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公开(公告)号：US20120327189A1
公开(公告)日：2012-12-27
申请号：US13577712
申请日：2010-08-13
申请人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
发明人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
IPC分类号： H04N13/02
CPC分类号： G06T7/593 , G01C3/06 , G06K9/00805 , G06T2207/10012 , G06T2207/20012 , G06T2207/30261 , G08G1/166
摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.
摘要翻译： 提供了一种立体相机装置，其通过根据距离物体的距离使得测量距离分辨率可变地稳定地且高精度地进行距离测量。 立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离 其中分辨率改变的每个图像。 因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。
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公开(公告)号：US20130147948A1
公开(公告)日：2013-06-13
申请号：US13818625
申请日：2011-07-27
IPC分类号： G01B11/14
CPC分类号： G01B11/14 , G06T7/85 , G06T2207/30256 , G06T2207/30261 , H04N13/128 , H04N13/246 , H04N17/002 , H04N2013/0081
摘要： It is possible to provide an image processing apparatus capable of carrying out calibration easily and precisely without requiring a special facility and provide an imaging apparatus making use of the image processing apparatus. The imaging apparatus comprises at least two cameras 4a and 4b. The image processing apparatus or the image processing apparatus comprises a corresponding-area computing section 23 for finding a relation between areas on images taken by the cameras 4a and 4b; a coincidence-degree computing section 24 for finding a degree of coincidence of information obtained from corresponding areas on the images taken by the cameras 4a and 4b; and a camera-parameter computing section 25 for finding camera parameters on the basis of the coincidence degree computed by the coincidence-degree computing section 24.
摘要翻译： 可以提供能够容易且精确地执行校准而不需要特殊设备的图像处理设备，并提供使用图像处理设备的成像设备。 成像装置包括至少两个照相机4a和4b。 图像处理装置或图像处理装置包括用于求出由照相机4a和4b拍摄的图像上的区域之间的关系的对应区域计算部分23; 用于找到由相机4a和4b拍摄的图像上的相应区域获得的信息的一致度的符合度计算部分24; 以及摄像机参数计算部25，用于根据由重合度计算部24计算出的一致度来求取摄像机参数。
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公开(公告)号：US09074906B2
公开(公告)日：2015-07-07
申请号：US13387137
申请日：2010-07-23
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译： 提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。 道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。 因此，可以精确地识别从短到长的距离。
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公开(公告)号：US20120185167A1
公开(公告)日：2012-07-19
申请号：US13387137
申请日：2010-07-23
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译： 提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。 道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。 因此，可以精确地识别从短到长的距离。
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公开(公告)号：US08620025B2
公开(公告)日：2013-12-31
申请号：US13059741
申请日：2009-06-24
申请人： Mirai Higuchi , Ryo Ota , Takuya Naka , Morihiko Sakano , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Ryo Ota , Takuya Naka , Morihiko Sakano , Shoji Muramatsu , Tatsuhiko Monji
CPC分类号： G06K9/00798 , B60W30/14 , B60W30/143 , B60W40/072 , B60W40/076 , B60W2420/42 , B60W2550/142 , G08G1/165 , G08G1/167
摘要： In order to perform vehicle control, a warning process, and the like which do not give a driver an uncomfortable feeling in speed adjustment, a warning process, and the like corresponding to a road shape such as a curve, it is necessary to recognize not only a near road shape but also a far road shape with high accuracy. A traveling environment recognition device includes: a measurement unit which measures a target object; a three-dimensional object detection unit which detects a three-dimensional object on the basis of a signal acquired by the measurement unit; a road shape prediction unit which predicts a road shape on which a target vehicle is traveling; a three-dimensional object selection unit which selects, from among the three-dimensional objects detected by the three-dimensional object detection unit, only a three-dimensional object within a predetermined range from a point of the road predicted by the road shape prediction unit; and a road shape estimation unit which estimates the road shape on the basis of position information of the three-dimensional object selected by the three-dimensional object selection unit.
摘要翻译： 为了执行车辆控制，警告处理等，其不给驾驶员在与曲线等道路形状对应的速度调节，警告处理等中感到不舒适的感觉，因此不需要识别 只有近路形状，但也具有高精度的远道形状。 行驶环境识别装置包括：测量目标物体的测量单元; 三维物体检测单元，其基于由测量单元获取的信号来检测三维物体; 道路形状预测单元，其预测目标车辆行驶的道路形状; 三维物体选择单元，从三维物体检测单元检测到的三维物体中，仅从道路形状预测单元预测的道路上的预定范围内的三维物体中， ; 以及道路形状估计单元，其基于由三维物体选择单元选择的三维物体的位置信息来估计道路形状。
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公开(公告)号：US08320626B2
公开(公告)日：2012-11-27
申请号：US12488830
申请日：2009-06-22
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An image processing accuracy estimation unit estimates an image processing accuracy by calculating a size of an object by which the accuracy of measurement of the distance of the object photographed by an on-vehicle camera becomes a permissible value or less. An image post-processing area determination unit determines, in accordance with the estimated image processing accuracy, a partial area inside a detection area of the object as an image post-processing area for which an image post-processing is carried out and lattices the determined image post-processing area to cells. An image processing unit processes the image photographed by the on-vehicle camera to detect a candidate for object and calculates a three-dimensional position of the detected object candidate. An image post-processing unit calculates, in each the individual cell inside the determined area the probability as to whether the detected object is present and determines the presence/absence of the object.
