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公开(公告)号：US10402664B2
公开(公告)日：2019-09-03
申请号：US15311946
申请日：2015-05-19
申请人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
发明人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.
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2.发明申请IMAGE PROCESSING APPARATUS, SOLID OBJECT DETECTION METHOD, SOLID OBJECT DETECTION PROGRAM, AND MOVING OBJECT CONTROL SYSTEM 审中-公开图像处理装置，固体物体检测方法，固体物体检测程序和移动物体控制系统公开(公告)号：US20160019429A1
公开(公告)日：2016-01-21
申请号：US14790322
申请日：2015-07-02
申请人： Tomoko ISHIGAKI , Soichiro Yokota , Xue Li , Sadao Takahashi
发明人： Tomoko ISHIGAKI , Soichiro Yokota , Xue Li , Sadao Takahashi
CPC分类号： G06K9/00805 , G01B11/002 , G01B11/026 , G06F16/583 , G06K9/00798 , G06T7/73 , G06T2207/10021 , G06T2207/30261
摘要： An image processing apparatus installed in a subject vehicle includes an imaging unit 100 that photographs images of a front area (imaging area) in the traveling direction of the subject vehicle and a stereo image processor that detects an object to be detected such as a pedestrian present in the imaging area. The stereo image processor detects a guardrail-analogous object based on a horizontal-parallax image, designates a detection area β based on the detected guardrail-analogous object, and detects the object present in the detection area β.
摘要翻译： 安装在本车辆中的图像处理装置包括摄像单元100，其拍摄本车辆的行进方向上的前方区域（摄像区域）的图像，以及检测被检测体的立体图像处理装置， 在成像区域。 立体图像处理器基于水平视差图像来检测护栏类似对象，指定检测区域＆bgr; 基于检测到的护栏类似对象，并检测存在于检测区域＆bgr中的对象。
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3.发明申请OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM AND DEVICE CONTROL SYSTEM FOR MOVEABLE APPARATUS 有权对象检测装置，对象检测方法，移动装置的对象检测程序和装置控制系统公开(公告)号：US20150294160A1
公开(公告)日：2015-10-15
申请号：US14682496
申请日：2015-04-09
CPC分类号： G06K9/00791 , G06K9/46 , G06K2009/4666 , G06T7/20 , G06T7/70 , G06T11/206 , G06T2207/10012 , G06T2207/10021 , G06T2207/30256 , G06T2207/30261 , H04N13/204 , H04N13/239 , H04N2013/0081
摘要： An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a map generator to generate a map indicating a frequency profile of disparity values correlating a horizontal direction distance of the object with respect to a movement direction of the moveable apparatus, and a distance to the object in the movement direction of the moveable apparatus based on the disparity image, an isolated area detection unit to detect an isolated area based on the frequency profile, an isolated area divider to divide the isolated area into two or more isolated areas based on the frequency profile in the isolated area, and an object detector to detect an object based on the divided isolated area.
摘要翻译： 通过使用安装在可移动装置上的多个成像装置捕获多个图像并从所捕获的图像生成视差图像，可安装到可移动装置上的物体检测装置，用于检测存在于可移动装置外部的物体，包括生成 指示相对于可移动装置的移动方向的物体的水平方向距离和基于视差图像的可移动装置的移动方向上的物体的距离的视差值的频率分布的映射，孤立的 区域检测单元，用于基于所述频率分布来检测隔离区域;隔离区域划分器，用于基于所述隔离区域中的频率分布将所述隔离区域划分为两个或多个隔离区域;以及对象检测器，用于基于所述区域检测单元检测对象 划分隔离区。
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4.发明授权Object detection apparatus, object detection method, object detection program and device control system for moveable apparatus 有权物体检测装置，物体检测方法，物体检测程序和可移动装置的装置控制系统公开(公告)号：US09330320B2
公开(公告)日：2016-05-03
申请号：US14682496
申请日：2015-04-09
CPC分类号： G06K9/00791 , G06K9/46 , G06K2009/4666 , G06T7/20 , G06T7/70 , G06T11/206 , G06T2207/10012 , G06T2207/10021 , G06T2207/30256 , G06T2207/30261 , H04N13/204 , H04N13/239 , H04N2013/0081
摘要： An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a map generator to generate a map indicating a frequency profile of disparity values correlating a horizontal direction distance of the object with respect to a movement direction of the moveable apparatus, and a distance to the object in the movement direction of the moveable apparatus based on the disparity image, an isolated area detection unit to detect an isolated area based on the frequency profile, an isolated area divider to divide the isolated area into two or more isolated areas based on the frequency profile in the isolated area, and an object detector to detect an object based on the divided isolated area.
