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1. 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.

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

US20170064286A1 PARALLAX DETECTION DEVICE 审中-公开
标题翻译： PARALLAX检测装置
公开(公告)号：US20170064286A1
公开(公告)日：2017-03-02
申请号：US15240916
申请日：2016-08-18
申请人： DENSO CORPORATION , TOYOTA SCHOOL FOUNDATION
发明人： Kazuhisa Ishimaru , Noriaki Shirai , Seiichi Mita , Qian Long
IPC分类号： H04N13/02 , B60R1/00 , G06T7/00 , G06K9/00 , G06T3/40
CPC分类号： G06T7/00 , G01C3/14 , G06T7/97 , G06T2207/10012 , G06T2207/20016 , G06T2207/20021 , G06T2207/30261 , H04N13/271 , H04N2013/0081
摘要： A parallax detection device receives right side image and a left side image, makes right and left low resolution images, and divides the right low resolution image into blocks composed of pixels. For every block, the device detects a parallax of the block by searching the block in the left low resolution image having the region the same as the region of the block of the right low resolution image by using a dynamic programming method. The device divides the right side image into blocks, and searches a resolution corresponding block in the left side image having the region the same as the region of the block for every block by using a block matching method to detect a parallax of the block. The device limits the searching range of the resolution corresponding block in the left side image based on the parallax detection result obtained by the dynamic programming method.
摘要翻译：视差检测装置接收右侧图像和左侧图像，进行左右低分辨率图像，并将右侧低分辨率图像分割为由像素组成的块。对于每个块，通过使用动态规划方法，通过搜索具有与右低分辨率图像的区域的区域相同的区域的左低分辨率图像中的块来检测块的视差。该装置将右侧图像划分为块，并且通过使用块匹配方法来搜索具有与块的区域相同的区域的左侧图像中的分辨率对应块，以检测块的视差。该装置基于通过动态编程方法获得的视差检测结果来限制左侧图像中的分辨率对应块的搜索范围。

4. 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。

5. 发明申请

US20160154094A1 MONITORING APPARATUS AND NON-TRANSITORY COMPUTER-READABLE MEDIUM 有权
标题翻译：监控设备和非终端计算机可读介质
公开(公告)号：US20160154094A1
公开(公告)日：2016-06-02
申请号：US14905951
申请日：2014-06-25
申请人： DENSO CORPORATION
发明人： Kazuhisa Ishimaru , Kiyokazu Takagi , Naoki Kawasaki
IPC分类号： G01S7/48 , G01S17/93 , G08G1/16 , G01S17/42
CPC分类号： G01S7/4802 , G01S7/4873 , G01S17/42 , G01S17/936 , G08G1/16
摘要： A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.
摘要翻译：提供监视装置。当确定位于搜索范围内的物体的部分是否是空中物质的确定处理时，测距器针对形成搜索范围的多个单位区域中的每一个测量到位于搜索范围内的物体的距离，变量测量计算器计算针对各个单位区域测量的距离（单独的距离）的方差，可变阈值设定器基于各个距离可变地设置变化度量阈值，并且确定器确定至少部分对象是如果计算出的方差超过变化量阈值，则空气中的物质。

6. 发明申请

US20160042236A1 BOUNDARY LINE RECOGNIZER DEVICE 有权
标题翻译：边界线识别装置
公开(公告)号：US20160042236A1
公开(公告)日：2016-02-11
申请号：US14783060
申请日：2014-04-04
申请人： DENSO CORPORATION
发明人： Kazuhisa Ishimaru , Shunsuke Suzuki , Tetsuya Takafuji
IPC分类号： G06K9/00 , H04N7/18 , G06T7/00
CPC分类号： G06K9/00798 , G06T7/12 , G06T2207/20076 , G06T2207/30256 , G08G1/167 , H04N7/183
摘要： This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.
摘要翻译：本发明提供有：摄像机，用于拍摄行进路径的图像; 边缘点提取单元，用于基于由照相机拍摄的图像的亮度提取边缘点; 候选行提取单元，用于根据所提取的边缘点的连续性，提取划分行驶路径的边界线的候选行; 频率计算单元，用于根据候选行提取单元提取的属于候选行的边缘点，计算用于指定边界线宽度的参数的边缘点的频率分布; 概率生成单元，其基于由所述频率计算单元计算出的频率分布，计算所述参数的候补行为边界线的概率的分布; 以及边界线识别单元，用于基于由概率生成单元计算的概率分布来识别边界线。

