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1. 发明申请

US20130147948A1 IMAGE PROCESSING APPARATUS AND IMAGING APPARATUS USING THE SAME 审中-公开
标题翻译：使用该图像处理装置和成像装置
公开(公告)号：US20130147948A1
公开(公告)日：2013-06-13
申请号：US13818625
申请日：2011-07-27
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G01B11/14
CPC分类号： G01B11/14 , G06T7/85 , G06T2207/30256 , G06T2207/30261 , H04N13/128 , H04N13/246 , H04N17/002 , H04N2013/0081
摘要： It is possible to provide an image processing apparatus capable of carrying out calibration easily and precisely without requiring a special facility and provide an imaging apparatus making use of the image processing apparatus. The imaging apparatus comprises at least two cameras 4a and 4b. The image processing apparatus or the image processing apparatus comprises a corresponding-area computing section 23 for finding a relation between areas on images taken by the cameras 4a and 4b; a coincidence-degree computing section 24 for finding a degree of coincidence of information obtained from corresponding areas on the images taken by the cameras 4a and 4b; and a camera-parameter computing section 25 for finding camera parameters on the basis of the coincidence degree computed by the coincidence-degree computing section 24.
摘要翻译：可以提供能够容易且精确地执行校准而不需要特殊设备的图像处理设备，并提供使用图像处理设备的成像设备。成像装置包括至少两个照相机4a和4b。图像处理装置或图像处理装置包括用于求出由照相机4a和4b拍摄的图像上的区域之间的关系的对应区域计算部分23; 用于找到由相机4a和4b拍摄的图像上的相应区域获得的信息的一致度的符合度计算部分24; 以及摄像机参数计算部25，用于根据由重合度计算部24计算出的一致度来求取摄像机参数。

2. 发明申请

US20120185167A1 Road Shape Recognition Device 有权
标题翻译：道路形状识别装置
公开(公告)号：US20120185167A1
公开(公告)日：2012-07-19
申请号：US13387137
申请日：2010-07-23
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G06K9/00 , G01C21/26
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译：提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。因此，可以精确地识别从短到长的距离。

3. 发明授权

US09074906B2 Road shape recognition device 有权
标题翻译：路形识别装置
公开(公告)号：US09074906B2
公开(公告)日：2015-07-07
申请号：US13387137
申请日：2010-07-23
申请人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
发明人： Mirai Higuchi , Morihiko Sakano , Takeshi Shima , Shoji Muramatsu , Tatsuhiko Monji
IPC分类号： G06K9/00 , G01C21/26 , G01C21/36 , G06T7/00 , G08G1/16
CPC分类号： G01C21/3602 , G06K9/00798 , G06T7/70 , G06T2207/10021 , G06T2207/30256 , G08G1/167
摘要： A road shape recognition device capable of accurately recognizing the road shape of a road that lies ahead in the travel direction of a vehicle is provided. A road shape recognition device 1 detects a road region of the road based on an image capturing a scene ahead in the travel direction of the vehicle, and estimates the shape of the road based on that road region. Thus, it is possible to accurately recognize road shapes over distances ranging from short to long.
摘要翻译：提供一种能够准确地识别在车辆的行进方向前方的道路的道路形状的道路形状识别装置。道路形状识别装置1基于在车辆的行进方向上拍摄场景的图像来检测道路的道路区域，并且基于该道路区域来估计道路的形状。因此，可以精确地识别从短到长的距离。

4. 发明申请

US20120327189A1 Stereo Camera Apparatus 审中-公开
标题翻译：立体相机
公开(公告)号：US20120327189A1
公开(公告)日：2012-12-27
申请号：US13577712
申请日：2010-08-13
申请人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
发明人： Shoji Muramatsu , Mirai Higuchi , Tatsuhiko Monji , Soichiro Yokota , Morihiko Sakano , Takeshi Shima
IPC分类号： H04N13/02
CPC分类号： G06T7/593 , G01C3/06 , G06K9/00805 , G06T2207/10012 , G06T2207/20012 , G06T2207/30261 , G08G1/166
摘要： A stereo camera apparatus which carries out distance measuring stably and with high accuracy by making measuring distance resolution variable according to a distance to an object is provided. A stereo camera apparatus 1 takes in two images, changes resolution of a partial area of each image that is taken in, and calculates a distance from a vehicle to an object that is imaged in the partial area, based on disparity of the partial area of each image in which resolution is changed. Thus, even when the object exists at a long distance and is small in size, distance measuring processing can be carried out stably.
摘要翻译：提供了一种立体相机装置，其通过根据距离物体的距离使得测量距离分辨率可变地稳定地且高精度地进行距离测量。立体相机装置1取两个图像，改变被摄取的每个图像的部分区域的分辨率，并且基于部分区域的部分区域的差异来计算从车辆到在该部分区域中成像的对象的距离其中分辨率改变的每个图像。因此，即使当物体长距离存在并且尺寸小时，也能够稳定地进行距离测量处理。

5. 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。

6. 发明授权

US07957559B2 Apparatus and system for recognizing environment surrounding vehicle 有权
标题翻译：用于识别车辆周围环境的装置和系统
公开(公告)号：US07957559B2
公开(公告)日：2011-06-07
申请号：US11777585
申请日：2007-07-13
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.
摘要翻译：在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。此外，相机的下压角度大，获取物体的时间短。因此，难以提高识别率并减少错误识别。使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置，该对象出现。然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。然后调整向后放置的相机的增益和曝光时间。

7. 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。

8. 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。

9. 发明申请

US20100328427A1 STEREO IMAGE PROCESSING DEVICE AND METHOD 有权
标题翻译：立体图像处理装置和方法
公开(公告)号：US20100328427A1
公开(公告)日：2010-12-30
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： H04N13/02 , H04N13/00
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读取的多个数据和每个像素设置匹配区域，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。

10. 发明授权

US08675047B2 Detection device of planar area and stereo camera system 有权
标题翻译：平面区域和立体摄像系统的检测装置
公开(公告)号：US08675047B2
公开(公告)日：2014-03-18
申请号：US13094239
申请日：2011-04-26
申请人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
发明人： Morihiko Sakano , Mirai Higuchi , Takeshi Shima , Shoji Muramatsu
IPC分类号： H04N13/02 , G01C11/12
CPC分类号： G01C11/06 , G06T5/006 , G06T7/33 , G06T7/73 , G06T7/97 , G06T2207/10012 , G06T2207/10021 , G06T2207/30252 , H04N13/133
摘要： A detection device of a planar area is provided. The detection device includes an image obtaining section for obtaining a left image and a right image; a planar area aligning section for setting given regions of interest to the obtained left image and the right image, and through use of a geometric transform function that matches the region of interest of the right image with the region of interest of the left image, performing geometric transform to generate a geometric transform image; and a planar area detecting section for detecting a planar area based on the geometric transform image and the region of interest of the right image. The planar area aligning section sets the planar area detected by the planar area detecting section as a given region of interest.
摘要翻译：提供平面区域的检测装置。检测装置包括用于获得左图像和右图像的图像获取部分; 平面区域对准部分，用于为所获得的左图像和右图像设置感兴趣的区域，并且通过使用与右图像的关注区域与左图像的感兴趣区域匹配的几何变换函数，执行几何变换生成几何变换图像; 以及平面区域检测部分，用于基于几何变换图像和右图像的感兴趣区域来检测平面区域。平面区域对准部将由平面区域检测部检测出的平面区域设定为给定的感兴趣区域。

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