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71. 发明申请

US20130147948A1 IMAGE PROCESSING APPARATUS AND IMAGING APPARATUS USING THE SAME 审中-公开
标题翻译：使用该图像处理装置和成像装置
公开(公告)号：US20130147948A1
公开(公告)日：2013-06-13
申请号：US13818625
申请日：2011-07-27
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
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。

72. 发明授权

US08411900B2 Device for detecting/judging road boundary 有权
标题翻译：用于检测/判断道路边界的装置
公开(公告)号：US08411900B2
公开(公告)日：2013-04-02
申请号：US12920405
申请日：2009-06-10
申请人： Takuya Naka , Tatsuhiko Monji
发明人： Takuya Naka , Tatsuhiko Monji
IPC分类号： G06K9/00
CPC分类号： G06K9/00798 , B60W30/12 , G06K9/00208
摘要： There is provided a road boundary detection/judgment device resistant to environmental change and capable of detecting even a road boundary demarcated by a three-dimensional object in the distance. The device is provided with: an image acquisition section having two or more cameras for image-capturing the road area; a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section; a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same. If it is judged that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.
摘要翻译：提供了一种能够抵抗环境变化的道路边界检测/判断装置，并能够检测距离上的三维物体所划定的道路边界。该设备具有：图像获取部分，具有用于图像捕获道路区域的两个或更多个相机; 距离数据获取部分，基于由图像获取部分获得的图像获取关于图像拍摄区域的三维距离信息; 道路边界检测部，根据距离数据取得部获取的三维距离信息，检测道路区域中存在的三维物体的高度，检测道路边界; 以及对于可以检测与道路边界相对应的三维物体的高度的第一道路区域和与道路对应的三维物体的高度的第二道路区域相同的边界判断部分，对图像进行变换无法检测到边界，并且判断与第一道路区域对应的三维物体和与第二道路区域对应的三维物体是否相同。如果判断与第一和第二道路区域边界相对应的三维物体相同，则将第二道路区域复位为第一道路区域。

73. 发明授权

US08320626B2 Image processing apparatus 有权
标题翻译：图像处理装置
公开(公告)号：US08320626B2
公开(公告)日：2012-11-27
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。

74. 发明申请

US20120062746A1 Image Processing Apparatus 审中-公开
标题翻译：图像处理装置
公开(公告)号：US20120062746A1
公开(公告)日：2012-03-15
申请号：US13321635
申请日：2010-05-24
申请人： Yuji Otsuka , Tatsuhiko Monji
发明人： Yuji Otsuka , Tatsuhiko Monji
IPC分类号： H04N7/18
CPC分类号： H04N9/045 , G06K9/00805 , G06K9/00825 , G06K9/2018 , G06K9/209 , G08G1/166 , H04N5/2353 , H04N5/2356 , H04N5/332 , H04N5/353 , H04N7/18
摘要： An image processing apparatus capable of detecting, simultaneously and with high precision, headlights of oncoming cars, taillights of cars ahead, and pedestrians at night, the image processing apparatus comprising: means that obtains first exposure data at a first shutter speed; means that obtains second exposure data at a second shutter speed that is slower than the shutter speed; means that obtains third exposure data at a third shutter speed that is slower than the first shutter speed; means that converts the first exposure data into a visible grayscale image; means that outputs the visible grayscale image; means that converts the second exposure data into a color image; means that outputs the color image; means that converts the third exposure data into an infrared grayscale image; means that outputs the infrared grayscale image; means that detects a headlight based on the visible grayscale image; means that detects a taillight based on the color image; and means that detects a pedestrian based on an image obtained by processing the infrared grayscale image and the color image.
摘要翻译：一种图像处理装置，其能够同时且高精度地检测迎面而来的车辆的前灯，夜间的前方的尾灯以及晚上的行人，所述图像处理装置包括：以第一快门速度获取第一曝光数据的装置; 意味着以比快门速度慢的第二快门速度获得第二曝光数据; 意味着以比第一快门速度慢的第三快门速度获得第三曝光数据; 意味着将第一曝光数据转换成可见的灰度图像; 意味着输出可见灰度图像; 意味着将第二曝光数据转换为彩色图像; 意味着输出彩色图像; 意味着将第三曝光数据转换为红外灰度图像; 意味着输出红外灰度图像; 意味着基于可见灰度图像检测大灯; 意味着根据彩色图像检测尾灯; 并且基于通过处理红外灰度图像和彩色图像获得的图像检测行人的装置。

