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61. 发明申请

US20120307062A1 VEHICLE-MOUNTED IMAGE PROCESSING APPARATUS 审中-公开
标题翻译：车辆安装图像处理装置
公开(公告)号：US20120307062A1
公开(公告)日：2012-12-06
申请号：US13577773
申请日：2010-08-13
申请人： Hidemitsu Naya , Tatsuhiko Monji , Kazuma Ishigaki
发明人： Hidemitsu Naya , Tatsuhiko Monji , Kazuma Ishigaki
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/305 , B60R2300/307 , G06K9/00791 , G06K9/2054 , G06K9/3241
摘要： There is provided a vehicle-mounted image processing device that is capable of making a plurality of processing units appropriately perform processes corresponding to scenes in which there are many types, such as people, vehicles, etc., and in which they are combined. Based on processing results of image processing by a plurality of processing units 40, the vehicle-mounted image processing device generates tag information representing the type and priority of image processing to be executed next by each of the processing units 40, and, using tag information generated during previous image processing, determines whether or not to have each of the processing units 40 perform image processing.
摘要翻译：提供了一种车载图像处理装置，其能够使多个处理单元适当地执行与诸如人，车辆等的许多类型的场景相对应的处理，并且它们被组合。基于多个处理单元40的图像处理的处理结果，车载图像处理装置生成表示各处理单元40接下来要执行的图像处理的类型和优先级的标签信息，并且使用标签信息在先前的图像处理期间生成，确定是否使每个处理单元40执行图像处理。

62. 发明申请

US20120288154A1 Road-Shoulder Detecting Device and Vehicle Using Road-Shoulder Detecting Device 有权
标题翻译：路肩检测装置和车辆使用路肩检测装置
公开(公告)号：US20120288154A1
公开(公告)日：2012-11-15
申请号：US13519347
申请日：2010-08-09
申请人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
发明人： Takeshi Shima , Mirai Higuchi , Shoji Muramatsu , Tatsuhiko Monji , Takuya Naka
IPC分类号： G06K9/62
CPC分类号： G06T7/0081 , B60W30/12 , G06K9/00798 , G06T7/11 , G06T7/136 , G06T7/174 , G06T2207/10021 , G06T2207/30256 , G08G1/165 , G08G1/166 , G08G1/167
摘要： Disclosed is a road-shoulder detecting device including a distance-information calculating portion for calculating the presence of a physical object and the distance from the subject vehicle to the object from input three-dimensional image information relating to an environment around the vehicle, a vehicular road surface detecting portion for detecting a vehicular road surface with the subject vehicle from a distance image, a height difference calculating portion for measuring height difference between the detected vehicular road and an off-road region, and a road shoulder decision portion for deciding height difference as to whether the road shoulder is boundary between the surface and the region in a case where there is an off-road region lower than the vehicular road surface.
摘要翻译：公开了一种路肩检测装置，其包括距离信息计算部分，用于计算物体的存在以及从主车辆到物体的距离，输入与车辆周围环境有关的三维图像信息，车辆路面检测部，用于从远距离图像检测与本车辆的车辆路面，用于测量检测到的车辆道路与越野区域之间的高度差的高度差计算部，以及用于判定高度差的道路肩部判定部关于在越野区域低于车辆路面的情况下，路肩是否是表面与区域之间的边界。

63. 发明申请

US20090316956A1 Image Processing Apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US20090316956A1
公开(公告)日：2009-12-24
申请号：US12488830
申请日：2009-06-22
申请人： Mirai Higuchi , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
发明人： Mirai Higuchi , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
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。

64. 发明申请

US20090153664A1 Stereo Camera Device 有权
标题翻译：立体相机设备
公开(公告)号：US20090153664A1
公开(公告)日：2009-06-18
申请号：US12333853
申请日：2008-12-12
申请人： Mirai HIGUCHI , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
发明人： Mirai HIGUCHI , Shoji Muramatsu , Soichiro Yokota , Tatsuhiko Monji
IPC分类号： H04N7/18 , G06K9/00
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。

