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公开(公告)号：US20070084655A1
公开(公告)日：2007-04-19
申请号：US10572956
申请日：2004-09-22
IPC分类号： B60T7/16
CPC分类号： G06K9/4638 , G06K9/00798 , G06K9/3241 , G06T7/12 , G06T7/73 , G06T2207/10016 , G06T2207/30256 , G08G1/167
摘要： A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. Edge point detection means (ED) detects a plurality of edge points in a contour on an image, and segment group producing means (SD) produces a line segment on the basis of continuity of distance and direction between neighboring edge points, and groups a plurality of line segments having a predetermined relationship with each other, to produce a segment group. Further, curve detection means (CD) detects a curve fitted to the segment group. Then, when a segment group forming a curve closest to the center of the traveling lane has a predetermined length and repeated cycle, lane boundary position defining means (LD) defines the segment group as the innermost marking line, and defines a position of a neighboring curve outside of the innermost marking line as the position of the boundary of the traveling lane.
摘要翻译： 一种用于检测道路行驶车道的装置，其能够稳定地限定行驶车道的边界的位置。 边缘点检测装置（ED）检测图像中的轮廓中的多个边缘点，并且段组产生装置（SD）基于相邻边缘点之间的距离和方向的连续性产生线段，并且将多个 的线段彼此具有预定的关系，以产生段组。 此外，曲线检测装置（CD）检测拟合到段组的曲线。 然后，当形成最靠近行进车道中心的曲线的段组具有预定长度和重复循环时，车道边界位置定义装置（LD）将段组限定为最内标记线，并且定义相邻 在最内侧标记线之外的曲线作为行驶车道边界的位置。
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公开(公告)号：US07583816B2
公开(公告)日：2009-09-01
申请号：US10572957
申请日：2004-09-22
CPC分类号： G08G1/167 , G06K9/00798 , G06K9/3241 , G06K9/4647 , G06T7/12 , G06T7/73 , G06T2207/10016 , G06T2207/30256
摘要： A device for detecting a road traveling lane, which is capable of stably defining a position of a boundary of a traveling lane. The device has edge point detection means (ED) for detecting a plurality of edge points in a contour on an image, edge histogram producing means (HD) for producing a vertical edge histogram for horizontal elements of the plurality of edge points, block marking line determination means (BD) for determining presence and absence of a block-like marking line on the basis of periodicity of distribution and a combination of distributions of plus edges and minus edges in the vertical edge histogram, and lane boundary edge detection means (MD) for detecting vertical edge points present outside (relative to the center of the traveling lane) of a region where the block-like marking line is present. And, according to lane boundary position defining means (LD), it is so constituted to define a position of a curve fitted to the vertical edge points, as the position of the boundary of the traveling lane.
摘要翻译： 一种用于检测道路行驶车道的装置，其能够稳定地限定行驶车道的边界的位置。 该装置具有用于检测图像中的轮廓中的多个边缘点的边缘点检测装置（ED），用于产生多个边缘点的水平元素的垂直边缘直方图的边缘直方图产生装置（HD），块标记线 确定装置（BD），用于基于分布的周期性和垂直边缘直方图中的正边和负边的分布的组合以及车道边界边缘检测装置（MD）确定块状标记线的存在和不存在， 用于检测存在块状标记线的区域外侧（相对于行进车道的中心）的垂直边缘点。 并且，根据车道边界位置限定装置（LD），将其作为行驶车道的边界的位置来定义安装在垂直边缘点上的曲线的位置。
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3.发明申请公开(公告)号：US20140161317A1
公开(公告)日：2014-06-12
申请号：US14112461
申请日：2011-04-19
IPC分类号： G06K9/00
CPC分类号： G06K9/00845 , G06K9/0061
摘要： A secondary curve, the ends of which coincide with the inner corner and the outer corner of the eye, is determined successively, and the total of the edge values of the pixels overlapping the secondary curve is calculated as an evaluation value. Next, a characteristic curve is generated on the basis of data made up of the calculated evaluation value and the Y-coordinate of the intersection between the secondary curve and a straight line passing through the center of a line segment whose ends coincide with the inner corner and the outer corner of the eye. Then, the reference positions for the upper eyelid and the lower eyelid of the eye are set on the basis of the result of an attempt to detect a pixel group occurring because of the red-eye effect in a search area defined on the basis of peaks in the characteristic curve.