75. 发明申请

US20110063097A1 Device for Detecting/Judging Road Boundary 有权
标题翻译：道路边界检测/判断装置
公开(公告)号：US20110063097A1
公开(公告)日：2011-03-17
申请号：US12920405
申请日：2009-06-10
申请人： Takuya Naka , Tatsuhiko Monji
发明人： Takuya Naka , Tatsuhiko Monji
IPC分类号： B60Q1/00 , H04N7/18
CPC分类号： G06K9/00798 , B60W30/12 , G06K9/00208
摘要： There is provided a road boundary detection/judgment device resistant to environmental change and capable of detecting even a road boundary demarcated by a three-dimensional object in the distance. The device is provided with: an image acquisition section having two or more cameras for image-capturing the road area; a distance data acquisition section acquiring three-dimensional distance information about an image-capture area on the basis of an image obtained by the image acquisition section; a road boundary detection section detecting the height of a three-dimensional object existing in the road area on the basis of the three-dimensional distance information obtained by the distance data acquisition section to detect a road boundary; and a same boundary judgment section transforming the image, for a first road area where the height of a three-dimensional object corresponding to a road boundary could be detected and a second road area where the height of a three-dimensional object corresponding to a road boundary could not be detected, and judging whether the three-dimensional object corresponding to the first road area and the three-dimensional object corresponding to the second road area are the same. If it is judged that the three-dimensional objects corresponding to the first and second road area boundaries are the same, the second road area is reset as the first road area.
摘要翻译：提供了一种能够抵抗环境变化的道路边界检测/判断装置，并能够检测距离上的三维物体所划定的道路边界。该设备具有：图像获取部分，具有用于图像捕获道路区域的两个或更多个相机; 距离数据获取部分，基于由图像获取部分获得的图像获取关于图像拍摄区域的三维距离信息; 道路边界检测部，根据距离数据取得部获取的三维距离信息，检测道路区域中存在的三维物体的高度，检测道路边界; 以及对于可以检测与道路边界相对应的三维物体的高度的第一道路区域和与道路对应的三维物体的高度的第二道路区域相同的边界判断部分，对图像进行变换无法检测到边界，并且判断与第一道路区域对应的三维物体和与第二道路区域对应的三维物体是否相同。如果判断与第一和第二道路区域边界相对应的三维物体相同，则将第二道路区域复位为第一道路区域。

76. 发明申请

US20090195410A1 IMAGE PROCESSING DEVICE AND VEHICLE DETECTION DEVICE PROVIDED WITH THE SAME 有权
标题翻译：图像处理装置和具有该图像处理装置的车辆检测装置
公开(公告)号：US20090195410A1
公开(公告)日：2009-08-06
申请号：US12363129
申请日：2009-01-30
申请人： Masayuki TAKEMURA , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
发明人： Masayuki TAKEMURA , Shoji Muramatsu , Tatsuhiko Monji , Yuji Otsuka
IPC分类号： G08G1/133 , G06T7/00
CPC分类号： G06K9/00805 , B60W30/095 , B60W30/10 , G06T7/246 , G06T2207/10016 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： A virtual vehicle which approaches to a monitor-side vehicle and a virtual background are defined in a camera image, and a region in which a virtual vehicle moves fast with respect to a virtual background is defined as a first region F1, and a region in which a virtual vehicle moves slowly with respect to a virtual background is defined as a second region F2. Then, the first region F1 and the second region F2 are applied to an actual camera image. In the first region F1 in which a virtual vehicle moves fast, a monitored vehicle is detected by a movement aspect of feature portions in the region, and in the second region F2 in which a virtual vehicle moves slowly, a monitored vehicle is detected by pattern recognition.
摘要翻译：在摄像机图像中定义接近监视器侧车辆和虚拟背景的虚拟车辆，并且将虚拟车辆相对于虚拟背景快速移动的区域定义为第一区域F1，并且区域将虚拟车辆相对于虚拟背景缓慢移动的物体被定义为第二区域F2。然后，将第一区域F1和第二区域F2应用于实际的摄像机图像。在虚拟车辆快速移动的第一区域F1中，通过区域中的特征部分的运动方面检测被监视的车辆，并且在虚拟车辆缓慢移动的第二区域F2中，通过模式检测被监视的车辆承认。

