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91. 发明授权

US07969466B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US07969466B2
公开(公告)日：2011-06-28
申请号：US11287872
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
IPC分类号： H04N7/18 , H04N5/228
CPC分类号： G06K9/00805 , B60K35/00 , B60W30/08 , B60W2050/143 , B60W2050/146 , B60W2420/403 , B60W2520/10 , B60W2520/105 , B60W2520/14 , B60W2540/12 , B60W2550/20 , G01S11/12 , G06K9/00369 , G06T7/41 , G06T2207/10048 , G06T2207/30261 , G08G1/161
摘要： A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a search region setting device that sets a search region at the lower part of the binarized object extracted by the binarized object extraction device; a vertical edge detection device that detects a vertical edge in the search region set by the search region setting device; and an object type determination device that determines a type of object based on a detection result of the vertical edge detection device.
摘要翻译：一种车辆环境监视装置，其基于由红外成像装置拍摄的图像，提取作为对象的车辆周围的身体，所述图像包括二值化对象提取装置，所述二值化对象提取装置从通过二值化灰色获得的图像数据中提取二值化对象图像的尺度图像; 搜索区域设置装置，其在由二值化对象提取装置提取的二值化对象的下部设置搜索区域; 垂直边缘检测装置，其检测由搜索区域设置装置设置的搜索区域中的垂直边缘; 以及对象类型确定装置，其基于垂直边缘检测装置的检测结果来确定对象的类型。

92. 发明申请

US20110032358A1 VEHICLE PERIPHERY MONITORING APPARATUS 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110032358A1
公开(公告)日：2011-02-10
申请号：US12988551
申请日：2009-01-08
申请人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/30261
摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) at a high accuracy even when the object is moving.
摘要翻译：提供一种能够即使当物体移动时能够高精度地测量物体的位置的装置。根据车辆周边监视装置（10），与通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关程度相关的放大因子（k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为局部区域（B（k））。基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k））物体正在移动。

93. 发明申请

US20100283845A1 VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE, VEHICLE PERIPHERY MONITORING PROGRAM, AND VEHICLE PERIPHERY MONITORING METHOD 有权
标题翻译：车辆周边监测装置，车辆，车辆周边监测程序和车辆周边监测方法
公开(公告)号：US20100283845A1
公开(公告)日：2010-11-11
申请号：US12812080
申请日：2008-11-18
申请人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
发明人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
IPC分类号： H04N7/18 , G06T7/00 , G06K9/00
CPC分类号： B60R1/00 , G06K9/00805
摘要： A vehicle periphery monitoring device comprising a distance detecting unit which detects the distance between cameras and an object, an object image extracting unit which extracts a first image portion of the object from the acquired image, a filtering unit which performs a filtering process to the acquired image, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the predetermined direction, and an object type identifying unit which identifies, on the basis of a shape of a second image portion extracted by the filtering process, whether or not the type of the object in real space corresponding to the second image portion is the specific type.
摘要翻译：一种车辆周边监视装置，包括：检测摄像机和物体之间的距离的距离检测单元;从所获取的图像中提取对象的第一图像部分的对象图像提取单元，对所获取的图像执行滤波处理的滤波单元; 图像，其中当宽度的假定值较小并且距离更长时，目标边缘宽度被设置为较窄，并且其中目标边缘方向被设置为与预定方向正交的方向，并且对象类型识别单元，其基于由所述滤波处理提取的第二图像部分的形状来识别与所述第二图像部分相对应的实际空间中的对象的类型是否是特定类型。

94. 发明授权

US07671725B2 Vehicle surroundings monitoring apparatus, vehicle surroundings monitoring method, and vehicle surroundings monitoring program 有权
标题翻译：车辆环境监测装置，车辆周边监测方法和车辆环境监测程序
公开(公告)号：US07671725B2
公开(公告)日：2010-03-02
申请号：US11717565
申请日：2007-03-13
申请人： Takayuki Tsuji , Nobuharu Nagaoka , Yoichi Sugimoto , Morimichi Nishigaki
发明人： Takayuki Tsuji , Nobuharu Nagaoka , Yoichi Sugimoto , Morimichi Nishigaki
IPC分类号： B60Q1/00
CPC分类号： G06K9/00369 , G06K9/00791
摘要： A vehicle surroundings monitoring apparatus, a vehicle surroundings monitoring method, and a vehicle surroundings monitoring program which can rapidly determine an object such as a pedestrian to be avoided which must be avoided from coming into contact with the vehicle from an image of the surroundings of the vehicle and can provide information to a driver or control the vehicle behaviors. The vehicle surroundings monitoring apparatus includes an object extraction process unit (11) which extracts objects existing around a vehicle (10) from images taken by infrared cameras (2R, 2L), a pedestrian extraction process unit (12) which extracts a pedestrian from the extracted objects, a posture determination process unit (13) which determines the posture of the extracted pedestrian, an object-to-be-avoided determination process unit (14) which determines whether the extracted object is an object to be avoided which must be avoided from coming into contact with the vehicle (10) by executing a determination algorithm including at least a first determination process on the posture of the pedestrian determined by the posture determination process unit (13), and a vehicle equipment control process unit (15) which controls equipment of the vehicle (10) at least according to the determination result of the object-to-be-avoided determination process unit (14).
摘要翻译：一种车辆周边监视装置，车辆环境监视方法以及车辆周边监视程序，其能够快速地确定要避免的对象，所述对象应当避免与所述车辆的环境的图像接触而与车辆接触车辆，并可向驾驶员提供信息或控制车辆行为。车辆周边监视装置包括从红外线摄像机（2R，2L）拍摄的图像中提取车辆（10）周围存在的物体的物体提取处理单元（11），从步行者提取处理单元（12）提取的对象，确定所提取的行人的姿势的姿势确定处理单元（13），确定提取的对象是否必须避免的对象的避免对象的确定处理单元（14）通过执行至少包括由姿势判定处理单元（13）确定的行人姿势的第一确定处理的确定算法，以及车辆设备控制处理单元（15），与车辆（10）接触，车辆设备控制处理单元至少根据对象对象确定处理单元（14）的确定结果控制车辆（10）的设备。

