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1. 发明授权

US09796378B2 Vehicle travel path generating apparatus 有权
公开(公告)号：US09796378B2
公开(公告)日：2017-10-24
申请号：US14154561
申请日：2014-01-14
申请人： DENSO CORPORATION
发明人： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
IPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12
CPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
摘要： When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.

2. 发明申请

US20170201736A1 RANGE FINDER AND RANGE CORRECTION DEVICE CORRECTION PARAMETERS 审中-公开
公开(公告)号：US20170201736A1
公开(公告)日：2017-07-13
申请号：US15320986
申请日：2015-06-17
申请人： DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
发明人： Kazuhisa Ishimaru , Hossein Tehrani Niknejad , Seiichi Mita , Qian Long
IPC分类号： H04N13/00 , H04N13/02 , G01C3/06
CPC分类号： H04N13/128 , G01C3/06 , G01C3/10 , H04N13/243 , H04N13/246 , H04N13/271 , H04N2013/0081
摘要： A range correction device includes an image acquiring unit, a collimating unit, a disparity calculating unit, and an updating unit. The image acquiring unit acquires stereo images formed of a plurality of simultaneously captured images. The collimating unit collimates the stereo images acquired by the image acquiring unit, using a correction parameter for correcting a vertical displacement between stereo images. The disparity calculating unit calculates a distribution of horizontal disparities between the stereo images from the stereo images collimated by the collimating unit. The updating unit calculates a distribution of vertical displacements between the stereo images on the basis of the stereo images and the distribution of horizontal disparities calculated by the disparity calculating unit and updates the correction parameter on the basis of the distribution of the calculated vertical displacements.

3. 发明申请

US20160358325A1 CORRESPONDING POINT SEARCHING METHOD AND DISTANCE DETECTION DEVICE 审中-公开
标题翻译：相应的点搜索方法和距离检测装置
公开(公告)号：US20160358325A1
公开(公告)日：2016-12-08
申请号：US15171606
申请日：2016-06-02
申请人： DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
发明人： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
IPC分类号： G06T7/00 , G06K9/62 , G06K9/46
CPC分类号： G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
摘要： A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.
摘要翻译：相应的点搜索方法通过使用预定的第一种方法（例如维特比算法）来搜索参考图像中的每个像素的车载相机获取的多个图像中的相应点。该方法通过使用预定的第二方法（例如光流法）来搜索参考图像中的每个像素的多个图像中的对应点。该方法检测在通过预定的第一方法获得的参考图像中划分的每个区域中的相应点的搜索精度是否不小于参考值。当不小于参考值时，该方法选择通过预定的第一种方法获得的相应点。当小于参考值时，搜索方法选择通过预定的第二方法获得的对应点。搜索方法以高精度提供多个图像之间的对应点。

4. 发明申请

US20160252617A1 OBJECT RECOGNITION APPARATUS AND NOISE REMOVAL METHOD 审中-公开
标题翻译：对象识别装置和噪声去除方法
公开(公告)号：US20160252617A1
公开(公告)日：2016-09-01
申请号：US15055239
申请日：2016-02-26
申请人： DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
发明人： Hossein Tehrani Niknejad , Utsushi Sakai , Takashi Ogawa , Seiichi Mita , Qiwei Xie
IPC分类号： G01S17/02 , G01S7/497
CPC分类号： G01S17/42 , G01S7/4802 , G01S7/4808 , G01S17/936
摘要： In an object recognition apparatus, a range point acquirer irradiates each of irradiation areas arranged in a horizontally and vertically extending grid and forming a detection area for detecting a target with laser light and receives the reflected light from the respective irradiation areas, thereby acquiring a plurality of range points representing per-irradiation area coordinates of the target. A noise remover is configured to, based on either or both of degrees of angle proximity and degrees of distance proximity between a plurality of subject range points to be determined whether to be a noise point, of the plurality of range points, as viewed from a reference point, determine whether or not each of the subject range points is a noise point, and remove the noise point from the plurality of range points. An object recognizer uses the plurality of range points other than the noise points to recognize the object.
摘要翻译：在物体识别装置中，范围点获取器照射布置在水平和垂直延伸的格栅中的每个照射区域，并且形成用于用激光检测目标的检测区域，并接收来自各个照射区域的反射光，从而获得多个表示目标的每个照射区域坐标的范围点。噪声去除器被配置为基于从多个距离点中观察到的多个距离点之间的角度接近程度和待确定的是否为噪声点的多个被摄体范围点之间的距离接近度的一个或两个参考点，确定每个对象范围点是否是噪声点，并且从多个范围点去除噪声点。对象识别器使用除了噪声点以外的多个范围点来识别对象。

