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1.发明申请公开(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。
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2.发明授权公开(公告)号：US07885430B2
公开(公告)日：2011-02-08
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
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）获得的图像中存在对象的区域设定为第一区域（A1i），将第一区域（A1i）的下部设定为第二区域（A2i）。 基于第二区域（A2i）提取对象的特征，并且基于所提取的特征来识别对象。 由此，即使在第一区域（A1i）被设定的情况下，由于物体的上部与图像的背景重叠，物体的上部的特征也不能被提取，所以物体 通过提取第二区域（A2i）中的对象的下部的特征，仍然通过高精度来识别。
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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：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：US07130448B2
公开(公告)日：2006-10-31
申请号：US10346517
申请日：2003-01-17
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06K9/00805 , G06K2209/23
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. The device includes a binary object extraction unit which subjects a gray scale image of the image captured by the infrared camera member to a binary thresholding method, and extracts a binary object from the gray scale image; a gray scale object extraction unit which extracts a gray scale object, a range of the gray scale object including the binary object, from the gray scale image based on change in luminance of the gray scale image, and a pedestrian determination unit which sets a search area in an area including the gray scale object, and recognizes a pedestrian in the gray scale image based on a luminance variance in the search area.
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。 该装置包括二进制对象提取单元，其将由红外相机成员捕获的图像的灰度图像进行二进制阈值处理，并从灰度图像中提取二进制对象; 灰度对象提取单元，其基于灰度图像的亮度的变化从灰度图像中提取灰度对象，包括二进制对象的灰度对象的范围，以及设置搜索的行人确定单元 区域，并且基于搜索区域中的亮度方差识别灰度图像中的行人。
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公开(公告)号：US20060115121A1
公开(公告)日：2006-06-01
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.
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公开(公告)号：US08077909B2
公开(公告)日：2011-12-13
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：US07418127B2
公开(公告)日：2008-08-26
申请号：US10675348
申请日：2003-09-30
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： G06K9/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a front plate which has holes arranged in line, and which is adapted to emit an amount of infrared light; and a back plate which is disposed in parallel to and behind the front plate as viewed from infrared cameras to be tested, and which is adapted to emit a different amount of infrared light when compared with the front plate. The back plate is disposed at lower portions of pillars. On the other hand, the front plate is made vertically movable in front of the back plate and along the pillars. By being controlled by a controller, the front plate is movable from the ground height to a level corresponding to approximately two times the height of the back plate.
摘要翻译： 一种用于测试红外摄像机的装置，包括：前板，其具有排列成行的孔，并且适于发射一定数量的红外光; 以及从要被测试的红外摄像机观察时平行于前板的后板设置的背板，并且与前板相比适于发射不同量的红外光。 后板设置在柱的下部。 另一方面，前板在后板的前面和支柱上可竖直移动。 通过由控制器控制，前板可从地面高度移动到相当于背板高度的大约两倍的水平。
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