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1. 发明授权

US08825364B2 Vehicle position recognition device and vehicle position recognition program 有权
标题翻译：车辆位置识别装置和车辆位置识别程序
公开(公告)号：US08825364B2
公开(公告)日：2014-09-02
申请号：US12213040
申请日：2008-06-13
申请人： Koichi Nakao , Masaki Nakamura , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
发明人： Koichi Nakao , Masaki Nakamura , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
IPC分类号： G01C21/30
CPC分类号： G01C21/30
摘要： A vehicle location recognition apparatus includes a link determination unit which accurately determines a link traveled by a vehicle from among a plurality of links meeting at a narrow-angle branch point, on the basis of vehicle location information and road information, travel history information representing a route traveled by the vehicle at the branch point. The vehicle location recognition apparatus includes a history information generation unit for generating travel history information for the determined link. The travel history information is stored in a learning database. On the basis of the travel history information, a learning unit generates learned priority information representing the priorities of the respective links meeting at a branch point and used in the determination by the link determination unit.
摘要翻译：车辆位置识别装置包括链路确定单元，其基于车辆位置信息和道路信息，精确地确定从窄角分支点处的多个链路中的车辆行驶的链路，行驶历史信息表示车辆在分支点行驶的路线。车辆位置识别装置包括用于生成所确定的链路的旅行历史信息的历史信息生成单元。旅行历史信息存储在学习数据库中。基于旅行历史信息，学习单元生成表示在分支点处会议的各个链路的优先级的学习优先级信息，并且由链接确定单元进行确定。

2. 发明授权

US08213682B2 Feature information collecting apparatuses, methods, and programs 有权
标题翻译：特征信息采集装置，方法和程序
公开(公告)号：US08213682B2
公开(公告)日：2012-07-03
申请号：US12073867
申请日：2008-03-11
申请人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
发明人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G01C21/32
摘要： Apparatuses, methods, and programs acquire vehicle position information that represents a current position of a vehicle, acquire image information of a vicinity of the vehicle, and carry out image recognition processing of a target feature that is included in the image information to determine a position of the target feature. The apparatuses, methods, and programs store recognition position information that is based on the acquired vehicle position information and that represents the determined recognition position of the target feature. The apparatuses, methods, and programs determine an estimated position of the target feature based on a set of a plurality of stored recognition position information for the target feature, the plurality of stored recognition position information for the target feature being stored due to the target feature being subject to image recognition processing a plurality of times.
摘要翻译：装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的目标特征进行图像识别处理，以确定位置的目标特征。设备，方法和程序存储基于获取的车辆位置信息并且表示确定的目标特征的识别位置的识别位置信息。装置，方法和程序基于目标特征的多个存储的识别位置信息的集合来确定目标特征的估计位置，由于目标特征，存储了目标特征的多个存储的识别位置信息进行图像识别处理多次。

3. 发明授权

US08184861B2 Feature information management apparatuses, methods, and programs 有权
标题翻译：特征信息管理装置，方法和程序
公开(公告)号：US08184861B2
公开(公告)日：2012-05-22
申请号：US12073876
申请日：2008-03-11
申请人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
发明人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G01C11/00 , G06K9/00798 , G06K9/00818 , G06K9/2054 , G06K9/3233 , G06K9/4671
摘要： Apparatuses, methods and programs store a plurality of target types, each target type having recognition attribute information indicating the likelihood that the target type will be recognized based on a type of road or a type of area. The apparatuses, methods and programs acquire vehicle position information indicating a current position of a vehicle, acquire image information in the vicinity of the vehicle, and acquire road attribute information about a road on which the vehicle is traveling, the road attribute information acquired based on the vehicle position information. The apparatuses, methods and programs determine a target type defining a target for image recognition within the image information, the target type being determined based on the acquired road attribute information and the stored recognition attribute information, and perform image recognition of a target feature included in the image information, the target feature being of the determined target type.
摘要翻译：设备，方法和程序存储多个目标类型，每个目标类型具有指示基于道路类型或区域类型将识别目标类型的可能性的识别属性信息。所述装置，方法和程序获取指示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并且获取关于车辆行驶的道路的道路属性信息，基于车辆位置信息。设备，方法和程序确定在图像信息内定义用于图像识别的目标的目标类型，基于所获取的道路属性信息和存储的识别属性信息确定目标类型，并执行包括在目标特征中的目标特征的图像识别所述图像信息，所述目标特征是所确定的目标类型。