95. 发明授权

US07489805B2 Vehicle surroundings monitoring apparatus 失效
标题翻译：车辆周边监控装置
公开(公告)号：US07489805B2
公开(公告)日：2009-02-10
申请号：US11287750
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Masakazu Saka , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Masakazu Saka , Hideki Hashimoto
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： B60Q1/525 , B60Q5/006 , B60Q9/008 , G01S11/12 , G06K9/00805 , G08G1/166
摘要： A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image, an obstacle determination device that determines whether or not another body being an obstacle is present between the infrared imaging device and the binarized object, a height calculation device that calculates a height dimension of the binarized object based on the height dimension of the obstacle on the gray scale image when it is determined that an obstacle is present in a determination result of the obstacle determination device and an object type determination device that determines a type of the object based on the height dimension of the binarized object.
摘要翻译：一种车辆周边监视装置，其基于由包括二值化对象提取装置的红外成像装置拍摄的图像，提取作为对象的车辆周围的身体，所述二值化对象提取装置从通过二值化灰度级获得的图像数据中提取二值化对象图像的图像，确定在红外成像装置和二值化对象之间是否存在作为障碍物的另一身体的障碍物确定装置，基于高度尺寸计算二值化对象的高度尺寸的高度计算装置确定在障碍物确定装置的确定结果中存在障碍物的灰度图像上的障碍物和基于二值化对象的高度尺寸确定对象的类型的对象类型确定装置。

96. 发明申请

US20060115123A1 Image information processing system, image information processing method, image information processing program, and automobile 有权
标题翻译：图像信息处理系统，图像信息处理方法，图像信息处理程序和汽车
公开(公告)号：US20060115123A1
公开(公告)日：2006-06-01
申请号：US11289119
申请日：2005-11-29
申请人： Kazunori Kanai , Nobuharu Nagaoka
发明人： Kazunori Kanai , Nobuharu Nagaoka
IPC分类号： G06K9/00 , G06G7/78
CPC分类号： G06K9/00805 , B60K2350/2013
摘要： An image information processing system permits stable display of image information regarding an object on an image display device even if an image area of the object recognized through an infrared camera is unstable. In the image information processing system, a first image area recognition unit recognizes a first image area associated with an object on the basis of a second variable based on the position of the object measured through the infrared camera. Further, a second image area recognition unit estimates the first image area on the basis of a first variable and a second variable based on the running mode of an automobile, and recognizes the estimated image area as a second image area. Then, an image information control unit causes a head-up display to display one or both of the first image information associated with the first image area and the second image information associated with the second image area.
摘要翻译：即使通过红外线摄像机识别的物体的图像区域不稳定，图像信息处理系统也可以稳定地显示关于图像显示装置上的对象的图像信息。在图像信息处理系统中，第一图像区域识别单元基于通过红外线照相机测量的对象的位置，基于第二变量来识别与对象相关联的第一图像区域。此外，第二图像区域识别单元基于汽车的行驶模式，基于第一变量和第二变量来估计第一图像区域，并将估计图像区域识别为第二图像区域。然后，图像信息控制单元使平视显示器显示与第一图像区域相关联的第一图像信息和与第二图像区域相关联的第二图像信息之一或两者。

97. 发明申请

US20060115118A1 Vehicle surroundings monitoring apparatus 失效
公开(公告)号：US20060115118A1
公开(公告)日：2006-06-01
申请号：US11287738
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Takayuki Tsuji
IPC分类号： G06K9/00 , G06G7/78
CPC分类号： G06K9/00362 , G01S3/7864 , G06T7/136 , G06T7/596 , G06T7/62 , G06T2207/10021 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device, including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image; a region setting device that sets a region including the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region set by the region setting device; a luminance distribution determination device that determines whether or not a predetermined luminance distribution exists in the region based on the luminance status quantity calculated by the luminance status quantity calculation device; and an object type determination device that determines a type of the object based on a determination result of the luminance distribution determination device.