7. 发明授权

US10012722B2 Monitoring apparatus and non-transitory computer-readable medium 有权
公开(公告)号：US10012722B2
公开(公告)日：2018-07-03
申请号：US14905951
申请日：2014-06-25
申请人： DENSO CORPORATION
发明人： Kazuhisa Ishimaru , Kiyokazu Takagi , Naoki Kawasaki
IPC分类号： G01C3/08 , G01S7/48 , G01S17/42 , G08G1/16 , G01S17/93 , G01S7/487
CPC分类号： G01S7/4802 , G01S7/4873 , G01S17/42 , G01S17/936 , G08G1/16
摘要： A monitoring apparatus is provided. When a determination process of determining whether or not the part of an object located in a search range is an airborne substance, a rangefinder measures a distance to the object located in the search range for each of a plurality of unit areas forming the search range, a variation measure calculator calculates a variance of the distances (individual distances) measured for the respective unit areas, a variable threshold setter variably sets a variation measure threshold based on the individual distances, and a determiner determines that at least part of the object is an airborne substance if the calculated variance exceeds the variation measure threshold.

8. 发明授权

US09672429B2 Boundary line recognizer device 有权
公开(公告)号：US09672429B2
公开(公告)日：2017-06-06
申请号：US14783060
申请日：2014-04-04
申请人： DENSO CORPORATION
发明人： Kazuhisa Ishimaru , Shunsuke Suzuki , Tetsuya Takafuji
IPC分类号： G06K9/00 , G08G1/16 , H04N7/18 , G06T7/12
CPC分类号： G06K9/00798 , G06T7/12 , G06T2207/20076 , G06T2207/30256 , G08G1/167 , H04N7/183
摘要： This invention is provided with: a camera for capturing the image of a travel path; an edge point extraction unit for extracting edge points on the basis of the brightness of an image captured by the camera; a candidate line extraction unit for extracting, on the basis of the succession of the extracted edge points, a candidate line for a boundary line demarcating the travel path; a frequency calculation unit for calculating, on the basis of edge points belonging to the candidate line extracted by the candidate line extraction unit, the frequency distribution of the edge points for a parameter that specifies the width of the boundary line; a probability generation unit for calculating, on the basis of the frequency distribution calculated by the frequency calculation unit, the distribution for the probability that the candidate line at the parameter is the boundary line; and a boundary line recognition unit for recognizing the boundary line on the basis of the probability distribution calculated by the probability generation unit.

9. 发明授权

US09626765B2 Position detection device detecting a position of target object and a position detection program 有权
公开(公告)号：US09626765B2
公开(公告)日：2017-04-18
申请号：US14414347
申请日：2013-04-25
申请人： DENSO CORPORATION , NIPPON SOKEN, INC. , NAGOYA INSTITUTE OF TECHNOLOGY
发明人： Kazuhisa Ishimaru , Masayuki Imanishi , Jun Sato
IPC分类号： G06T7/00 , G01S5/16 , G06T7/20
CPC分类号： G06T7/262 , G01S5/16 , G06T7/593 , G06T2200/04 , G06T2207/10012 , G06T2207/10021 , G06T2207/20048 , G06T2207/20076 , G06T2207/20081 , G06T2207/30252
摘要： A position detection device obtains image coordinate groups representing a coordinate of a target object in each acquired image having first and second acquired image groups. The first acquired image group has acquired images obtained at an image acquiring timing in a reference period. The second acquired image group has acquired images obtained at an image acquiring timing in the reference period, which is delayed from the image acquiring timing of the first acquired image group by an asynchronous time. The device performs a Fourier transformation of each of a first locus and a second locus, and calculates a first frequency waveform based on the first locus and a second frequency waveform based on the second locus. The device calculates a position of the target object based on a relationship in which the frequency waveforms are delayed relative to each other by a phase corresponding to the asynchronous time.

10. 发明授权

US10060740B2 Distance detection device 有权
公开(公告)号：US10060740B2
公开(公告)日：2018-08-28
申请号：US14947941
申请日：2015-11-20
申请人： DENSO CORPORATION
发明人： Kazuhisa Ishimaru , Noriaki Shirai
IPC分类号： G01C3/08 , H04N13/02 , G06T7/593
CPC分类号： G01C3/085 , G06T7/593 , G06T2207/30261 , H04N13/225 , H04N13/239 , H04N2013/0081
摘要： A distance detection device calculates a pixel cost, every reference pixel, based on a difference between reference pixel information in a reference image and comparative pixel information in a comparative image while switching the reference and comparative images. The device calculates a parallax cost, every reference pixel, representing a cost regarding a change-amount of the parallax as a coordinate difference between a reference pixel and a comparative pixel when the reference image is switched. The device calculates a combination of each reference pixel and a comparative pixel having a minimum total cost every reference pixel. The minimum total cost represents a sum of the pixel cost and the parallax cost. The device obtains a relationship of a corresponding point between each reference pixel and its corresponding comparative pixel, and calculates a distance to an object in each captured image based on the relationship of the corresponding point.

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