4. 发明授权

US08155873B2 Vehicle-position-recognition apparatuses, methods, and programs 失效
标题翻译：车辆位置识别装置，方法和程序
公开(公告)号：US08155873B2
公开(公告)日：2012-04-10
申请号：US12213074
申请日：2008-06-13
申请人： Koichi Nakao , Masaki Nakamura , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
发明人： Koichi Nakao , Masaki Nakamura , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
IPC分类号： G01C21/36
CPC分类号： G01C21/28 , G06K9/00798
摘要： Vehicle-position-recognition apparatuses, methods, and programs acquire current position information indicating a current position of a vehicle and acquire road information indicating at least one road based on a connection relationship between plural links. The apparatuses, methods, and programs determine a link where the vehicle travels based on the current position information and the road information and generate travel-history information indicating a route that the vehicle travels at a point where a link is branched based on the determined link. The apparatuses, methods, and programs acquire an image of an area surrounding the vehicle, recognize a recognition target in the acquired image, and store the generated travel-history information in the memory in association with information indicating the recognition of the recognition target. The apparatuses, methods, and programs generate learning-priority information indicating a priority of each link branched out at the branch point based on the stored travel-history information and the stored recognition information, the generated learning-priority information usable to determine on which of the links branched out at the branch point that the vehicle is traveling.
摘要翻译：车辆位置识别装置，方法和程序获取指示车辆的当前位置的当前位置信息，并且基于多个链路之间的连接关系获取指示至少一条道路的道路信息。设备，方法和程序根据当前位置信息和道路信息确定车辆行驶的链接，并根据所确定的链路，生成表示车辆在分支点处行驶的路线的旅行历史信息。装置，方法和程序获取车辆周围的区域的图像，识别所获取的图像中的识别目标，并将生成的旅行历史信息与指示识别目标的识别的信息相关联地存储在存储器中。所述装置，方法和程序基于所存储的旅行历史信息和所存储的识别信息，生成指示在分支点分支的每个链接的优先级的学习优先级信息，所生成的学习优先级信息可用于确定哪个链路在车辆行驶的分支点处分支。

5. 发明授权

US08600655B2 Road marking recognition system 有权
标题翻译：路标识别系统
公开(公告)号：US08600655B2
公开(公告)日：2013-12-03
申请号：US11922779
申请日：2006-08-04
申请人： Tomoaki Ishikawa , Masaki Nakamura , Osamu Aisaka , Motoki Kanba , Motohiro Nakamura
发明人： Tomoaki Ishikawa , Masaki Nakamura , Osamu Aisaka , Motoki Kanba , Motohiro Nakamura
IPC分类号： G06F17/10 , G06K9/00
CPC分类号： G08G1/096716 , G01C21/26 , G05D1/0244 , G05D2201/0213 , G06K9/00798 , G06K9/00818 , G08G1/096725 , G08G1/09675 , G08G1/096783 , G08G1/167
摘要： Systems, methods, and programs capture an image of a periphery of a vehicle. The systems, methods, and programs, store predetermined patterns representing conditions of road markings formed on a road surface, detect a road marking on the basis of the captured image, and compare the detected road marking to the predetermined patterns. If the detected road marking matches one of the predetermined patterns, the systems, methods, and programs execute a predetermined action associated with the matching predetermined pattern.
摘要翻译：系统，方法和程序捕获车辆周边的图像。系统，方法和程序存储表示在路面上形成的路标的条件的预定模式，基于所捕获的图像检测道路标记，并将检测到的道路标记与预定模式进行比较。如果检测到的道路标记符合预定模式之一，则系统，方法和程序执行与匹配的预定模式相关联的预定动作。

