2013-03-21

申请号：US13700289

申请日：2011-05-30

申请人： Makoto Aimura ,  Nobuharu Nagaoka

发明人： Makoto Aimura ,  Nobuharu Nagaoka

IPC分类号： H04N7/18 ,  H04N5/33

CPC分类号： G08G1/166 ,  G06K9/00362 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10048 ,  G06T2207/30261

摘要： The vehicle surroundings monitoring apparatus is provided with an imaging device and a device that transforms captured image to digital image. A first edge extraction mask is applied to detect multiple horizontal edges. The apparatus further includes a detector that detects upper end of the head of the object by detecting a horizontal edge having a highest edge intensity out of the multiple horizontal edges. A second edge extraction mask is used to detect the lower end of the head of the physical object by detecting multiple vertical edges and matching the positional variation of the multiple vertical edges with predetermined patterns.

摘要翻译： 车辆周边监视装置具备成像装置和将拍摄图像变换为数字图像的装置。 应用第一边缘提取掩模来检测多个水平边缘。 该装置还包括检测器，其通过检测多个水平边缘中具有最高边缘强度的水平边缘来检测物体的头部的上端。 第二边缘提取掩模用于通过检测多个垂直边缘并且利用预定图案匹配多个垂直边缘的位置变化来检测物体的头部的下端。