77. 发明授权

US6020844A Car on-board radar axis adjusting method 失效
标题翻译：车载雷达轴调整方法
公开(公告)号：US6020844A
公开(公告)日：2000-02-01
申请号：US225475
申请日：1999-01-06
申请人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
发明人： Jie Bai , Mitsuru Nakamura , Kazuhiko Hanawa , Tatsuhiko Monji , Kazuaki Takano , Noriharu Sato
IPC分类号： B60R21/00 , B60R11/02 , B60W30/00 , G01S7/03 , G01S7/40 , G01S13/93 , H01Q3/02
CPC分类号： G01S7/4026 , H01Q3/02 , G01S2007/403 , G01S2007/4034 , G01S2007/4086 , G01S7/4972
摘要： In a method of adjusting the axis of a car on-board radar, especially, a car on-board mono-pulse radar having the function of transmitting radio waves, light or ultrasonic waves, a car axis and an offset axis are set and the mount angle of an antenna offset-mounted on the offset axis can be adjusted with high precision and with ease through a reduced number of process steps. In the method, at least two points are set on the car, at least two isosceles triangles having a common base defined by a line connecting the setting points and sides of different lengths are drawn, a line connecting vertexes on the same plane of the obtained isosceles triangles and an extension of that line are determined as the car axis, the radar antenna is mounted on the car at an offset position which is apart from the car axis by a constant distance in the horizontal direction, a straight line parallel to the car axis and passing through the offset position is determined as the offset axis, a reflector is disposed in a direction at a constant azimuth angle as viewed from the offset position of the antenna, and the reflector is used as a detection target of the radar to adjust the mount angle of the radar antenna such that an azimuth angle detection value of the reflector detected by the radar equals a setting value of the azimuth angle.
摘要翻译：在调整车载雷达的轴线的方法中，特别地，设置具有发射无线电波，光或超声波，汽车轴和偏移轴的功能的车载单脉冲雷达，偏移安装在偏移轴上的天线的安装角度可以通过减少数量的工艺步骤以高精度和容易地调节。在该方法中，在轿厢上设置至少两个点，至少两个具有由连接不同长度的设定点和侧面的线限定的公共基座的等腰三角形，连接顶点在所获得的相同平面上的线将等腰三角形和该线的延伸线确定为轿厢轴线，雷达天线以与水平方向一定距离的偏离位置安装在轿厢上，平行于轿厢的直线被确定为偏移位置时，从天线的偏移位置观察，将反射器设置在恒定方位角的方向上，并且将反射器用作雷达的检测对象以进行调整雷达天线的安装角度使得由雷达检测的反射器的方位角检测值等于方位角的设定值。