摘要翻译： 连续确定其端部与眼睛的内角和外角一致的次曲线，并且计算与次级曲线重叠的像素的边缘值的总和作为评估值。 接下来，基于由计算出的评估值和二次曲线与通过其端部与内角的线段的中心的直线的交点的Y坐标构成的数据生成特性曲线 和眼睛的外角。 然后，基于在基于峰值定义的搜索区域中检测由于红眼效果而出现的像素组的尝试的结果来设定眼睛的上眼睑和下眼睑的参考位置 在特征曲线中。
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公开(公告)号：US08139819B2
公开(公告)日：2012-03-20
申请号：US13121125
申请日：2009-12-02
IPC分类号： G06K9/00
摘要： A computer (30) obtains a facial image acquired by picking up an image of a person subjected to image pickup from a camera (10), and estimates a facial expression of the person subjected to image pickup based on the obtained facial image. Next, the computer obtains an eye open level of the person subjected to image pickup based on the facial image, and sets a threshold of the eye open level based on the estimated facial expression of the person subjected to image pickup. When the eye open level exceeds the threshold, the computer (30) determines that the eye of the person subjected to image pickup is opened. Moreover, when the eye open level does not exceed the threshold, the computer determines that the eye of the person subjected to image pickup is closed.
摘要翻译： 计算机（30）通过从摄像机（10）拾取被摄取的人的图像来获取所获取的面部图像，并且基于所获得的面部图像估计受到图像拾取的人的面部表情。 接下来，计算机基于面部图像获得进行图像摄取的人的开放水平，并且基于经过图像拾取的人的估计的面部表情来设置眼睛开放水平的阈值。 当眼睛打开水平超过阈值时，计算机（30）确定遭受图像拾取的人的眼睛被打开。 此外，当眼睛打开水平不超过阈值时，计算机确定被摄取的人的眼睛被关闭。
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5.发明授权公开(公告)号：US09020199B2
公开(公告)日：2015-04-28
申请号：US14112461
申请日：2011-04-19
IPC分类号： G06K9/00
CPC分类号： G06K9/00845 , G06K9/0061
摘要： A secondary curve, the ends of which coincide with the inner corner and the outer corner of the eye, is determined successively, and the total of the edge values of the pixels overlapping the secondary curve is calculated as an evaluation value. Next, a characteristic curve is generated on the basis of data made up of the calculated evaluation value and the Y-coordinate of the intersection between the secondary curve and a straight line passing through the center of a line segment whose ends coincide with the inner corner and the outer corner of the eye. Then, the reference positions for the upper eyelid and the lower eyelid of the eye are set on the basis of the result of an attempt to detect a pixel group occurring because of the red-eye effect in a search area defined on the basis of peaks in the characteristic curve.
摘要翻译： 连续确定其端部与眼睛的内角和外角一致的次曲线，并且计算与次级曲线重叠的像素的边缘值的总和作为评估值。 接下来，基于由计算出的评估值和二次曲线与通过其端部与内角的线段的中心的直线的交点的Y坐标构成的数据生成特性曲线 和眼睛的外角。 然后，基于在基于峰值定义的搜索区域中检测由于红眼效果而出现的像素组的尝试的结果来设定眼睛的上眼睑和下眼睑的参考位置 在特征曲线中。
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公开(公告)号：US08331630B2
公开(公告)日：2012-12-11
申请号：US13259065
申请日：2010-03-26
申请人： Satoru Nakanishi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
发明人： Satoru Nakanishi , Yoshiki Ninomiya , Takashi Naito , Shinichi Kojima , Yoshinao Takemae , Takuhiro Omi , Jun Adachi , Takashi Hiramaki
CPC分类号： G06K9/00281 , G06T7/73
摘要： Detecting with good precision an eye inside corner position and an eye outside corner position as face feature points even when the eye inside corner and/or the eye outside corner portions are obscured by noise. First eyelid profile modeling is performed with a Bezier curve expressed by a fixed control point P3 indicating an eye inside corner first position detected in an image, a fixed control point P4 indicating an eye outside corner first position, a control point P1 corresponding to an upper eyelid position candidate (first parameter), and a control point P2 corresponding to a lower eyelid position candidate (second parameter). Then in a second eyelid profile model with fixed P1 and P2 of the first eyelid profile model having the highest fitting evaluation value λ to the eyelid profile in the image, the values of a control point P3 indicating an eye inside corner position candidate (third parameter) and a control point P4 indicating an eye outside corner candidate (fourth parameter) at a maximum of a fitting evaluation value λ when changing the values of the control point P3 and control point P4 are determined as an eye inside corner second position and an eye outside corner second position, respectively.
