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1. 发明授权

US07684052B2 Three-dimensional shape measuring apparatus, program, computer-readable recording medium, and three-dimensional shape measuring method 有权
标题翻译：三维形状测量装置，程序，计算机可读记录介质和三维形状测量方法
公开(公告)号：US07684052B2
公开(公告)日：2010-03-23
申请号：US11584807
申请日：2006-10-20
申请人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G01B11/24
CPC分类号： G01B11/2522 , G06T7/521
摘要： An apparatus, method, and program for measuring the three-dimensional shape of an object by analyzing an optical pattern projected onto the object includes a line sensor and an image analysis unit. The line sensor reads the target object, onto which the optical pattern is projected. The image analysis unit analyzes the optical pattern in the image read by the line sensor based on a spatial fringe analysis method, and the image analysis unit computes the three-dimensional shape information on the target object. The phase of a pixel included in an image taken of the optical pattern is determined based on the brightness values of the pixel and at least one neighboring pixel in the image; thus the height information of the object can be determined. In addition, the height of the target object at a given position can be computed based on how much the phase of the optical pattern projected onto a certain position of the object is shifted from a reference phase.
摘要翻译：通过分析投射到物体上的光学图案来测量物体的三维形状的装置，方法和程序包括线传感器和图像分析单元。线传感器读取投影光学图案的目标物体。图像分析单元基于空间条纹分析方法分析由线传感器读取的图像中的光学图案，并且图像分析单元计算目标对象上的三维形状信息。基于像素的亮度值和图像中的至少一个相邻像素确定包含在光学图案的图像中的像素的相位; 因此可以确定对象的高度信息。此外，可以基于投射到物体的某个位置上的光学图案的相位从参考相位偏移多少来计算给定位置处的目标对象的高度。

2. 发明授权

US08238617B2 Vehicle operation control device and method, as well as, program 有权
标题翻译：车辆操作控制装置及方法，以及程序
公开(公告)号：US08238617B2
公开(公告)日：2012-08-07
申请号：US12713925
申请日：2010-02-26
申请人： Yasumichi Omoto , Shunji Ota , Hiroyoshi Koitabashi , Takeshi Shoji
发明人： Yasumichi Omoto , Shunji Ota , Hiroyoshi Koitabashi , Takeshi Shoji
IPC分类号： G06K9/00
CPC分类号： B60R25/04 , B60R25/25 , B60R25/255
摘要： A similarity degree calculating unit calculates a similarity degree of a feature quantity of a face image of an imaged checking target, and a feature quantity of a face image of a registrant or a non-registrant registered in a registrant information DB or a non-registrant information DB. A check determination unit notifies a service determination unit when the similarity degree is higher than a threshold value. A related information acquiring unit acquires related information including inter-registrant information, and provides to a time-series information DB generation unit and the service determination unit. The time-series information DB generation unit updates the time-series information DB. A statistical information DB generation unit generates the statistical information DB from the time-series information DB. The service determination unit provides services based on the related information, the time-series information DB, and the statistical information DB.
摘要翻译：相似度计算单元计算成像的检查对象的面部图像的特征量的相似度，以及注册人信息DB或非注册者中登记的注册者或非注册者的面部图像的特征量信息DB。当相似度高于阈值时，检查确定单元通知服务确定单元。相关信息获取单元获取包括登记者信息的相关信息，并提供给时间序列信息DB生成单元和服务确定单元。时间序列信息DB生成单元更新时间序列信息DB。统计信息DB生成单元从时间序列信息DB生成统计信息DB。服务确定单元基于相关信息，时间序列信息DB和统计信息DB提供服务。

