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：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

IPC分类号： G06K9/00 ,  G06K9/46 ,  G08G1/16

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。

公开(公告)号：US20090041302A1

公开(公告)日：2009-02-12

申请号：US12218517

申请日：2008-07-16

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Takayuki Tsuji

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Takayuki Tsuji

IPC分类号： G06K9/78

CPC分类号： G06K9/00369 ,  G06K9/00805

摘要： An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means (11) for extracting an area of an object from an image picked up by an image pick-up means (2R, 2L), an object end point extracting means (12) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means (13) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means (12) from the area of the object extracted by the object area extracting means (11) for respective ones of time series images picked up by the image pick-up means (2R, 2L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means (14) for determining the object having the feature value determined to change with periodicity as a living body.

摘要翻译： 提供了一种对象类型确定装置，对象类型确定方法，车辆和用于确定对象类型的程序，能够通过从图像适当地确定对象的移动周期来精确地确定对象的类型。 对象类型确定装置包括：对象区域提取装置，用于从由图像拾取装置（2R，2L）拾取的图像中提取对象的区域;对象终点提取装置（12），用于提取 来自提取的对象区域的对象的图像部分的终点;对象周期性确定装置（13），用于使用对象的图像部分的终点来计算表示对象的大小的特征值的时间序列数据 由对象终点提取装置（12）从由对象区域提取装置（11）提取的对象区域针对由图像拾取装置（2R，2L）拾取的各个时间序列图像提取出来，以确定 所述特征值是否以规定的周期性变化，以及生物体确定装置（14），用于确定被确定为周期性变化的特征值的物体作为活体。

公开(公告)号：US08306263B2

公开(公告)日：2012-11-06

申请号：US12218517

申请日：2008-07-16

申请人： Nobuharu Nagaoka ,  Makoto Aimura ,  Takayuki Tsuji

发明人： Nobuharu Nagaoka ,  Makoto Aimura ,  Takayuki Tsuji

IPC分类号： G06K9/00

CPC分类号： G06K9/00369 ,  G06K9/00805

摘要： An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means (11) for extracting an area of an object from an image picked up by an image pick-up means (2R, 2L), an object end point extracting means (12) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means (13) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means (12) from the area of the object extracted by the object area extracting means (11) for respective ones of time series images picked up by the image pick-up means (2R, 2L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means (14) for determining the object having the feature value determined to change with periodicity as a living body.

摘要翻译： 提供了一种对象类型确定装置，对象类型确定方法，车辆和用于确定对象类型的程序，能够通过从图像适当地确定对象的移动周期来精确地确定对象的类型。 对象类型确定装置包括：对象区域提取装置，用于从由图像拾取装置（2R，2L）拾取的图像中提取对象的区域;对象终点提取装置（12），用于提取 来自提取的对象区域的对象的图像部分的终点;对象周期性确定装置（13），用于使用对象的图像部分的终点来计算表示对象的大小的特征值的时间序列数据 由对象终点提取装置（12）从由对象区域提取装置（11）提取的对象区域针对由图像拾取装置（2R，2L）拾取的各个时间序列图像提取出来，以确定 所述特征值是否以规定的周期性变化，以及生物体确定装置（14），用于确定被确定为周期性变化的特征值的物体作为活体。

公开(公告)号：US07580548B2

公开(公告)日：2009-08-25

申请号：US11287870

申请日：2005-11-28

申请人： Masakazu Saka ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayuki Tsuji

发明人： Masakazu Saka ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayuki Tsuji

IPC分类号： G06K9/00 ,  G05D1/02

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。

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。

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。

公开(公告)号：US20060115121A1

公开(公告)日：2006-06-01

申请号：US11287870

申请日：2005-11-28

申请人： Masakazu Saka ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayuki Tsuji

发明人： Masakazu Saka ,  Nobuharu Nagaoka ,  Masahito Watanabe ,  Takayuki Tsuji

IPC分类号： G06K9/00 ,  G06G7/78

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.

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。

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。