摘要翻译： 即使当角落内部的眼睛和/或眼睛的外角部被噪声遮蔽时，以高精度检测眼内角位置和眼外角位置作为面部特征点。 用固定控制点P3表示的Bezier曲线进行第一次眼皮轮廓建模，所述固定控制点P3表示在图像中检测到的角内第一位置内的眼睛，指示眼睛外角角位置的眼睛的固定控制点P4，对应于上部 眼睑位置候选（第一参数）和对应于下眼睑位置候选的控制点P2（第二参数）。 然后，在具有对图像中的眼睑轮廓具有最高拟合评估值λ的第一眼睑轮廓模型的具有固定的P1和P2的第二眼睑轮廓模型中，指示角内位置候选中的眼睛的控制点P3的值（第三参数 ）和将控制点P3和控制点P4的值改变时，以拟合评估值λ的最大值指示眼睛外角候选（第四参数）的控制点P4被确定为眼角内第二位置和眼睛 外角第二位。
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7.发明授权Eyelid opening level determination device and computer readable medium storing computer program thereof 有权眼睑开放水平确定装置和存储其计算机程序的计算机可读介质公开(公告)号：US08154591B2
公开(公告)日：2012-04-10
申请号：US12409234
申请日：2009-03-23
申请人： Takanori Morita , Takashi Hiramaki , Jun Adachi
发明人： Takanori Morita , Takashi Hiramaki , Jun Adachi
CPC分类号： G06K9/00248 , G06K9/00281 , G06K9/00832 , G06K9/00845 , G08B21/06
摘要： An eyelid opening level determination device includes a face image taking unit; an upper eyelid detection unit for detecting an upper eyelid in the face image; a lower eyelid area setting unit for setting an area for searching a lower eyelid based on the upper eyelid; an edge group detecting unit for detecting an edge group where brightness changes from dark to bright as a lower eyelid candidate by scanning the area from an upper side to a lower side; a reliability value obtaining unit for obtaining a reliability value of the edge group; a lower eyelid determination unit in which the edge group having the reliability value exceeding a predetermined value in the edge group is determined to be the lower eyelid; and an eyelid opening level obtaining unit for obtaining opening level of the eyelid based on positions for the upper eyelid and the lower eyelid.
摘要翻译： 眼睑开口水平确定装置包括面部摄取单元; 上眼睑检测单元，用于检测脸部图像中的上眼睑; 下眼睑区域设定单元，用于根据上眼睑设定用于搜索下睑的区域; 边缘组检测单元，用于通过从上侧到下侧的区域扫描来检测作为下眼睑候选的亮度从暗变为亮的边缘组; 可靠性值获取单元，用于获得所述边缘组的可靠性值; 下眼睑确定单元，其中具有超过边缘组中的预定值的可靠性值的边缘组被确定为下眼睑; 以及眼睑开口水平获取单元，用于基于上眼睑和下眼睑的位置获得眼睑的开口水平。
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公开(公告)号：US20090268025A1
公开(公告)日：2009-10-29
申请号：US12093857
申请日：2006-11-08
申请人： Takashi Hiramaki , Jun Adachi , Kazuya Watanabe , Kosuke Sato
发明人： Takashi Hiramaki , Jun Adachi , Kazuya Watanabe , Kosuke Sato
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60K35/00 , B60R11/0235 , B60R11/04 , B60R2300/103 , B60R2300/105 , B60R2300/106 , B60R2300/302 , B60R2300/70 , B60R2300/8026 , B60R2300/8053 , B60R2300/8093
摘要： An image around a vehicle matching the intent of a driver is automatically displayed.An infrared camera (2) picks up an image of the face of a driver (7). A visual line direction and a face direction are detected from the face image of the driver (7). Based on the visual line direction of the driver (7) and the face direction thereof, a direction in which the driver (7) gazes is detected. When the direction in which the driver (7) gazes is included in image pickup ranges of CCD cameras (1A, 1B, and 1C), an image around a vehicle (100) picked up by any one of the CCD cameras (1A, 1B, and 1C) is automatically displayed on a monitor (6).
