公开(公告)号：US20180268229A1

公开(公告)日：2018-09-20

申请号：US15986113

申请日：2018-05-22

申请人： Otoichi NAKATA ,  Shinichi Sumiyoshi ,  Naoki Motohashi ,  Sadao Takahashi ,  Soichiro Yokota ,  Toshifumi Yamaai

发明人： Otoichi NAKATA ,  Shinichi Sumiyoshi ,  Naoki Motohashi ,  Sadao Takahashi ,  Soichiro Yokota ,  Toshifumi Yamaai

IPC分类号： G06K9/00 ,  H04N13/128 ,  G08G1/16 ,  G06T7/593 ,  G05D1/02

摘要： An image processing apparatus includes an extracting unit configured to obtain a range image having pixel values corresponding to a distance of an object in a plurality of captured images obtained by capturing the object on a road surface so as to extract pixel values from the range image, a first generating unit configured to generate vertical direction distribution data indicating a frequency distribution of distance values in a vertical direction of the range image based on the extracted pixel values, a calculating unit configured to calculate a height of the road surface in the range image before generation of the vertical direction distribution data is completed, and a second generating unit configured to generate horizontal direction distribution data indicating a frequency distribution of distance values in a horizontal direction of the range image based on the extracted pixel values and the calculated height of the road surface.

公开(公告)号：US10650271B2

公开(公告)日：2020-05-12

申请号：US15453532

申请日：2017-03-08

申请人： Otoichi Nakata ,  Naoki Motohashi ,  Shinichi Sumiyoshi

发明人： Otoichi Nakata ,  Naoki Motohashi ,  Shinichi Sumiyoshi

IPC分类号： G06K9/62 ,  H04N13/271 ,  G06K9/00 ,  G06T7/593 ,  B60W30/09 ,  G08G1/16 ,  H04N13/00

摘要： An image processing apparatus includes a processor configured to generate vertical direction distribution data which is a distribution of distance values to a vertical direction of a distance image from the distance image having distance values according to distance of a road surface in captured images. There is an extraction of a pixel having the highest frequency value for each of the distance values from pixels in a search area. There is a detection of the road surface based on each pixel extracted.

公开(公告)号：US10762656B2

公开(公告)日：2020-09-01

申请号：US16347959

申请日：2017-09-13

申请人： Naoki Motohashi ,  Sadao Takahashi

发明人： Naoki Motohashi ,  Sadao Takahashi

IPC分类号： G06K9/00 ,  G06T7/593 ,  H04N13/204 ,  G06T3/20 ,  G06T3/60 ,  G06T7/70 ,  H04N13/00

摘要： An information processing device includes a disparity information input unit configured to acquire disparity image data indicating a disparity image including a disparity; a V map generating unit configured to generate a V map indicating a frequency of the disparity for each of coordinates of the disparity image by voting the disparity at a position corresponding to the coordinate of each of pixels of the disparity image based on the disparity image data; a shape estimating unit configured to estimate a road surface shape based on the V map; a height table generating unit configured to generate a height table indicating a relationship between the disparity and a height of a road surface based on the estimated road surface shape; and a correcting unit configured to correct, based on rolling information on rolling of a stereo camera that acquires the disparity, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.

公开(公告)号：US20190001910A1

公开(公告)日：2019-01-03

申请号：US16122445

申请日：2018-09-05

申请人： Naoki Motohashi

发明人： Naoki Motohashi

IPC分类号： B60R21/02 ,  G06T7/00 ,  G08G1/16 ,  G06T1/60

摘要： An image processing apparatus includes one or more processors; and a memory, the memory storing instructions, which when executed by the one or more processors, cause the one or more processors to generate vertical direction distribution data indicating a frequency distribution of distance values with respect to a vertical direction of a range image, from the range image having distance values according to distance of a road surface in a plurality of captured images captured by a plurality of imaging parts; set a search range corresponding to a predetermined reference point in the vertical direction distribution data and extract a plurality of pixels from the search range; and detect a road surface, based on the plurality of extracted pixels.

公开(公告)号：US09697583B2

公开(公告)日：2017-07-04

申请号：US14711108

申请日：2015-05-13

申请人： Naoki Motohashi ,  Satoshi Nakamura

发明人： Naoki Motohashi ,  Satoshi Nakamura

IPC分类号： G06T3/40 ,  G06K9/46 ,  G06K9/52 ,  G06K9/62

CPC分类号： G06T3/4053 ,  G06K9/4642 ,  G06K9/522 ,  G06K9/6255 ,  G06T3/4076 ,  G06T2207/20021 ,  G06T2210/36

摘要： An image processing apparatus includes a pre-processing unit and a coding unit. The pre-processing unit acquires, from an image, a patch obtained by extracting a partial area of the image. The coding unit determines a value of a design parameter relating to processing of the patch according to the amount of information contained in the acquired patch and representing a state of distribution of pixel values and generates a high-frequency patch from the patch by using the determined value of the design parameter.

公开(公告)号：US10885351B2

公开(公告)日：2021-01-05

申请号：US16127889

申请日：2018-09-11

申请人： Naoki Motohashi

发明人： Naoki Motohashi

IPC分类号： G06K9/00 ,  G08G1/16 ,  G06T1/00 ,  G06T7/00 ,  G06T7/11 ,  G06T7/593 ,  G05D1/02 ,  G06K9/40 ,  H04N13/239 ,  H04N13/00

摘要： An image processing apparatus includes one or more processors; and a memory, the memory storing instructions, which when executed by the one or more processors, cause the one or more processors to generate vertical direction distribution data indicating a frequency distribution of distance values with respect to a vertical direction of a range image, from the range image having distance values according to distance of a road surface in a plurality of captured images captured by a plurality of imaging parts; estimate a plurality of road surfaces, based on the vertical direction distribution data; and determine a desired road surface, based on the estimated plurality of road surfaces.