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公开(公告)号：US20080170809A1
公开(公告)日：2008-07-17
申请号：US11971942
申请日：2008-01-10
IPC分类号： G06K9/54
CPC分类号： G06T1/20
摘要： An image processing system includes a first image processor that reads out a first image written in a main memory to apply a first process to the first image and write in the main memory as a second image, a second image processor that reads out a second image written in the main memory to apply a second process to the second image and write in the main memory as a second image, and an address snooping apparatus that snoops an address of the image written in the main memory to start the first process when the address is indicated to a previously set first value and start the second process when the address is indicated to a previously set second value, effectively enabling synchronization between a process by a CPU or a special purpose processor and a data delivery/receipt process between pipeline stages.
摘要翻译： 一种图像处理系统包括：第一图像处理器，其读出写入主存储器中的第一图像以对第一图像应用第一处理，并将第二图像写入主存储器;第二图像处理器，读出第二图像 写入主存储器中以对第二图像应用第二处理并将其写入主存储器中作为第二图像，以及地址窥探装置，其在写入主存储器中的图像的地址开始第一处理时，当地址 被指示为先前设置的第一值并且当地址被指示为先前设置的第二值时开始第二处理，有效地实现CPU或专用处理器的处理与流水线级之间的数据传送/接收处理之间的同步。
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公开(公告)号：US08422830B2
公开(公告)日：2013-04-16
申请号：US11971942
申请日：2008-01-10
CPC分类号： G06T1/20
摘要： An image processing system includes a first image processor that reads out a first image written in a main memory to apply a first process to the first image and write in the main memory as a second image, a second image processor that reads out a second image written in the main memory to apply a second process to the second image and write in the main memory as a second image, and an address snooping apparatus that snoops an address of the image written in the main memory to start the first process when the address is indicated to a previously set first value and start the second process when the address is indicated to a previously set second value, effectively enabling synchronization between a process by a CPU or a special purpose processor and a data delivery/receipt process between pipeline stages.
摘要翻译： 一种图像处理系统包括：第一图像处理器，其读出写入主存储器中的第一图像以对第一图像应用第一处理，并将第二图像写入主存储器;第二图像处理器，读出第二图像 写入主存储器中以对第二图像应用第二处理并将其写入主存储器中作为第二图像，以及地址窥探装置，其在所述主存储器中写入写入的图像的地址开始第一处理，当地址 被指示为先前设置的第一值并且当地址被指示为先前设置的第二值时开始第二处理，有效地实现CPU或专用处理器的处理与流水线级之间的数据传送/接收处理之间的同步。
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3.发明授权公开(公告)号：US09064418B2
公开(公告)日：2015-06-23
申请号：US13575173
申请日：2010-08-13
申请人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
发明人： Masayuki Takemura , Shoji Muramatsu , Isao Furusawa , Shinya Ohtsuji , Takeshi Shima , Yuji Otsuka , Tatsuhiko Monji
CPC分类号： G08G1/16 , G01S11/12 , G06K9/00798 , G06K9/00825 , G08G1/165 , G08G1/166 , G08G1/167
摘要： A vehicle-mounted environment recognition apparatus including a simple pattern matching unit which extracts an object candidate from an image acquired from a vehicle-mounted image capturing apparatus by using a pattern shape stored in advance and outputs a position of the object candidate, an area change amount prediction unit which calculates a change amount prediction of the extracted object candidate on the basis of an object change amount prediction calculation method set differently for each area of a plurality of areas obtained by dividing the acquired image, detected vehicle behavior information, and an inputted position of the object candidate, and outputs a predicted position of an object, and a tracking unit which tracks the object on the basis of an inputted predicted position of the object.
摘要翻译： 一种车载环境识别装置，包括简单模式匹配单元，其通过使用预先存储的图案形状从通过车载图像捕获装置获取的图像中提取目标候选，并输出对象候选者的位置，区域变化 量预测单元，其基于对通过划分所获取的图像，检测到的车辆行为信息和输入的获得的图像获得的多个区域的每个区域设置不同的对象变化量预测计算方法来计算提取的候选对象的变化量预测 并且输出对象的预测位置，以及基于输入的对象的预测位置跟踪对象的跟踪单元。
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公开(公告)号：US08630793B2
公开(公告)日：2014-01-14
申请号：US13395327
申请日：2010-08-06
IPC分类号： G06F17/10
CPC分类号： B60W30/12 , B60W2550/143 , G08G1/167
摘要： A vehicle controller is provided capable of expanding an application range of departure prevention control while suppressing erroneous control. The vehicle controller includes: a vehicle-mounted camera 600 that captures an image in front of a vehicle; and an ECU 610 that decides one vehicle control method from a plurality of vehicle control methods and controls an actuator with the decided vehicle control method. The vehicle-mounted camera includes an area-specific confidence calculation section 400 that divides the image captured into a plurality of areas on a basis of an acquired image by the capturing and a recognized lane, calculates confidence for each divided area and outputs area-specific confidence information, and the ECU decides a vehicle control method in accordance with the area-specific confidence information.
摘要翻译： 提供了能够在抑制错误控制的同时扩大防止偏离控制的应用范围的车辆控制器。 车辆控制器包括：车载摄像机600，其捕获车辆前方的图像; 以及ECU 610，其根据多个车辆控制方法判定一个车辆控制方法，并且通过决定的车辆控制方法控制致动器。 车载摄像机包括区域特定置信度计算部分400，其通过捕获和识别的车道将基于获取的图像捕获的图像划分为多个区域，计算每个划分的区域的置信度并输出区域特定 置信信息，ECU根据区域特定置信度判定车辆控制方法。
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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：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：US20120327236A1
公开(公告)日：2012-12-27
申请号：US13532912
申请日：2012-06-26
IPC分类号： H04N7/18
CPC分类号： G06K9/00369 , G06K9/00805
摘要： With a simple configuration, a vehicle periphery monitoring system that easily detects pedestrian that has a possibility to collide with a vehicle to which the monitoring system is installed. Based on a change rate in the size of the image of the observation object captured at a preset time interval by an onboard camera 111 and the presence or absence of the deformation of the observation object image between the captured images, it is determined whether the observation object is a pedestrian relatively approaching the vehicle to which the monitoring system is installed.
摘要翻译： 通过简单的结构，车辆周边监视系统能够容易地检测到具有与安装有监视系统的车辆碰撞的可能性的行人。 基于通过机载摄像机111以预设时间间隔拍摄的观察对象的图像的大小的变化率以及拍摄图像之间的观察对象图像的变形的存在或不存在，确定观察 物体是相对靠近安装监控系统的车辆的行人。
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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：US20120269382A1
公开(公告)日：2012-10-25
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译： 物体识别装置包括： 安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。
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公开(公告)号：US08204276B2
公开(公告)日：2012-06-19
申请号：US12018649
申请日：2008-01-23
申请人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
发明人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
IPC分类号： G06K9/00
CPC分类号： G08G1/16 , G06K9/00791 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
摘要翻译： 一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一 图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域 具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元 区。
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