6. 发明授权

US08346473B2 Lane determining device, lane determining method and navigation apparatus using the same 有权
标题翻译：车道确定装置，车道确定方法和使用其的导航装置
公开(公告)号：US08346473B2
公开(公告)日：2013-01-01
申请号：US12593772
申请日：2008-05-23
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Osamu Aisaka , Motoki Kanba , Kiyokazu Okada
IPC分类号： G01C21/32
CPC分类号： G06K9/00798 , G01C21/30 , G01C21/3658
摘要： A lane determining device includes: a feature information obtaining unit for obtaining feature information F of a target feature existing in each lane in the traveling direction of a vehicle 30, based on vehicle position information; an image recognizing unit for conducting image recognition processing of a feature type of the target feature in a vehicle lane, with respect to image information; and a lane accuracy determining unit for determining a vehicle lane accuracy for the respective lanes based on a type of a recognized feature fa shown in an image recognition result, feature types Ft1 to Ft4 of the target feature of the respective lanes shown in the feature information F, in accordance with a level of probability for each of the feature types Ft1 to Ft4 of the target feature of the respective lanes is recognized as the type of the recognized feature fa.
摘要翻译：车道确定装置包括：特征信息获取单元，用于基于车辆位置信息获得车辆30的行驶方向上存在于每个车道中的目标特征的特征信息F; 图像识别单元，用于相对于图像信息进行车道中的目标特征的特征类型的图像识别处理; 以及车道精度确定单元，用于基于图像识别结果中所示的识别特征fa的类型来确定各车道的车道准确度，特征信息中所示的各车道的目标特征的特征类型Ft1至Ft4 F根据各车道的目标特征的特征类型Ft1至Ft4的概率的等级被识别为识别的特征fa的类型。

7. 发明申请

US20110010131A1 RELIABILITY EVALUATION DEVICE, RELIABILITY EVALUATION METHOD, AND RELIABILITY EVALUATION PROGRAM 审中-公开
标题翻译：可靠性评估设备，可靠性评估方法和可靠性评估程序
公开(公告)号：US20110010131A1
公开(公告)日：2011-01-13
申请号：US12823936
申请日：2010-06-25
申请人： Takayuki MIYAJIMA , Motoki KANBA
发明人： Takayuki MIYAJIMA , Motoki KANBA
IPC分类号： G06F17/18
CPC分类号： G01C21/26 , B60T7/18 , B60T17/221 , B60T2210/24 , B60T2210/36 , B60W40/072
摘要： Provided is a reliability evaluation method and apparatus to evaluate the reliability of map information. The apparatus includes an evaluation object value acquisition unit that acquires an evaluation object value from map information stored in a storage medium. A measurement value acquisition unit acquires measurement values for the evaluation object value using a sensor installed in a vehicle. After acquiring the measurement values, a reliability evaluation unit that selects a reliability evaluation method to evaluate the reliability of the evaluation object value based on a current measured value and the dispersion of the measured values.
摘要翻译：提供了评估地图信息的可靠性的可靠性评价方法和装置。该装置包括评估对象值获取单元，其从存储在存储介质中的地图信息中获取评估对象值。测量值获取单元使用安装在车辆中的传感器获取评估对象值的测量值。在获取测量值之后，选择可靠性评估方法来评估基于当前测量值的评估对象值的可靠性和测量值的偏差的可靠性评估单元。

8. 发明授权

US08452101B2 Feature extraction method, and image recognition method and feature database creation method using the same 有权
标题翻译：特征提取方法，图像识别方法和特征数据库创建方法使用相同
公开(公告)号：US08452101B2
公开(公告)日：2013-05-28
申请号：US12451078
申请日：2008-05-30
申请人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
发明人： Masaki Nakamura , Tomoaki Ishikawa , Koichi Nakao , Motoki Kanba , Osamu Aisaka , Kiyokazu Okada
IPC分类号： G06K9/66
CPC分类号： G06K9/00798
摘要： A feature extraction method includes: the step of grouping a cluster of features, in which an internal of the respective features is less than or equal to a predetermined grouping interval, to form a feature group, for a plurality of features of which feature information including at least information of a position and a feature type is included in a predetermined feature information storage unit; the step of excluding the feature, not suitable for use in an image recognition process of the feature with respect to image information, from the cluster of the features within the feature group; and the step of extracting a part or all of one or more of the features within the feature group remaining as a result of the exclusion step as a target feature suitable for the use in the image recognition process.
摘要翻译：特征提取方法包括：对于多个特征，对特征的一组特征进行分组，其中各个特征的内部小于或等于预定的分组间隔以形成特征组，其特征信息包括位置和特征类型的至少信息被包括在预定特征信息存储单元中; 从特征组中的特征的集群排除不适合用于相对于图像信息的特征的图像识别处理的特征的步骤; 以及将作为排除步骤的结果剩余的特征组中的一个或多个特征的一部分或全部的部分或全部提取为适合于在图像识别处理中使用的目标特征的步骤。