98. 发明授权

US09030560B2 Apparatus for monitoring surroundings of a vehicle 有权
标题翻译：用于监测车辆周围环境的装置
公开(公告)号：US09030560B2
公开(公告)日：2015-05-12
申请号：US13700289
申请日：2011-05-30
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N9/18 , G08G1/16 , G06T7/00
CPC分类号： G08G1/166 , G06K9/00362 , G06T7/12 , G06T7/73 , G06T2207/10048 , G06T2207/30261
摘要： The vehicle surroundings monitoring apparatus is provided with an imaging device and a device that transforms captured image to digital image. A first edge extraction mask is applied to detect multiple horizontal edges. The apparatus further includes a detector that detects upper end of the head of the object by detecting a horizontal edge having a highest edge intensity out of the multiple horizontal edges. A second edge extraction mask is used to detect the lower end of the head of the physical object by detecting multiple vertical edges and matching the positional variation of the multiple vertical edges with predetermined patterns.
摘要翻译：车辆周边监视装置具备成像装置和将拍摄图像变换为数字图像的装置。应用第一边缘提取掩模来检测多个水平边缘。该装置还包括检测器，其通过检测多个水平边缘中具有最高边缘强度的水平边缘来检测物体的头部的上端。第二边缘提取掩模用于通过检测多个垂直边缘并且利用预定图案匹配多个垂直边缘的位置变化来检测物体的头部的下端。

99. 发明授权

US08953840B2 Vehicle perimeter monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08953840B2
公开(公告)日：2015-02-10
申请号：US13579754
申请日：2011-02-21
申请人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
发明人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
IPC分类号： G06K9/00 , B60R1/00 , G06T5/00 , G08G1/16
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8033 , B60R2300/8093 , G06T5/008 , G08G1/163 , G08G1/165
摘要： An imaging means mounted on a vehicle performs imaging resulting in grayscale images having brightness values corresponding to object temperature, and objects around the vehicle are detected from said images. On the basis of said grayscale images, display images to be displayed on a display device mounted on the vehicle are generated and displayed on the display device. The display images are generated by lowering the brightness of areas not corresponding to the objects detected in the grayscale images. The display device is positioned in the vehicle width direction at no more than a prescribed distance away from an imaginary line passing through the center of rotation of the vehicle steering wheel and extending in the longitudinal direction of the vehicle. Accordingly, because display images are generated in which only the objects are spotlighted, the driver can quickly comprehend the objects present when using a display device.
摘要翻译：安装在车辆上的成像装置执行成像，产生具有与物体温度对应的亮度值的灰度图像，并且从所述图像检测车辆周围的物体。基于所述灰度图像，生成显示装置上显示在显示装置上的显示图像。通过降低与灰度图像中检测到的对象不相对应的区域的亮度来生成显示图像。显示装置位于车宽方向上，距离通过车辆用方向盘的旋转中心的假想线规定距离，并且在车辆的长度方向上延伸。因此，由于生成只显示对象的显示图像，所以当使用显示装置时，驾驶员可以快速理解存在的对象。

100. 发明申请

US20140153777A1 LIVING BODY RECOGNIZING DEVICE 有权
标题翻译：生活身体识别装置
公开(公告)号：US20140153777A1
公开(公告)日：2014-06-05
申请号：US14131969
申请日：2012-08-31
申请人： Nobuharu Nagaoka , Makoto Aimura , Kodai Matsuda
发明人： Nobuharu Nagaoka , Makoto Aimura , Kodai Matsuda
IPC分类号： G06K9/00 , H04N5/33
CPC分类号： G06K9/00369 , G08G1/166 , H04N5/33 , H04N7/18
摘要： A living body recognizing device is equipped with a captured image acquiring unit which acquires captured images from infrared cameras having a characteristics that a luminance of an image portion of a target object becomes higher as a temperature of the target object becomes higher than a background, and vice versa, according to a temperature difference between the background and the target object, a living body image extracting unit which executes a first living body image extracting processing of extracting the image portion of the target object assumed as a living body, from a region in the captured image where the luminance is equal to or lower than a first threshold value, and a living body recognizing unit which recognizes an existence of the living body, based on the image portion of the target object extracted by the living body image extracting unit.
摘要翻译：生物体识别装置配备有捕捉图像获取单元，其从具有目标对象的图像部分的亮度变得更高的特征的红外线照相机获取捕获图像，因为目标对象的温度变得高于背景，并且反之亦然，根据背景和目标对象之间的温度差，生物体图像提取单元执行从假定为生物体的目标对象的图像部分提取的第一生物体图像提取处理，基于由生物体图像提取单元提取的目标对象的图像部分，识别生物体的存在的生物体识别单元，其中亮度等于或低于第一阈值的拍摄图像。

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