3. 发明申请

US20100232658A1 VEHICLE OPERATION CONTROL DEVICE AND METHOD, AS WELL AS, PROGRAM 有权
标题翻译：车辆操作控制装置和方法，作为程序
公开(公告)号：US20100232658A1
公开(公告)日：2010-09-16
申请号：US12713925
申请日：2010-02-26
申请人： Yasumichi Omoto , Shunji Ota , Hiroyoshi Koitabashi , Takeshi Shoji
发明人： Yasumichi Omoto , Shunji Ota , Hiroyoshi Koitabashi , Takeshi Shoji
IPC分类号： G06K9/62 , G06F17/30
CPC分类号： B60R25/04 , B60R25/25 , B60R25/255
摘要： A similarity degree calculating unit calculates a similarity degree of a feature quantity of a face image of an imaged checking target, and a feature quantity of a face image of a registrant or a non-registrant registered in a registrant information DB or a non-registrant information DB. A check determination unit notifies a service determination unit when the similarity degree is higher than a threshold value. A related information acquiring unit acquires related information including inter-registrant information, and provides to a time-series information DB generation unit and the service determination unit. The time-series information DB generation unit updates the time-series information DB. A statistical information DB generation unit generates the statistical information DB from the time-series information DB. The service determination unit provides services based on the related information, the time-series information DB, and the statistical information DB.
摘要翻译：相似度计算单元计算成像的检查对象的面部图像的特征量的相似度，以及注册人信息DB或非注册者中登记的注册者或非注册者的面部图像的特征量信息DB。当相似度高于阈值时，检查确定单元通知服务确定单元。相关信息获取单元获取包括登记者信息的相关信息，并提供给时间序列信息DB生成单元和服务确定单元。时间序列信息DB生成单元更新时间序列信息DB。统计信息DB生成单元从时间序列信息DB生成统计信息DB。服务确定单元基于相关信息，时间序列信息DB和统计信息DB提供服务。

4. 发明申请

US20080199050A1 DETECTION DEVICE, METHOD AND PROGRAM THEREOF 审中-公开
标题翻译：检测装置，其方法和程序
公开(公告)号：US20080199050A1
公开(公告)日：2008-08-21
申请号：US12029992
申请日：2008-02-12
申请人： Hiroyoshi Koitabashi
发明人： Hiroyoshi Koitabashi
IPC分类号： G06K9/00
CPC分类号： H04N5/225 , B60R1/00 , B60R2300/30 , B60R2300/301 , B60R2300/8033 , B60R2300/8093 , G06K9/00369 , G06K9/00805 , G06T7/246 , G06T7/80 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30261
摘要： A rotational movement component of a camera provided on a mobile object is to be detected in a precise and simple manner. Three motion vectors extracted from the forward images captured by a camera mounted on a vehicle are extracted on a random basis. A temporary rotation angle is calculated using the extracted motion vectors based on a relational expression that represents the relationship between a background vector and the rotation angle of the camera, the relational expression being a linear expression of the yaw angle, pitch angle, and roll angle of the rotational movement of the camera. An error when using the temporary rotation angle is calculated for other motion vectors, and the number of motion vectors for which the error is within a predetermined threshold value is counted. After repeating such a process for a predetermined number of times, the temporary rotation angle with the largest number of motion vectors for which the error is within the predetermined threshold value is selected as the rotation angle of the camera. The present invention can be applied to an in-vehicle obstacle detecting device.
摘要翻译：以精确和简单的方式检测设置在移动物体上的照相机的旋转运动分量。从安装在车辆上的相机拍摄的前向图像中提取的三个运动矢量被随机提取。使用基于表示背景矢量和摄像机的旋转角度之间的关系的关系表达式，使用提取的运动矢量来计算临时旋转角度，关系表达式是偏航角，俯仰角和侧倾角度的线性表达式的相机旋转运动。对于其他运动矢量计算使用临时旋转角度的误差，并且对误差在预定阈值内的运动矢量的数量进行计数。在重复这种处理预定次数之后，选择具有误差在预定阈值内的最大数目的运动矢量的临时旋转角作为照相机的旋转角度。本发明可以应用于车载障碍物检测装置。

