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1. 发明申请

US20090160940A1 IMAGE DISPLAY METHOD AND IMAGE DISPLAY APPARATUS 有权
标题翻译：图像显示方法和图像显示装置
公开(公告)号：US20090160940A1
公开(公告)日：2009-06-25
申请号：US12261418
申请日：2008-10-30
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N7/18 , G09G5/00
CPC分类号： H04N7/181 , B60R1/00
摘要： An image display method for displaying a combined image by capturing images at areas surrounding a vehicle includes a) calculating a plurality of displacement vectors for a plurality of points taken on images captured by a plurality of cameras upon the application of a load that changes the attitude of a camera on the vehicle, and b) determining each image borderline between two adjacent images such that a difference in the directions of displacement vectors in the neighborhood of each image borderline between two adjacent images does not exceed a predetermined angle.
摘要翻译：一种用于通过在车辆周围的区域拍摄图像来显示组合图像的图像显示方法包括：在应用改变姿态的负载时，计算由多个摄像机拍摄的图像上拍摄的多个点的多个位移矢量并且b）确定两个相邻图像之间的每个图像边界，使得两个相邻图像之间的每个图像边界附近的位移矢量的方向上的差不超过预定角度。

2. 发明申请

US20080198226A1 Image Processing Device 有权
标题翻译：图像处理装置
公开(公告)号：US20080198226A1
公开(公告)日：2008-08-21
申请号：US11942386
申请日：2007-11-19
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N7/18
CPC分类号： G06K9/00805
摘要： The present invention provides an image processing device capable of enabling accurate recognition of a solid object present near a vehicle and displaying the solid object. The image processing device includes a viewpoint conversion unit for receiving data of images captured by at least one image capturing camera and generating a top view image, a solid object extraction unit for detecting a solid object from the data of the images captured by the at least one image capturing camera and extracting the solid object, a solid object image generation unit for generating a solid object image in accordance with the solid object extracted by the solid object extraction unit, and an image synthesis unit for synthesizing the solid object image generated by the solid object image generation unit with the top view image generated by the viewpoint conversion unit.
摘要翻译：本发明提供一种图像处理装置，其能够准确地识别出现在车辆附近的实心物体并显示固体物体。图像处理装置包括：视点转换单元，用于接收由至少一个图像拍摄相机拍摄的图像的数据并产生顶视图;固体物体提取单元，用于从至少由图像捕获的图像的数据的数据中检测固体物体; 一个图像拍摄相机并提取固体物体;固体物体图像生成单元，用于根据由固体物体提取单元提取的实体物体产生固体物体图像;以及图像合成单元，用于合成由具有由视点转换单元生成的顶视图的固体对象图像生成单元。

3. 发明授权

US07965325B2 Distortion-corrected image generation unit and distortion-corrected image generation method 有权
标题翻译：失真校正图像生成单元和失真校正图像生成方法
公开(公告)号：US07965325B2
公开(公告)日：2011-06-21
申请号：US12255932
申请日：2008-10-22
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N9/64 , H04N5/217 , H04N5/225 , H04N5/232 , G02B5/32 , G06K9/40
CPC分类号： H04N5/217 , G06T3/0062 , G06T5/006 , H04N5/3572
摘要： An internal parameter storage unit stores, in advance, a plurality of sets of internal parameters each of which can be applied to correct a pixel position in a direction from an image principal point, i.e., a plurality of sets of internal parameters for accommodating errors of different magnitudes that occur in individual directions from an image principal point. An internal parameter selection unit selects a set of internal parameters from the plurality of sets of internal parameters stored in advance on the basis of the direction of a pixel position to be corrected from the image principal point, and a distortion-corrected image generator corrects distortion on the basis of the selected set of internal parameters, so that, even when a surface of a lens is not exactly parallel to a surface of an image pickup device, distortion is corrected more accurately.
摘要翻译：内部参数存储单元预先存储多组内部参数，每组内部参数可以应用于校正来自图像主要点的方向上的像素位置，即，用于容纳错误的多个内部参数集合从图像主要点在各个方向发生的不同幅度。内部参数选择单元根据从图像主点的要校正的像素位置的方向，从预先存储的多组内部参数中选择一组内部参数，并且失真校正图像生成器校正失真基于所选择的一组内部参数，使得即使当透镜的表面不完全平行于图像拾取装置的表面时，更精确地校正失真。