摘要翻译： 通过使用安装在可移动装置上的多个成像装置捕获多个图像并从所捕获的图像生成视差图像，可安装到可移动装置上的物体检测装置，用于检测存在于可移动装置外部的物体，包括生成 指示相对于可移动装置的移动方向的物体的水平方向距离和基于视差图像的可移动装置的移动方向上的物体的距离的视差值的频率分布的映射，孤立的 区域检测单元，用于基于所述频率分布来检测隔离区域;隔离区域划分器，用于基于所述隔离区域中的频率分布将所述隔离区域划分为两个或多个隔离区域;以及对象检测器，用于基于所述区域检测单元检测对象 划分隔离区。
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公开(公告)号：US10387733B2
公开(公告)日：2019-08-20
申请号：US15455650
申请日：2017-03-10
IPC分类号： G06K9/00 , H04N5/14 , H04N5/232 , B60W30/08 , G06T7/246 , G06T7/277 , B60R1/00 , B60W30/09 , B60W30/14 , B60W50/14 , G06T11/60 , G08G1/16
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, and a danger-level determining unit. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The danger-level determining unit determines a danger level of the moving object by use of the distance image, and outputs the danger level to a controller that controls a controlled unit in accordance with the danger level.
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公开(公告)号：US09637118B2
公开(公告)日：2017-05-02
申请号：US14710801
申请日：2015-05-13
CPC分类号： G06K9/00805 , B60K2350/2013 , B60K2350/2052 , B60K2350/352 , B60K2350/921 , B60R1/00 , B60R2300/105 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/303 , B60W30/08 , B60W30/09 , B60W30/143 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2510/18 , B60W2510/20 , B60W2520/105 , B60W2520/14 , B60W2550/10 , B60W2550/30 , B60W2710/18 , B60W2710/20 , B60W2720/106 , B60W2720/14 , B60W2750/30 , G06K9/00335 , G06K9/00791 , G06T7/251 , G06T7/277 , G06T11/60 , G06T2207/10016 , G06T2207/10021 , G06T2207/10028 , G06T2207/30236 , G06T2207/30241 , G06T2207/30261 , G08G1/166 , H04N5/14 , H04N5/145 , H04N5/147 , H04N5/232 , H04N5/23254 , H04N5/23264
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, and a danger-level determining unit. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The danger-level determining unit determines a danger level of the moving object by use of the distance image, and outputs the danger level to a controller that controls a controlled unit in accordance with the danger level.
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公开(公告)号：US20150334269A1
公开(公告)日：2015-11-19
申请号：US14710801
申请日：2015-05-13
CPC分类号： G06K9/00805 , B60K2350/2013 , B60K2350/2052 , B60K2350/352 , B60K2350/921 , B60R1/00 , B60R2300/105 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/303 , B60W30/08 , B60W30/09 , B60W30/143 , B60W50/14 , B60W2050/143 , B60W2050/146 , B60W2420/42 , B60W2510/18 , B60W2510/20 , B60W2520/105 , B60W2520/14 , B60W2550/10 , B60W2550/30 , B60W2710/18 , B60W2710/20 , B60W2720/106 , B60W2720/14 , B60W2750/30 , G06K9/00335 , G06K9/00791 , G06T7/251 , G06T7/277 , G06T11/60 , G06T2207/10016 , G06T2207/10021 , G06T2207/10028 , G06T2207/30236 , G06T2207/30241 , G06T2207/30261 , G08G1/166 , H04N5/14 , H04N5/145 , H04N5/147 , H04N5/232 , H04N5/23254 , H04N5/23264
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, and a danger-level determining unit. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The danger-level determining unit determines a danger level of the moving object by use of the distance image, and outputs the danger level to a controller that controls a controlled unit in accordance with the danger level.