摘要翻译： 自动显示车辆周围符合驾驶员意图的图像。 红外摄像机（2）拾取驾驶员（7）的脸部的图像。 从驾驶员（7）的脸部图像检测视线方向和脸部方向。 基于驾驶员（7）的视线方向及其脸部方向，检测驾驶员（7）凝视的方向。 当CCD照相机（1A，1B和1C）的图像拾取范围中包括驱动器（7）注视的方向时，由CCD照相机（1A，1B）中的任一个拾取的车辆（100）周围的图像 和1C）自动显示在监视器（6）上。
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公开(公告)号：US20090118900A1
公开(公告)日：2009-05-07
申请号：US12094096
申请日：2006-11-17
申请人： Jun Adachi , Takashi Hiramaki
发明人： Jun Adachi , Takashi Hiramaki
IPC分类号： G08G1/00
CPC分类号： B62D15/027 , G06K9/00597 , G06K9/00812 , G08G1/16 , G08G1/168
摘要： A parking assisting device is equipped with a imaging device (1), a gaze position determining sections (3, 11), target parking position setting sections (1, 11), and a parking assisting section (2). The imaging device (1) takes images of surrounding of a vehicle. The gaze position determining sections (3, 11) determine positions at which a driver gazes. The target parking position setting sections (1, 11) sets target parking positions based on images taken by the imaging device (1) and gaze positions determined by the gaze position determining section (11). The parking assisting section (2) assists in processing to park the vehicle at the set target parking position.
摘要翻译： 停车辅助装置配备有摄像装置（1），注视位置决定部（3,11），目标停车位置设定部（1,11）和停车辅助部（2）。 成像装置（1）拍摄车辆周围的图像。 注视位置确定部分（3,11）确定驾驶员凝视的位置。 目标停车位置设定部（1,11）基于由摄像装置（1）拍摄的图像和由注视位置确定部（11）确定的视线位置来设定目标停车位置。 停车辅助部（2）有助于将车辆停放在设定的目标停车位置。
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10.发明授权公开(公告)号：US08824739B2
公开(公告)日：2014-09-02
申请号：US14111394
申请日：2011-04-15
申请人： Takashi Hiramaki
发明人： Takashi Hiramaki
CPC分类号： G06K9/00281 , G06K9/00248 , G06K9/0061 , G06K9/00832 , G06K9/00845 , G06K9/4604 , G06T7/74 , G06T2207/30041 , G06T2207/30268
摘要： A lower eyelid search window (W2) matching the pixels constituting the edge of a lower eyelid is transformed so that the lower eyelid search window (W2) fits the pixels constituting the edge of the lower eyelid. Then, the position of the centroid of the transformed lower eyelid search window (W2) is set as the lower eyelid reference position. Consequently, the lower eyelid reference position can be accurately set even if the lower eyelid search window (W2) is different in shape from the edge of the lower eyelid. Then, it is possible to accurately detect the degree of opening of the eyes of a driver and thus accurately determine the degree of wakefulness of the driver.
摘要翻译： 与构成下眼睑边缘的像素匹配的下眼睑搜索窗（W2）被变换，使得下眼睑搜索窗（W2）适合构成下睑边缘的像素。 然后，将变形的下眼睑搜索窗（W2）的质心的位置设定为下眼睑参照位置。 因此，即使下眼睑搜索窗（W2）的形状与下眼睑的边缘不同，也能够准确地设定下眼睑基准位置。 然后，可以精确地检测驾驶员的眼睛的开度，从而准确地确定驾驶员的觉醒程度。
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