78. 发明授权

US5369580A Yawing-momentum detecting apparatus for a vehicle, a detecting method thereof, and motion controlling apparatus for a vehicle, utilizing the detecting apparatus 失效
标题翻译：利用该检测装置的车辆的动摇检测装置及其检测方法以及车辆的运动控制装置
公开(公告)号：US5369580A
公开(公告)日：1994-11-29
申请号：US851664
申请日：1992-03-16
申请人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
发明人： Tatsuhiko Monji , Shigeru Horikoshi , Kousaku Shimada , Hayato Sugawara
IPC分类号： B62D6/00 , B60T8/1755 , B60T8/84 , B60W40/10 , B60W40/109 , B62D6/04 , B62D7/15 , B62D101/00 , B62D103/00 , B62D105/00 , B62D113/00 , G01P15/00 , G01P15/125 , G01P15/13 , G01P21/00
CPC分类号： B60T8/17551 , B62D6/04 , B62D7/159 , G01P15/18 , B60T2250/062 , B60T2260/022 , G01P2015/0828
摘要： A novel yawing-momentum detecting apparatus, and yawing-detecting method for a vehicle, and also a motion controlling apparatus for the vehicle with employment of this yawing-momentum detecting apparatus. The yawing-momentum detecting apparatus for the vehicle comprises: a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition. A further embodiment of the present invention further includes: units for calculating target yawing momentum based on a vehicle speed and a steering angle of a steering wheel while a car driver manipulates the steering wheel; and units for adjusting a steering apparatus and/or a braking apparatus of the vehicle in such a manner that the yawing momentum obtained by the yawing-momentum calculating units is coincident with the target yawing momentum.
摘要翻译：一种用于车辆的新型偏航动量检测装置和偏航检测方法，以及使用该偏航动量检测装置的车辆的运动控制装置。用于车辆的偏转动量检测装置包括：多个加速度传感器，其相对于在垂直于垂直轴的平面内通过车辆重心的垂直轴设置在所述车辆的对称位置; 用于基于来自所述多个加速度传感器的输出计算出围绕所述垂直轴线发生的所述车辆的横摆动量的单元; 以及特征校正单元，用于在已知的加速度值下校正多个加速度传感器的输出特性，以在已知的加速度值在特定的车辆操作条件下获得时与参考输出特性值一致。本发明的另一实施例还包括：在汽车驾驶员操纵方向盘的同时，基于车速和方向盘的转向角计算目标横摆动量的单元; 以及用于调整车辆的转向装置和/或制动装置的单元，使得由偏航动量计算单元获得的偏航动量与目标横摆动量一致。

79. 发明授权

US5247466A Angular rate detection apparatus, acceleration detection apparatus and movement control apparatus, of moving body 失效
标题翻译：角速度检测装置，加速检测装置和运动控制装置
公开(公告)号：US5247466A
公开(公告)日：1993-09-21
申请号：US674692
申请日：1991-03-25
申请人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
发明人： Kousaku Shimada , Yozo Nakamura , Shigeru Horikoshi , Hayato Sugawara , Tatsuhiko Monji
IPC分类号： G01P13/00 , B60G17/00 , B60G17/019 , B60T8/172 , B60T8/1755 , B62D6/04 , G01P3/44 , G01P7/00 , G01P15/00 , G01P21/00
CPC分类号： B60T8/17551 , B60T8/172 , B62D6/04 , G01P15/00 , G01P21/00 , G01P3/44 , B60G2400/1042 , B60G2400/1062 , B60T2250/03
摘要： An apparatus for detecting an angular rate of a moving body has first and second sensors each of which has a detection direction, the first and second acceleration sensors are mounted at fixed locations on a moving body so that the first and second acceleration sensors have substantially the same detection direction on a plane and a fixed distance therebetween in the detection direction, and the angular rate (.omega.) of the moving body is detected according to the following equation: ##EQU1## wherein .DELTA.G is an acceleration difference and R is the distance between the first and second acceleration sensors in the detection direction.
摘要翻译：一种用于检测移动体的角速率的装置具有第一和第二传感器，每个具有检测方向，第一和第二加速度传感器安装在移动体上的固定位置，使得第一和第二加速度传感器具有基本上在检测方向上在平面上相同的检测方向和它们之间的固定距离，并且根据以下等式检测移动体的角速率（ω）：其中DELTA G是加速度差，R是距离在检测方向上在第一和第二加速度传感器之间。

80. 发明授权

US09074906B2 Road shape recognition device 有权
标题翻译：路形识别装置
公开(公告)号：US09074906B2
公开(公告)日：2015-07-07
申请号：US13387137
申请日：2010-07-23
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G06K9/00 , G01C21/26 , G01C21/36 , G06T7/00 , G08G1/16
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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