9. 发明授权

US08229169B2 Feature information collecting apparatus and feature information collecting method 有权
标题翻译：特征信息采集装置和特征信息采集方法
公开(公告)号：US08229169B2
公开(公告)日：2012-07-24
申请号：US12076068
申请日：2008-03-13
申请人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
发明人： Masaki Nakamura , Koichi Nakao , Motoki Kanba
IPC分类号： G06K9/46
CPC分类号： G06K9/00798 , G01C21/26 , G06K9/00577
摘要： Feature information collecting apparatuses, methods, and programs acquire vehicle position information that represents the current position of a vehicle, acquire image information for a vicinity of the vehicle, and carry out image recognition processing on recognition target objects that are included in the image information. The apparatuses, methods, and programs store recognition information in a memory that represents a result of the image recognition of the recognition target objects in association with information for the recognition position of the recognition target objects, the recognition position determined based on the vehicle position information. The apparatuses, methods, and programs extract, as learned features, recognition target objects that can be repeatedly recognized by image recognition based on a plurality of sets of recognition information related to the same position, the plurality of sets of recognition information being stored due to the image information for the same position being recognized a plurality of times by image recognition.
摘要翻译：特征信息收集装置，方法和程序获取表示车辆的当前位置的车辆位置信息，获取车辆附近的图像信息，并对包含在图像信息中的识别目标对象进行图像识别处理。设备，方法和程序将识别信息存储在与识别目标对象的识别位置的信息相关联的表示识别目标对象的图像识别结果的存储器中，基于车辆位置信息确定的识别位置。所述设备，方法和程序提取作为学习特征的识别目标对象，所述识别目标对象可以基于与相同位置相关的多组识别信息通过图像识别重复识别，所述多组识别信息由于用于通过图像识别识别多个相同位置的图像信息。

10. 发明授权

US08155826B2 Vehicle behavior learning apparatuses, methods, and programs 有权
标题翻译：车辆行为学习装置，方法和程序
公开(公告)号：US08155826B2
公开(公告)日：2012-04-10
申请号：US12076067
申请日：2008-03-13
申请人： Masaki Nakamura , Koichi Nakao , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
发明人： Masaki Nakamura , Koichi Nakao , Tomoaki Ishikawa , Motoki Kanba , Osamu Aisaka
IPC分类号： G01M17/00
CPC分类号： G01C21/26 , B60W2420/42 , B60W2550/10
摘要： Vehicle behavior learning apparatuses, methods, and programs store pieces of feature information including position information and attribute information of a plurality of target features. The apparatuses, methods, and programs obtain vehicle position information that shows a current position of a vehicle, obtaining image information of surroundings of the vehicle, and obtain one of the stored pieces of feature information corresponding to the surroundings of the vehicle based on the vehicle position information. The apparatuses, methods, and programs perform an image recognition for recognizing a target feature contained in the image information that corresponds to the obtained piece of feature information, detect a behavior of the vehicle that is performed within a predetermined range from a position of the recognized target feature, and store, based on the vehicle position information, the detected behavior in correspondence with information of a position in which the detected behavior was detected. The apparatuses, methods, and programs extract, based the detected behavior being stored a plurality of times at the same position, the detected behavior as a learned behavior, output learned behavior information including attribute information of the detected behavior and the position information of the detected behavior, each of which are kept in correspondence with the piece of feature information of the recognized target feature.
摘要翻译：车辆行为学习装置，方法和程序存储包括多个目标特征的位置信息和属性信息的特征信息。所述装置，方法和程序获得显示车辆的当前位置的车辆位置信息，获得车辆周围环境的图像信息，并且基于车辆获得所存储的与车辆周围相对应的特征信息之一位置信息。设备，方法和程序执行图像识别，以识别包含在与获得的特征信息相对应的图像信息中的目标特征，从识别的位置检测在预定范围内执行的车辆的行为目标特征，并且基于车辆位置信息存储与检测到的检测到的行为的位置的信息相对应的检测到的行为。设备，方法和程序基于检测到的行为在相同位置被多次存储的情况下提取检测到的行为作为学习行为，输出学习行为信息，包括检测到的行为的属性信息和检测到的行为的位置信息行为，其中的每一个保持与识别的目标特征的特征信息对应。

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