5. 发明申请

US20070090189A1 Three-dimensional shape measuring apparatus, program, computer-readable recording medium, and three-dimensional shape measuring method 有权
标题翻译：三维形状测量装置，程序，计算机可读记录介质和三维形状测量方法
公开(公告)号：US20070090189A1
公开(公告)日：2007-04-26
申请号：US11584807
申请日：2006-10-20
申请人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K7/10
CPC分类号： G01B11/2522 , G06T7/521
摘要： A three-dimensional shape measuring apparatus of the invention is an apparatus which measures a three-dimensional shape of a target object by analyzing an optical pattern projected to the target object. The three-dimensional shape measuring apparatus includes a line sensor and an image analysis unit. The line sensor reads the target object, onto which the optical pattern is projected, as the image. The image analysis unit analyzes the optical pattern in the image read by the line sensor based on a spatial fringe analysis method, and the image analysis unit computes the three-dimensional shape information on the target object. An apparatus, method and program for measuring the three-dimensional shape of an object by analyzing an optical pattern projected onto the object. The phase of a pixel included in an image taken of the optical pattern is determined based on the brightness values of the pixel and at least one neighboring pixel in the image; thus the height information of the object can be determined. In addition, the height of the target object at a given position can be computed based on how much the phase of the optical pattern projected onto a certain position of the object is shifted from a reference phase.
摘要翻译：本发明的三维形状测量装置是通过分析投影到目标对象的光学图案来测量目标对象的三维形状的装置。三维形状测量装置包括线传感器和图像分析单元。线传感器读取投影光学图案的目标对象作为图像。图像分析单元基于空间条纹分析方法分析由线传感器读取的图像中的光学图案，并且图像分析单元计算目标对象上的三维形状信息。一种用于通过分析投射到物体上的光学图案来测量物体的三维形状的装置，方法和程序。基于像素的亮度值和图像中的至少一个相邻像素确定包含在光学图案的图像中的像素的相位; 因此可以确定对象的高度信息。此外，可以基于投射到物体的某个位置上的光学图案的相位从参考相位偏移多少来计算给定位置处的目标对象的高度。

6. 发明申请

US20090189783A1 IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM 审中-公开
标题翻译：图像处理设备，图像处理方法和程序
公开(公告)号：US20090189783A1
公开(公告)日：2009-07-30
申请号：US12360474
申请日：2009-01-27
申请人： Hiroyoshi Koitabashi
发明人： Hiroyoshi Koitabashi
IPC分类号： G08G1/054
CPC分类号： G01S11/12 , G06T7/579 , G06T2207/10016 , G06T2207/30261
摘要： An image processing device for performing a process of measuring a distance to a predetermined object using an image imaged by an imaging device attached to a vehicle which moves has a movement detection unit for detecting that the vehicle moved a constant amount from a position where the imaging device imaged a first image, an image acquiring unit for acquiring the first image, and a second image serving as an image at the time of being detected that the vehicle moved a constant amount by the movement detection unit, and a measurement unit for measuring the distance to the object by a movement stereo method using the first image and second image acquired by the image acquiring unit.
摘要翻译：一种图像处理装置，用于执行使用由安装在移动的车辆上的成像装置成像的图像来测量与预定物体的距离的处理的处理，具有用于检测车辆从成像的位置移动恒定量的移动检测单元第一图像拍摄的装置，用于获取第一图像的图像获取单元，以及用于当检测到移动检测单元使车辆移动恒定量时的图像的第二图像;以及测量单元，使用由图像获取单元获取的第一图像和第二图像的运动立体声方法到对象的距离。

7. 发明申请

US20080164985A1 DETECTION DEVICE, METHOD AND PROGRAM THEREOF 审中-公开
标题翻译：检测装置，其方法和程序
公开(公告)号：US20080164985A1
公开(公告)日：2008-07-10
申请号：US11972354
申请日：2008-01-10
申请人： Takashi Iketani , Hiroyoshi Koitabashi
发明人： Takashi Iketani , Hiroyoshi Koitabashi
IPC分类号： B60Q1/00
CPC分类号： G01S7/4802 , G01S17/023 , G01S17/89 , G01S17/936 , G06K9/00369 , G06K9/00805
摘要： The processing load of the detection without deteriorating the object detection performance is to be decreased. In one step, a position determining portion extracts objects within a detection region set based on the speed of an automotive vehicle from the objects detected by a laser radar. In another step, a speed determining portion extracts objects, whose speed in the distance direction of the automotive vehicle is equal to or smaller than a predetermined threshold value, from the objects extracted in the previous step. In another step, a ROI setting portion sets an ROI having a size corresponding to the distance of the object from the automotive vehicle for each of the extracted objects. The present invention can be applied to an in-vehicle obstacle detecting device.
摘要翻译：要降低检测性能的恶化的检测处理负荷。在一个步骤中，位置确定部分从由激光雷达检测到的物体中提取基于机动车辆的速度的检测区域内的物体。在另一步骤中，速度确定部分从前一步骤中提取的对象中提取其机动车辆的距离方向上的速度等于或小于预定阈值的对象。在另一步骤中，ROI设置部分针对每个提取的对象设置具有与来自机动车辆的物体的距离相对应的尺寸的ROI。本发明可以应用于车载障碍物检测装置。

