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1. 发明授权

US08885888B2 In-vehicle apparatus for recognizing running environment of vehicle 有权
标题翻译：用于识别车辆运行环境的车载装置
公开(公告)号：US08885888B2
公开(公告)日：2014-11-11
申请号：US13474750
申请日：2012-05-18
申请人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
发明人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
IPC分类号： G06K9/00 , G08G1/16
CPC分类号： G08G1/16 , G06K9/00791 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
摘要翻译：一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元区。

2. 发明授权

US08548226B2 Stereo image processing device and method 有权
标题翻译：立体图像处理装置及方法
公开(公告)号：US08548226B2
公开(公告)日：2013-10-01
申请号：US12711787
申请日：2010-02-24
申请人： Morihiko Sakano , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko Sakano , Mirai Higuchi , Takuya Naka , Takeshi Shima , Shoji Muramatsu
IPC分类号： G06K9/00 , G06K9/44
CPC分类号： G06T7/593 , G06T2207/10012
摘要： In stereo matching based on standard area matching, in order to suppress a decrease in matching accuracy, it is effective to adaptively change a matching area in accordance with the local properties of an image. However, this requires high calculation costs. Thus, the present invention provides a stereo image processing apparatus including an image pickup unit 101 configured to take a plurality of image data using a plurality of cameras, an image memory 102 configured to store the plurality of image data taken by the image pickup unit 101, a calculated disparity storage unit 105 configured to store disparity data determined based on the plurality of image data, a matching area control unit 103 configured to set a matching area for each pixel based on the plurality of data read from the image memory 102 and the disparity data read from the calculated disparity storage unit 105, and a disparity calculating unit 104 configured to perform matching on the image data based on the plurality of image data read from the image memory 102 and the matching area for each pixel set by the matching area control unit 103 to calculate disparity data.
摘要翻译：在基于标准区域匹配的立体匹配中，为了抑制匹配精度的降低，根据图像的局部特性自适应地改变匹配区域是有效的。然而，这需要很高的计算成本。因此，本发明提供了一种立体图像处理装置，其包括被配置为使用多个摄像机拍摄多个图像数据的图像拾取单元101，被配置为存储由图像拾取单元101拍摄的多个图像数据的图像存储器102 被配置为存储基于多个图像数据确定的视差数据的计算出的视差存储单元105，匹配区域控制单元103，被配置为基于从图像存储器102读取的多个数据来设置每个像素的匹配区域，从计算出的视差存储单元105读取的视差数据和视差计算单元104，被配置为基于从图像存储器102读取的多个图像数据和由匹配区域设置的每个像素的匹配区域对图像数据进行匹配控制单元103来计算视差数据。

3. 发明授权

US08538141B2 Classifier learning image production program, method, and system 有权
标题翻译：分类器学习图像制作程序，方法和系统
公开(公告)号：US08538141B2
公开(公告)日：2013-09-17
申请号：US12984636
申请日：2011-01-05
申请人： Shigetoshi Sakimura , Hiroto Morizane , Shoji Muramatsu
发明人： Shigetoshi Sakimura , Hiroto Morizane , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G06K9/6253 , G06K9/623
摘要： A classifier learning image production program, method, and system are provided which are capable of efficiently acquiring learning images to be employed in development of a discrimination application, or more particularly, efficiently acquiring initial learning images to be employed in an early stage of development of a discrimination algorithm. A classifier learning image production program allows a computer to execute the steps of inputting an image; detecting a discrimination area from the inputted image, acquiring plural detected data, and recording the detected data in a storage device; integrating the plural detected data to obtain learning image candidate information, and recording the learning image candidate information as the detected data in the storage device; clipping plural learning images from the inputted images, and recording the plural learning images as learning image data in the storage device; classifying the learning images into one or more sets; and displaying the learning images on a display device.
摘要翻译：提供了一种分类器学习图像制作程序，方法和系统，其能够有效地获取用于辨别应用的开发中使用的学习图像，或者更具体地，有效地获取要在开发的早期阶段中使用的初始学习图像一种辨别算法。分类器学习图像制作程序允许计算机执行输入图像的步骤; 从输入图像中检测识别区域，获取多个检测数据，并将检测到的数据记录在存储装置中; 积分多个检测数据以获得学习图像候选信息，并将学习图像候选信息作为检测数据记录在存储装置中; 从所输入的图像剪辑多个学习图像，并将多个学习图像作为学习图像数据记录在存储装置中; 将学习图像分为一组或多组; 以及在显示装置上显示学习图像。