4. 发明申请

US20090141148A1 DISTORTION-CORRECTED IMAGE GENERATION UNIT AND DISTORTION-CORRECTED IMAGE GENERATION METHOD 有权
标题翻译：失真校正图像生成单元和失真校正图像生成方法
公开(公告)号：US20090141148A1
公开(公告)日：2009-06-04
申请号：US12255932
申请日：2008-10-22
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N5/217 , H04N5/225 , G06K9/40
CPC分类号： H04N5/217 , G06T3/0062 , G06T5/006 , H04N5/3572
摘要： An internal parameter storage unit stores, in advance, a plurality of sets of internal parameters each of which can be applied to correct a pixel position in a direction from an image principal point, i.e., a plurality of sets of internal parameters for accommodating errors of different magnitudes that occur in individual directions from an image principal point. An internal parameter selection unit selects a set of internal parameters from the plurality of sets of internal parameters stored in advance on the basis of the direction of a pixel position to be corrected from the image principal point, and a distortion-corrected image generator corrects distortion on the basis of the selected set of internal parameters, so that, even when a surface of a lens is not exactly parallel to a surface of an image pickup device, distortion is corrected more accurately.
摘要翻译：内部参数存储单元预先存储多组内部参数，每组内部参数可以应用于校正来自图像主要点的方向上的像素位置，即，用于容纳错误的多个内部参数集合从图像主要点在各个方向发生的不同幅度。内部参数选择单元根据从图像主点的要校正的像素位置的方向，从预先存储的多组内部参数中选择一组内部参数，并且失真校正图像生成器校正失真基于所选择的一组内部参数，使得即使当透镜的表面不完全平行于图像拾取装置的表面时，更精确地校正失真。

5. 发明申请

US20090122140A1 METHOD AND APPARATUS FOR GENERATING A BIRD'S-EYE VIEW IMAGE 有权
标题翻译：用于产生双眼视图图像的方法和装置
公开(公告)号：US20090122140A1
公开(公告)日：2009-05-14
申请号：US12260749
申请日：2008-10-29
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： B60Q9/005 , B60R2300/607 , G06T7/74
摘要： An obstacle detecting unit detects whether an obstacle exists in an area surrounding a vehicle in the direction a camera installed on the vehicle is pointed. If the obstacle is determined to have a portion at a predetermined height above a road surface with which the vehicle may make initial contact when the vehicle moves toward the obstacle, a virtual projection surface is set to the height of the predicted contact portion and viewpoint conversion processing is performed so as to project pixels of an image captured by the camera onto the virtual projection plane. In this way, the height of the projection plane and the height of the predicted contact portion match each other and the distance between the predicted contact portion and the vehicle is accurately expressed on a bird's-eye view image resulting from the viewpoint conversion.
摘要翻译：障碍物检测单元检测在安装在车辆上的照相机的方向上的车辆周边区域中是否存在障碍物。如果障碍物被确定为具有在车辆朝向障碍物移动时车辆可以进行初始接触的路面上方的预定高度的部分，则将虚拟投影面设置为预测接触部分的高度和视点转换执行处理以将由相机捕获的图像的像素投影到虚拟投影平面上。以这种方式，投影平面的高度和预测的接触部分的高度彼此匹配，并且预测的接触部分和车辆之间的距离被精确地表达在由视点转换产生的鸟瞰图图像上。

