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1. 发明授权

US07706572B2 Obstacle detection system and method therefor 失效
标题翻译：障碍物检测系统及其方法
公开(公告)号：US07706572B2
公开(公告)日：2010-04-27
申请号：US12028646
申请日：2008-02-08
申请人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
发明人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
摘要翻译：使用安装在车辆上的立体摄像机的障碍物检测系统，即使立体摄像机未校准并且在行驶中具有振动和倾斜变化，也能够以高速和高精度检测存在于接地平面上的障碍物的地面飞机。障碍物检测系统包括：多个未校准的电视摄像机，用于输入立体图像; 图像存储单元2，用于存储从电视摄像机输入的多个图像; 特征提取单元3，用于提取存在于地平面上的多个相互平行的线; 参数计算单元4，用于从由特征提取单元3提取的多行确定在各个图像之间保持接地平面的任意点的投影位置之间的关系的关系; 以及检测单元5，用于通过使用由参数计算单元4确定的关系来检测具有来自地平面的高度的物体。

2. 发明授权

US07391883B2 System and method for detecting obstacle 有权
标题翻译：障碍物检测系统及方法
公开(公告)号：US07391883B2
公开(公告)日：2008-06-24
申请号：US11752622
申请日：2007-05-23
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译：一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P，在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得将相似度D和相似度P之间的差K作为参考平面区域获得，判断为障碍物处于差异K大的位置，并且基于第二图像上的垂直方向上的位置来确定处理区域的宽度和高度。

3. 发明授权

US07349582B2 System and method for detecting obstacle 有权
标题翻译：障碍物检测系统及方法
公开(公告)号：US07349582B2
公开(公告)日：2008-03-25
申请号：US11752950
申请日：2007-05-24
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/36
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.
摘要翻译：一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P，在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得差异将相似度D和相似度P之间的K都作为参考平面区域获得，判断为障碍物处于差异K大的位置，当没有相似度等于或大于预先关于所有图像的垂直方向设置的阈值的相似度K时，判断为无障碍物，并且检测当在图像的垂直方向存在等于或大于阈值的相似度的差异K时存在障碍。

4. 发明授权

US07091837B2 Obstacle detecting apparatus and method 有权
标题翻译：障碍物检测装置及方法
公开(公告)号：US07091837B2
公开(公告)日：2006-08-15
申请号：US10387465
申请日：2003-03-14
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus configured to detect an obstacle present on the road, such as a vehicle running ahead, a parked vehicle, and a pedestrian, by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle, such as the texture like the white line or signs on the road surface, and the guardrail along the roadside.
摘要翻译：障碍物检测装置，被配置为通过将障碍物与不会阻碍车辆驾驶的物体（例如纹理）区分开来来检测诸如前方行驶的车辆，停放的车辆和行人路上存在的障碍物像路面上的白线或标志，路边的护栏。

5. 发明申请

US20050196034A1 Obstacle detection system and method therefor 有权
标题翻译：障碍物检测系统及其方法
公开(公告)号：US20050196034A1
公开(公告)日：2005-09-08
申请号：US11116307
申请日：2005-04-28
申请人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
发明人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
IPC分类号： B60R1/00 , G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
摘要翻译：使用安装在车辆上的立体摄像机的障碍物检测系统，即使立体摄像机未校准并且在行驶中具有振动和倾斜变化，也能够以高速和高精度检测存在于接地平面上的障碍物的地面飞机。障碍物检测系统包括：多个未校准的电视摄像机，用于输入立体图像; 图像存储单元2，用于存储从电视摄像机输入的多个图像; 特征提取单元3，用于提取存在于地平面上的多个相互平行的线; 参数计算单元4，用于从由特征提取单元3提取的多行确定在各个图像之间保持接地平面的任意点的投影位置之间的关系的关系; 以及检测单元5，用于通过使用由参数计算单元4确定的关系来检测具有来自地平面的高度的物体。

6. 发明授权

US06906620B2 Obstacle detection device and method therefor 有权
公开(公告)号：US06906620B2
公开(公告)日：2005-06-14
申请号：US10649939
申请日：2003-08-28
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/00 , G08G1/04 , G08G1/16 , H04N7/18
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

7. 发明授权

US07436430B2 Obstacle detection apparatus and method 失效
公开(公告)号：US07436430B2
公开(公告)日：2008-10-14
申请号：US10923048
申请日：2004-08-23
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.

8. 发明申请

US20070223787A1 SYSTEM AND METHOD FOR DETECTING OBSTACLE 有权
标题翻译：用于检测障碍物的系统和方法
公开(公告)号：US20070223787A1
公开(公告)日：2007-09-27
申请号：US11750541
申请日：2007-05-18
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, detecting the obstacle on a basis of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, and judging that the obstacle is at a position where the difference K is large.
摘要翻译：一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和基准平面区域上的相似度P来检测障碍物，基于相似度D检测障碍物和参考平面区域上的相似度P，获得deg 获得的相似度De和相似度P都作为参考平面区域，并且判断障碍物在差K大的位置。

9. 发明申请

US20070217657A1 SYSTEM AND METHOD FOR DETECTING OBSTACLE 有权
标题翻译：用于检测障碍物的系统和方法
公开(公告)号：US20070217657A1
公开(公告)日：2007-09-20
申请号：US11750548
申请日：2007-05-18
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, detecting the obstacle on a basis of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译：一种存储计算机程序的指令的计算机可读存储介质，当计算机执行时，分别执行包括从两个摄像机输入第一图像和第二图像的步骤，将第一图像转换为变换图像，获得表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和基准平面区域上的相似度P来检测障碍物，基于相似度D检测障碍物和参考平面区域上的相似度P，获得deg 将相似度D和相似度P都作为参考平面区域进行判断，判断出障碍物处于差K大的位置，并基于以下方式确定处理区域的宽度和高度在第二图像上的垂直方向的位置。

10. 发明申请

US20070217656A1 SYSTEM AND METHOD FOR DETECTING OBSTACLE 有权
标题翻译：用于检测障碍物的系统和方法
公开(公告)号：US20070217656A1
公开(公告)日：2007-09-20
申请号：US11752622
申请日：2007-05-23
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/20
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译：一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P，在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得将相似度D和相似度P之间的差K作为参考平面区域获得，判断为障碍物处于差异K大的位置，并且基于第二图像上的垂直方向上的位置来确定处理区域的宽度和高度。

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