摘要翻译： 图像处理精度估计单元通过计算由车载摄像机拍摄的物体的距离的测量精度成为允许值或更小的物体的尺寸来估计图像处理精度。 图像后处理区域确定单元根据估计的图像处理精度，将作为执行图像后处理的图像后处理区域的对象的检测区域内的部分区域确定为格子化 图像后处理区域到单元格。 图像处理单元处理由车载摄像机拍摄的图像以检测对象的候选物，并计算检测到的候选对象的三维位置。 图像后处理单元在确定区域内的每个单独单元中计算关于检测到的对象是否存在并且确定对象的存在/不存在的概率。
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公开(公告)号：US20090316956A1
公开(公告)日：2009-12-24
申请号：US12488830
申请日：2009-06-22
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An image processing accuracy estimation unit estimates an image processing accuracy by calculating a size of an object by which the accuracy of measurement of the distance of the object photographed by an on-vehicle camera becomes a permissible value or less. An image post-processing area determination unit determines, in accordance with the estimated image processing accuracy, a partial area inside a detection area of the object as an image post-processing area for which an image post-processing is carried out and lattices the determined image post-processing area to cells. An image processing unit processes the image photographed by the on-vehicle camera to detect a candidate for object and calculates a three-dimensional position of the detected object candidate. An image post-processing unit calculates, in each the individual cell inside the determined area the probability as to whether the detected object is present and determines the presence/absence of the object.
摘要翻译： 图像处理精度估计单元通过计算由车载摄像机拍摄的物体的距离的测量精度成为允许值或更小的物体的尺寸来估计图像处理精度。 图像后处理区域确定单元根据估计的图像处理精度，将作为执行图像后处理的图像后处理区域的对象的检测区域内的部分区域确定为格子化 图像后处理区域到单元格。 图像处理单元处理由车载摄像机拍摄的图像以检测对象候选物，并计算检测到的候选对象的三维位置。 图像后处理单元在确定区域内的每个单独单元中计算关于检测到的对象是否存在并且确定对象的存在/不存在的概率。
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公开(公告)号：US08384781B2
公开(公告)日：2013-02-26
申请号：US12333853
申请日：2008-12-12
CPC分类号： G06K9/00805
摘要： A stereo camera device includes: plural picture image taking sections, an image correction section which makes correction of picture images taken, a parallax calculating section which calculates parallax, an amount of dislocation between the left and right images, and an image recognition section which carries out image recognition processing using both the image taken and the calculated parallax, or either of them. The stereo camera device further includes: a processing area setting up section which sets up the image area to be processed and reduction ratio differently depending on the driving environment of the vehicle on which the stereo camera device is mounted, wherein, by using the image area and the reduction ratio set up by the processing area setting up section, the image correction section makes correction to the picture image, the parallax calculating section calculates parallax, and the image recognition section carries out processing of image recognition.
摘要翻译： 立体相机装置包括：多个图像拍摄部分，对所拍摄的图像进行校正的图像校正部分，计算视差的视差计算部分，左和右图像之间的位错量以及携带 使用所拍摄的图像和计算出的视差的两个图像识别处理，或者它们中的任一个。 立体相机装置还包括：处理区域设置部分，其根据安装立体照相机装置的车辆的驾驶环境不同地设置要处理的图像区域和缩小比例，其中，通过使用图像区域 和由处理区域设置部分设置的缩小比率，图像校正部分对图像图像进行校正，视差计算部分计算视差，图像识别部分执行图像识别处理。
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公开(公告)号：US08548226B2
公开(公告)日：2013-10-01
申请号：US12711787
申请日：2010-02-24
申请人： Morihiko Sakano , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko Sakano , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
CPC分类号： G06T7/593 , G06T2207/10012
摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.
摘要翻译： 在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。 然而，这需要很高的计算成本。 因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据来设置每个像素的匹配区域， 从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配 控制单元103来计算视差数据。
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公开(公告)号：US08675047B2
公开(公告)日：2014-03-18
申请号：US13094239
申请日：2011-04-26
申请人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
CPC分类号： G01C11/06 , G06T5/006 , G06T7/33 , G06T7/73 , G06T7/97 , G06T2207/10012 , G06T2207/10021 , G06T2207/30252 , H04N13/133
摘要： A detection device of a planar area is provided. The detection device includes an image obtaining section for obtaining a left image and a right image; a planar area aligning section for setting given regions of interest to the obtained left image and the right image, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image; and a planar area detecting section for detecting a planar area based on the geometric transform image and the region of interest of the right image. The planar area aligning section sets the planar area detected by the planar area detecting section as a given region of interest.
摘要翻译： 提供平面区域的检测装置。 检测装置包括用于获得左图像和右图像的图像获取部分; 平面区域对准部分，用于为所获得的左图像和右图像设置感兴趣的区域，并且通过使用与右图像的关注区域与左图像的感兴趣区域匹配的几何变换函数，执行 几何变换生成几何变换图像; 以及平面区域检测部分，用于基于几何变换图像和右图像的感兴趣区域来检测平面区域。 平面区域对准部将由平面区域检测部检测出的平面区域设定为给定的感兴趣区域。
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