8. 发明授权

US08019120B2 Image processing apparatus, image processing method, image processing program, recording medium recording the image processing program, and moving object detection system 有权
标题翻译：图像处理装置，图像处理方法，图像处理程序，记录图像处理程序的记录介质和移动物体检测系统
公开(公告)号：US08019120B2
公开(公告)日：2011-09-13
申请号：US11740058
申请日：2007-04-25
申请人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K9/00
CPC分类号： G06K9/6203 , G06K9/6857
摘要： It is intended to provide an image processing apparatus enabling an image processing for association of a standard image to a reference image using a reduced number of pixels without deteriorating accuracy for detecting a movement of a detection subject. A detection subject region setting unit obtains a picked-up image at a first time point as a standard image from time-series picked-up image data obtained by an image pickup unit and selects a plurality of correlation windows including an image region of the detection subject in the standard image with relative positions with respect to the standard point being identified. A movement detection unit obtains a picked-up image at a second time point that is different from the first time point as a reference image and detects a movement of the detection subject between the standard image and the reference image by calculating in the reference image a position of the standard point that minimizes a difference between a state of pixel values of the correlation windows of the standard image and a state of pixel values of correlation windows of the reference image.
摘要翻译：旨在提供一种能够进行图像处理的图像处理装置，其能够使用减少数量的像素将标准图像与参考图像相关联，而不会降低用于检测检测对象的移动的精度。检测对象区域设定单元从由摄像单元获取的时间序列拍摄图像数据中获取作为标准图像的第一时间点的拍摄图像，并且选择包括检测图像区域的多个相关窗口在标准图像中对相对于标识点的相对位置进行识别。移动检测单元在与第一时间点不同的第二时间点获取拍摄图像作为参考图像，并且通过在参考图像a中计算来检测标准图像和参考图像之间的检测对象的移动使标准图像的相关窗口的像素值的状态与参考图像的相关窗口的像素值的状态之间的差最小的标准点的位置。

9. 发明申请

US20070253596A1 IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, RECORDING MEDIUM RECORDING THE IMAGE PROCESSING PROGRAM, AND MOVING OBJECT DETECTION SYSTEM 有权
标题翻译：图像处理装置，图像处理方法，图像处理程序，记录图像处理程序的记录介质和移动物体检测系统
公开(公告)号：US20070253596A1
公开(公告)日：2007-11-01
申请号：US11740058
申请日：2007-04-25
申请人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K9/00 , G06K9/68
CPC分类号： G06K9/6203 , G06K9/6857
摘要： It is intended to provide an image processing apparatus enabling an image processing for association of a standard image to a reference image using a reduced number of pixels without deteriorating accuracy for detecting a movement of a detection subject. A detection subject region setting unit obtains a picked-up image at a first time point as a standard image from time-series picked-up image data obtained by an image pickup unit and selects a plurality of correlation windows including an image region of the detection subject in the standard image with relative positions with respect to the standard point being identified. A movement detection unit obtains a picked-up image at a second time point that is different from the first time point as a reference image and detects a movement of the detection subject between the standard image and the reference image by calculating in the reference image a position of the standard point that minimizes a difference between a state of pixel values of the correlation windows of the standard image and a state of pixel values of correlation windows of the reference image.
摘要翻译：旨在提供一种能够进行图像处理的图像处理装置，其能够使用减少数量的像素将标准图像与参考图像相关联，而不会降低用于检测检测对象的移动的精度。检测对象区域设定单元从由摄像单元获取的时间序列拍摄图像数据中获取作为标准图像的第一时间点的拍摄图像，并且选择包括检测图像区域的多个相关窗口在标准图像中对相对于标识点的相对位置进行识别。移动检测单元在与第一时间点不同的第二时间点获取拍摄图像作为参考图像，并且通过在参考图像a中计算来检测标准图像和参考图像之间的检测对象的移动使标准图像的相关窗口的像素值的状态与参考图像的相关窗口的像素值的状态之间的差最小的标准点的位置。

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