65. 发明申请

US20080043481A1 Vehicle Headlight and Vehicle Operation Support Apparatus 审中-公开
标题翻译：车载大灯及车辆操作支援装置
公开(公告)号：US20080043481A1
公开(公告)日：2008-02-21
申请号：US10589983
申请日：2004-02-25
申请人： Shingo Yokoyama , Masatoshi Kanamaru , Masaya Horino , Tatsuhiko Monji , Ken Ohsumi
发明人： Shingo Yokoyama , Masatoshi Kanamaru , Masaya Horino , Tatsuhiko Monji , Ken Ohsumi
IPC分类号： B60Q1/04 , F21V7/00
CPC分类号： G02B26/085 , F21S41/675
摘要： A vehicle headlight having a light source to emit light and a reflector for illuminating forward the light emitted from the light source, wherein the reflector is comprising a plurality of movable mirrors to be operated independently and optionally and a fixed mirror disposed outside these movable mirrors, whereby the light emitted from the light source to the movable mirrors are not blocked mutually so that a distribution of light illuminated from the vehicle headlight is minutely and quickly controlled.
摘要翻译：具有用于发光的光源的车辆头灯和用于向前照射从所述光源发出的光的反射器，其中所述反射器包括独立地操作的多个可移动镜和可选地以及设置在所述可动镜外部的固定镜，从而从光源发射到可动反射镜的光不被相互阻挡，使得从车辆前灯照射的光的分布被微小和快速地控制。

66. 发明申请

US20080001727A1 Stereo Camera 审中-公开
标题翻译：立体声相机
公开(公告)号：US20080001727A1
公开(公告)日：2008-01-03
申请号：US11666340
申请日：2005-11-14
申请人： Ken Ohsumi , Masaaki Fukuhara , Tatsuhiko Monji , Norio Koike
发明人： Ken Ohsumi , Masaaki Fukuhara , Tatsuhiko Monji , Norio Koike
IPC分类号： B60Q1/00
CPC分类号： H04N13/239 , B60R11/04 , B60R2011/0003 , G01S11/12 , G03B11/045 , G03B35/08 , H04N5/2253
摘要： According to a conventional technique, first, the positional relation between a lens and an imaging element is kept at each of left and right camera units, adjustment is made so as to eliminate the rotation-direction deviation of an imaging element from one surface of a member to which a lens and an imaging element are to be attached before fixing, and then that camera unit is attached to a reference member to thereby constitute a stereo camera. However, although this method can eliminate a mounting position deviation when left and right camera units only are taken into consideration, a problem is posed that deviation again occurs due to poor machining precision and assembly precision at the mounting surface between a camera unit and a member when a camera unit is mounted to a stay. According to this invention, mounting surfaces for mounting left and right imaging elements to a stay are provided to directly position left and right imaging elements to the stay, whereby built-up tolerance between components is reduced and the positional mounting precision between imaging elements is improved.
摘要翻译：根据现有的技术，首先，在左右相机单元中保持透镜与摄像元件之间的位置关系，进行调整，以消除摄像元件的一面的旋转方向偏差在固定之前要将透镜和成像元件附接到的构件，然后该相机单元附接到参考构件，从而构成立体摄像机。然而，虽然这种方法可以消除仅考虑左右相机单元时的安装位置偏差，但是存在由于相机单元和构件之间的安装表面处的加工精度差和组装精度差而再次发生偏差的问题当相机单元安装到停留时。根据本发明，用于将左和右成像元件安装到支撑件的安装表面被设置成将左和右成像元件直接定位到支柱，由此减小了部件之间的建立公差，并且改善了成像元件之间的位置安装精度。