摘要翻译： 一种处理设备包括距离图像获取器，移动物体检测器和危险等级确定单元。 距离图像获取器获取包含每个像素的距离信息的距离图像。 移动物体检测器从距离图像检测移动物体。 危险等级确定单元通过使用距离图像来确定移动物体的危险等级，并根据危险等级将危险等级输出到控制被控制单元的控制器。
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公开(公告)号：US10853963B2
公开(公告)日：2020-12-01
申请号：US16051882
申请日：2018-08-01
申请人： Sadao Takahashi , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
发明人： Sadao Takahashi , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
IPC分类号： G06K9/00 , G06T7/70 , G08G1/16 , G01C3/06 , B60R21/00 , G01B11/00 , G06T7/00 , G06T7/593 , H04N13/204
摘要： An object detection device includes a map generator configured to generate, based on a distance image that includes distance information for each coordinate, a first map in which the coordinate in a horizontal direction of the distance image is associated with the distance information, and a second map in which the coordinate in the horizontal direction of the distance image is associated with the distance information, the second map having a lower resolution than the first map; and an object detector configured to detect an object based on the first map when a distance represented by the distance information is within a first range, and to detect an object based on the second map when a distance represented by the distance information is within a second range.
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9.发明申请OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM, AND DEVICE CONTROL SYSTEM MOUNTABLE TO MOVEABLE APPARATUS 审中-公开对象检测装置，对象检测方法，对象检测程序和可移动装置的装置控制系统公开(公告)号：US20160014406A1
公开(公告)日：2016-01-14
申请号：US14796608
申请日：2015-07-10
申请人： Sadao Takahashi , Soichiro Yokota
发明人： Sadao Takahashi , Soichiro Yokota
CPC分类号： G01S5/16 , G01S11/12 , G06K9/00791 , G06K9/44 , G06T7/246 , G06T7/73 , G06T2207/10021 , G06T2207/10028 , G06T2207/30252 , H04N5/225 , H04N7/188 , H04N2013/0081
摘要： An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images sequentially along a time line by using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a surface detection unit to detect a surface where the moveable apparatus moves thereon based on the disparity image, an object detection unit to detect an object existing on the surface based on the surface detected by the surface detection unit, an object tracking unit to track the object in the disparity image along the time line based on the object detected by the object detection unit, and a surface correction unit to correct the surface detected by the surface detection unit based on the object tracked by the object tracking unit.
摘要翻译： 一种物体检测装置，其可安装到可移动装置，用于通过使用安装到可移动装置的多个成像装置沿着时间线顺序地捕获多个图像来检测存在于可移动装置外部的物体，并从捕获的图像生成视差图像 包括表面检测单元，用于基于视差图像检测可移动设备在其上移动的表面;物体检测单元，用于基于由表面检测单元检测到的表面来检测存在于表面上的对象;物体跟踪单元，用于跟踪 基于由对象检测单元检测到的对象沿着时间线的视差图像中的对象;以及表面校正单元，用于基于由对象跟踪单元跟踪的对象来校正由表面检测单元检测到的表面。
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公开(公告)号：US20180357783A1
公开(公告)日：2018-12-13
申请号：US16051882
申请日：2018-08-01
申请人： Sadao TAKAHASHI , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
发明人： Sadao TAKAHASHI , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
IPC分类号： G06T7/70 , H04N13/204 , G06T7/593
CPC分类号： G06T7/70 , B60R21/00 , G01B11/00 , G01C3/06 , G06K9/00805 , G06T7/00 , G06T7/593 , G06T2200/04 , G06T2207/10021 , G06T2207/10028 , G06T2207/30236 , G06T2207/30261 , G08G1/16 , H04N13/204
摘要： An object detection device includes a map generator configured to generate, based on a distance image that includes distance information for each coordinate, a first map in which the coordinate in a horizontal direction of the distance image is associated with the distance information, and a second map in which the coordinate in the horizontal direction of the distance image is associated with the distance information, the second map having a lower resolution than the first map; and an object detector configured to detect an object based on the first map when a distance represented by the distance information is within a first range, and to detect an object based on the second map when a distance represented by the distance information is within a second range.
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