4. 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。

5. 发明授权

US07782179B2 Obstacle detection apparatus 有权
标题翻译：障碍物检测装置
公开(公告)号：US07782179B2
公开(公告)日：2010-08-24
申请号：US11941259
申请日：2007-11-16
申请人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
发明人： Kimiyoshi Machii , Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Shoji Muramatsu
IPC分类号： B60Q1/00
CPC分类号： G01S11/12 , G01S17/936 , G06K9/00798 , G06K9/00805
摘要： An obstacle detection apparatus more accurately detects a moving obstacle present around a motor vehicle. With this system, desired feature quantities of an obstacle present in a coverage of a first sensor are calculated and then stored into a storage device, and when the obstacle moves from the coverage of the first sensor to a coverage of a second sensor, a relative distance to the obstacle is calculated from the above-stored feature quantities of the obstacle and from the desired feature quantities of the obstacle, obtained by analyzing the recognition results of the second sensor that have been processed by a processor which processes the recognition results.
摘要翻译：障碍物检测装置更准确地检测机动车辆周围存在的移动障碍物。利用该系统，计算存在于第一传感器的覆盖范围内的障碍物的期望特征量，然后存储到存储装置中，并且当障碍物从第一传感器的覆盖区移动到第二传感器的覆盖区域时，相对从障碍物的上述存储的特征量以及通过分析由处理识别结果的处理器处理的第二传感器的识别结果所获得的期望的特征量来计算与障碍物的距离。

6. 发明授权

US07702133B2 Image-processing camera system and image-processing camera control method 有权
标题翻译：图像处理相机系统和图像处理相机控制方法
公开(公告)号：US07702133B2
公开(公告)日：2010-04-20
申请号：US10563486
申请日：2003-07-11
申请人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
发明人： Shoji Muramatsu , Yuuji Otsuka , Hiroshi Takenaga , Tatsuhiko Monji , Jiro Takezaki , Isao Furusawa
IPC分类号： G06K9/00
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/105 , B60R2300/108 , B60R2300/207 , B60R2300/301 , B60R2300/302 , B60R2300/70 , B60R2300/804 , B60R2300/806 , B60R2300/8073 , B60R2300/8093 , G07C5/0866 , G07C5/0891 , G08G1/14 , G08G1/167 , H04N5/232 , H04N5/23206 , H04N5/23225 , H04N7/181 , H04N7/183
摘要： An image pickup device that acquires images is controlled by an image pickup device controller that accepts image acquisition requests from multiple application programs, and an application scheduler selects application programs to be executed. Information indicative of the image data volumes and image data acquisition rates required for each of the multiple application programs is stored and used to select multiple concurrently executable application programs on the basis of the image data volumes and image data acquisition rates. An image acquisition scheduler determines the timing and intervals at which the multiple executable application programs repeat receiving image data from the image pickup device, without overlapping in terms of time. In addition, an operations section, which explicitly presents concurrently executable application programs to a user and commands the startup of these programs, is displayed on a navigation screen menu.
摘要翻译：获取图像的图像拾取装置由接受来自多个应用程序的图像获取请求的图像拾取装置控制器控制，并且应用程序调度器选择要执行的应用程序。存储指示多个应用程序中的每个应用程序所需的图像数据量和图像数据获取率的信息，并且用于基于图像数据量和图像数据获取速率来选择多个并发可执行的应用程序。图像采集调度器确定多个可执行应用程序重复从图像拾取装置接收图像数据的时间和间隔，而不会在时间上重叠。此外，在导航画面菜单上显示向用户显示同时执行应用程序并命令启动这些程序的操作部分。

7. 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。

8. 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。

9. 发明授权

US07512252B2 Image processing system and vehicle control system 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US07512252B2
公开(公告)日：2009-03-31
申请号：US10915603
申请日：2004-08-11
申请人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G06K9/00 , G01C21/00
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译：本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。

10. 发明申请

US20080278577A1 IMAGE PROCESSING SYSTEM AND VEHICLE CONTROL SYSTEM 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US20080278577A1
公开(公告)日：2008-11-13
申请号：US12176744
申请日：2008-07-21
申请人： Yuji OTSUKA , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji OTSUKA , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： H04N7/18
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译：一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域，第二次曝光确定第二个区域成为第二个三维物体。

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