6. 发明授权

US08854463B2 Method and apparatus for generating a bird's-eye view image 有权
标题翻译：用于产生鸟瞰图图像的方法和装置
公开(公告)号：US08854463B2
公开(公告)日：2014-10-07
申请号：US12260749
申请日：2008-10-29
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N7/18 , H04N7/00 , B60Q9/00 , G06T7/00
CPC分类号： B60Q9/005 , B60R2300/607 , G06T7/74
摘要： An obstacle detecting unit detects whether an obstacle exists in an area surrounding a vehicle in the direction a camera installed on the vehicle is pointed. If the obstacle is determined to have a portion at a predetermined height above a road surface with which the vehicle may make initial contact when the vehicle moves toward the obstacle, a virtual projection surface is set to the height of the predicted contact portion and viewpoint conversion processing is performed so as to project pixels of an image captured by the camera onto the virtual projection plane. In this way, the height of the projection plane and the height of the predicted contact portion match each other and the distance between the predicted contact portion and the vehicle is accurately expressed on a bird's-eye view image resulting from the viewpoint conversion.
摘要翻译：障碍物检测单元检测在安装在车辆上的照相机的方向上的车辆周边区域中是否存在障碍物。如果障碍物被确定为具有在车辆朝向障碍物移动时车辆可以进行初始接触的路面上方的预定高度的部分，则将虚拟投影面设置为预测接触部分的高度和视点转换执行处理以将由相机捕获的图像的像素投影到虚拟投影平面上。以这种方式，投影平面的高度和预测的接触部分的高度彼此匹配，并且预测的接触部分和车辆之间的距离被精确地表达在由视点转换产生的鸟瞰图图像上。

7. 发明授权

US08330816B2 Image processing device 有权
标题翻译：图像处理装置
公开(公告)号：US08330816B2
公开(公告)日：2012-12-11
申请号：US11942386
申请日：2007-11-19
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： H04N7/18
CPC分类号： G06K9/00805
摘要： The present invention provides an image processing device capable of enabling accurate recognition of a solid object present near a vehicle and displaying the solid object. The image processing device includes a viewpoint conversion unit for receiving data of images captured by at least one image capturing camera and generating a top view image, a solid object extraction unit for detecting a solid object from the data of the images captured by the at least one image capturing camera and extracting the solid object, a solid object image generation unit for generating a solid object image in accordance with the solid object extracted by the solid object extraction unit, and an image synthesis unit for synthesizing the solid object image generated by the solid object image generation unit with the top view image generated by the viewpoint conversion unit.
摘要翻译：本发明提供一种图像处理装置，其能够准确地识别出现在车辆附近的实心物体并显示固体物体。图像处理装置包括：视点转换单元，用于接收由至少一个图像拍摄相机拍摄的图像的数据并产生顶视图;固体物体提取单元，用于从至少由图像捕获的图像的数据的数据中检测固体物体; 一个图像拍摄相机并提取固体物体;固体物体图像生成单元，用于根据由固体物体提取单元提取的实体物体产生固体物体图像;以及图像合成单元，用于合成由具有由视点转换单元生成的顶视图的固体对象图像生成单元。

8. 发明授权

US08130271B2 Image display method and image display apparatus 有权
标题翻译：图像显示方法和图像显示装置
公开(公告)号：US08130271B2
公开(公告)日：2012-03-06
申请号：US12261418
申请日：2008-10-30
申请人： Kosuke Imamura
发明人： Kosuke Imamura
IPC分类号： G06K9/20
CPC分类号： H04N7/181 , B60R1/00
摘要： An image display method for displaying a combined image by capturing images at areas surrounding a vehicle includes a) calculating a plurality of displacement vectors for a plurality of points taken on images captured by a plurality of cameras upon the application of a load that changes the attitude of a camera on the vehicle, and b) determining each image borderline between two adjacent images such that a difference in the directions of displacement vectors in the neighborhood of each image borderline between two adjacent images does not exceed a predetermined angle.
摘要翻译：一种用于通过在车辆周围的区域拍摄图像来显示组合图像的图像显示方法包括：在应用改变姿态的负载时，计算由多个摄像机拍摄的图像上拍摄的多个点的多个位移矢量并且b）确定两个相邻图像之间的每个图像边界，使得两个相邻图像之间的每个图像边界附近的位移矢量的方向上的差不超过预定角度。

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