5. 发明授权

US10043106B2 Corresponding point searching method and distance detection device 有权
公开(公告)号：US10043106B2
公开(公告)日：2018-08-07
申请号：US15171606
申请日：2016-06-02
申请人： DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
发明人： Kazuhisa Ishimaru , Noriaki Shirai , Hossein Tehrani Niknejad , Seiichi Mita , Qiwei Xie , Qian Long
IPC分类号： G06K9/00 , G06K9/62 , G06K9/46 , G06T7/593
CPC分类号： G06K9/6215 , G06K9/00805 , G06K9/4604 , G06K9/6202 , G06T7/593 , G06T2207/20016
摘要： A corresponding point searching method searches corresponding points in plural images, acquired by in-vehicle cameras, for each pixel in a reference image by using a predetermined first method, for example, the Viterbi algorithm. The method searches corresponding points in the plural images for each pixel in the reference image by using a predetermined second method, for example, an optical flow method. The method detects whether or not a search accuracy of the corresponding points in each region divided in the reference image obtained by the predetermined first method is not less than a reference value. When not less than the reference value, the method selects the corresponding points obtained by the predetermined first method. When less than the reference value, the searching method selects the corresponding points obtained by the predetermined second method. The searching method provides the corresponding points between the plural images with a high accuracy.

6. 发明授权

US09367735B2 Object identification device 有权
标题翻译：物体识别装置
公开(公告)号：US09367735B2
公开(公告)日：2016-06-14
申请号：US14271543
申请日：2014-05-07
申请人： DENSO CORPORATION
发明人： Kazuhito Takenaka , Takashi Bando , Hossein Tehrani Niknejad , Masumi Egawa
IPC分类号： G06K9/00 , G06K9/62
CPC分类号： G06K9/00369 , G06K9/00805 , G06K9/629
摘要： In an object identification device, each score calculator extracts a feature quantity from the image, and calculates a score using the extracted feature quantity and a model of the specified object. The score represents a reliability that the specified object is displayed in the image. A score-vector generator generates a score vector having the scores as elements thereof. A cluster determiner determines, based on previously determined clusters in which the score vector is classifiable, one of the clusters to which the score vector belongs as a target cluster. An object identifier identifies whether the specified object is displayed in the image based on one of the identification conditions. The one of the identification conditions is previously determined for the target cluster determined by the cluster determiner.
摘要翻译：在对象识别装置中，每个乐谱计算器从图像中提取特征量，并使用所提取的特征量和指定对象的模型来计算得分。分数表示指定对象在图像中显示的可靠性。得分向量生成器生成具有得分作为其分数的分数向量。集群确定器基于先前确定的分数向量可分类的集群来确定分数矢量所属于的集群之一作为目标集群。对象标识符基于识别条件之一来识别指定对象是否显示在图像中。先前确定由群集确定器确定的目标群集的识别条件之一。

7. 发明申请

US20140200801A1 VEHICLE TRAVEL PATH GENERATING APPARATUS 有权
标题翻译：车辆行驶路径发生装置
公开(公告)号：US20140200801A1
公开(公告)日：2014-07-17
申请号：US14154561
申请日：2014-01-14
申请人： DENSO CORPORATION
发明人： Tomohiko Tsuruta , Yusuke Ueda , Takeshi Hatoh , Takayuki Kondoh , Naoya Inoue , Hossein Tehrani Niknejad , Seiichi Mita
IPC分类号： G01C21/34
CPC分类号： B60W30/00 , B60W30/08 , B60W30/10 , B60W30/12 , B60W2550/00 , B60W2550/10
摘要： When a travel path is to be generated for a vehicle, road surface lines (white lines, etc.) delimiting the traffic lane of the vehicle, and also external objects in the vehicle environment, are detected and registered as respective obstacles. Specific points are defined at appropriate locations on each obstacle, and the travel path is generated by connecting respective mid-point positions between opposed pairs of specific points, each pair defined on respective ones of an opposed (left-side, right-side) pair of the registered obstacles.
摘要翻译：当要为车辆生成行驶路径时，检测并记录限定车辆的行车道的路面线（白线等）以及车辆环境中的外部物体，并将其登记为相应的障碍物。特定点被限定在每个障碍物上的适当位置处，并且通过将相对的特定点对之间的各个中点位置连接而产生行进路径，每对定义在相对的（左侧，右侧）对的登记障碍。

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