67. 发明申请

US20060140449A1 Apparatus and method for detecting vehicle 审中-公开
标题翻译：车辆检测装置及方法
公开(公告)号：US20060140449A1
公开(公告)日：2006-06-29
申请号：US11317010
申请日：2005-12-27
申请人： Yuji Otsuka , Shoji Muramatsu , Hiroshi Takenaga , Tatsuhiko Monji
发明人： Yuji Otsuka , Shoji Muramatsu , Hiroshi Takenaga , Tatsuhiko Monji
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/3241 , G01S7/41 , G01S7/417 , G01S13/867 , G01S13/931 , G01S17/023 , G01S17/50 , G01S2013/9367 , G01S2013/9375 , G06K9/6293 , G06K2209/23
摘要： A vehicle detection apparatus has a classifier that receives features of an image and judges whether the image is a vehicle. The features extracted from the picked-up image are supplied to the classifier so that judgment can be made of whether the image is the vehicle. If the judgment result and the result from a radar are not matched, the picked-up image pattern is registered in teaching data. The classifier is updated by learning from the teaching data.
摘要翻译：车辆检测装置具有接收图像的特征的分类器，并判断图像是车辆。从拾取图像提取的特征被提供给分类器，以便可以判断图像是否是车辆。如果判断结果和雷达的结果不匹配，则拾取的图像图案被登记在教学数据中。通过从教学数据中学习更新分类器。

68. 发明授权

US09077907B2 Image processing apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US09077907B2
公开(公告)日：2015-07-07
申请号：US14110679
申请日：2012-04-04
申请人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
发明人： Mirai Higuchi , Masahiro Kiyohara , Takeshi Shima , Tatsuhiko Monji
IPC分类号： H04N5/235 , G06K9/20 , H04N5/232 , G08B13/196
CPC分类号： H04N5/2352 , G06K9/2054 , G08B13/19647 , H04N5/232 , H04N5/23229 , H04N5/2353
摘要： There is provided an image processing apparatus that can implement image recognition processing on all of objects to be recognized, and can reduce a load of capturing and transferring images. The image processing apparatus includes: an image capturing unit that captures image information picked up by an imaging element; a processing region setting unit that sets a plurality of processing regions for the image information; a processing sequence/frequency determination unit that determines at least any one of a sequence, a frequency, and a timing of capturing the respective image information in a plurality of set processing regions, and at least any one of a sequence, a frequency, and a timing of processing the respective image information; and an image processing unit that captures the image information for each of the processing regions according to the sequence, the frequency, or the timing which has been determined, and processes the captured image information according to the sequence, the frequency, or the timing which has been determined.
摘要翻译：提供了一种能够对要被识别的所有对象执行图像识别处理的图像处理装置，并且可以减少捕获和传送图像的负担。该图像处理设备包括：图像捕获单元，其捕获由成像元件拾取的图像信息; 处理区域设定单元，对所述图像信息设定多个处理区域; 处理序列/频率确定单元，其确定在多个集合处理区域中捕获各个图像信息的序列，频率和定时中的至少一个，以及序列，频率和处理各图像信息的定时; 以及图像处理单元，其根据已经确定的顺序，频率或定时捕获每个处理区域的图像信息，并且根据序列，频率或时间来处理所捕获的图像信息已经确定

69. 发明授权

US08620025B2 Traveling environment recognition device 有权
标题翻译：旅行环境识别装置
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
IPC分类号： G06K9/00 , G06K9/36 , G06K9/32
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。

70. 发明申请

US20130335561A1 In-Vehicle Camera and In-Vehicle Camera System 有权
标题翻译：车载相机和车载相机系统
公开(公告)号：US20130335561A1
公开(公告)日：2013-12-19
申请号：US13983289
申请日：2012-03-01
申请人： Naoki Kourogi , Tatsuhiko Monji
发明人： Naoki Kourogi , Tatsuhiko Monji
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B60R21/0134 , G08G1/165
摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.
摘要翻译：在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离，图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

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