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11. 发明申请

US20120300076A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20120300076A1
公开(公告)日：2012-11-29
申请号：US13515618
申请日：2010-12-16
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/103 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00805 , G06K9/00825 , G08G1/16 , G08G1/166
摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.
摘要翻译：车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

12. 发明授权

US08284253B2 Vehicle periphery monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08284253B2
公开(公告)日：2012-10-09
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。根据车辆周围监视装置（10），当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））之间的相关度相关时，（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。

13. 发明授权

US08139821B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08139821B2
公开(公告)日：2012-03-20
申请号：US13119324
申请日：2009-07-10
申请人： Makoto Aimura , Nobuharu Nagaoka , Kodai Matsuda
发明人： Makoto Aimura , Nobuharu Nagaoka , Kodai Matsuda
IPC分类号： G06K9/00
CPC分类号： G01C3/085 , G06K9/00805 , G06T7/593 , G06T7/70 , G06T2207/10021 , G06T2207/30252
摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.
摘要翻译：车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

14. 发明申请

US20120041617A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20120041617A1
公开(公告)日：2012-02-16
申请号：US13265598
申请日：2010-01-14
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： G06F7/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10016 , G06T2207/30261 , G08G1/166
摘要： Provided is a vehicle periphery monitoring device having: a first distance calculating unit (25) which calculates a distance between a vehicle (10) and an object, using a parallax gradient of image sections of the same object among a plurality of images captured by infrared cameras (2R, 2L) at different times within a predetermined sampling interval; a vehicular velocity sensor (4) which detects a vehicular velocity of the vehicle (10); and a sampling interval setting unit (23) which sets the sampling interval shorter with the increase of the vehicular velocity of the vehicle (10).
摘要翻译：本发明提供一种车辆周边监视装置，其具有：第一距离计算部（25），其使用由红外线捕获的多个图像中的相同对象的图像部分的视差梯度来计算车辆（10）和物体之间的距离相机（2R，2L）在预定采样间隔内的不同时间; 检测车辆（10）的车速的车速传感器（4）; 以及采样间隔设定单元（23），其随着车辆（10）的车速的增加来设定采样间隔较短的采样间隔设定单元。

15. 发明申请

US20080260208A1 Automotive environment monitoring device, vehicle with the automotive environment monitoring device, and automotive environment monitoring program 有权
标题翻译：汽车环境监测装置，车辆与汽车环境监测装置，以及汽车环境监测方案
公开(公告)号：US20080260208A1
公开(公告)日：2008-10-23
申请号：US12080906
申请日：2008-04-07
申请人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Masakazu Saka , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： G06K9/4604 , G06K9/00362 , G06K9/00805 , G06T7/13 , G06T7/73 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： The present invention provides an automotive environment monitoring device to detect the existence of an object, a pedestrian or the like, with high accuracy even if one part of the object is overlapped with the background of an image obtained from an imaging unit mounted on the vehicle. An area where the object exists in the image obtained from an infrared camera (102) is set as a first area (A1i) and a lower portion of the first area (A1i) is set as a second area (A2i). A feature of the object is extracted with respect to the second area (A2i) and the object is identified based on the extracted feature. Thereby, even in the case where the first area (A1i) has been set but the feature of an upper part of the object can not be extracted due to the upper part of the object being overlapped with the background of the image, the object can still be identified with high accuracy by extracting the feature of a lower part of the object in the second area (A2i).
摘要翻译：本发明提供了一种汽车环境监视装置，即使一部分物体与从安装在车辆上的摄像单元获得的图像的背景重叠，也能够高精度地检测物体，行人等的存在。将从红外线摄像机（102）获得的图像中的物体存在的区域被设定为第一区域（A SUB1i1）和第一区域（A＆lt; 1i＆lt; 1i＆lt; SUB>）被设置为第二区域（A 2i 1）。相对于第二区域（A 2i 1 N）提取对象的特征，并且基于所提取的特征来识别对象。因此，即使在已经设置了第一区域（A 1i 1i））的情况下，由于物体的上部与物体的上部重叠而不能提取物体的上部的特征通过提取第二区域（A 2i 2 i）中的对象的下部的特征，图像的背景，仍然可以高精度地识别对象。

16. 发明授权

US08983123B2 Target-object distance measuring device and vehicle mounted with the device 有权
标题翻译：目标物体距离测量装置和装有该装置的车辆
公开(公告)号：US08983123B2
公开(公告)日：2015-03-17
申请号：US13511074
申请日：2010-10-18
申请人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
发明人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G06K9/00 , G06T7/00 , G06T7/60 , G08G1/16
CPC分类号： G06T7/0046 , G06T7/60 , G06T7/75 , G06T2207/30196 , G06T2207/30261 , G08G1/16 , G08G1/166
摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.
摘要翻译：在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离身体候选人的形象。头部宽度约为15-16厘米。基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

17. 发明申请

US20130243261A1 VEHICLE SURROUNDINGS MONITORING DEVICE 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20130243261A1
公开(公告)日：2013-09-19
申请号：US13817466
申请日：2011-06-22
申请人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
发明人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G08G1/166
摘要： When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unit 13 performs a first distance calculating process of calculating a distance between a vehicle 1 and the physical body, on the basis of a correlative relationship between the distance from the vehicle 1 set on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unit 13 performs a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.
摘要翻译：当确定对应于图像部分的实际空间中的身体的类型是交叉行人时，距离计算单元13执行计算车辆1和身体之间的距离的第一距离计算处理，在根据图像部分的高度，基于假定行人高度和图像部分的高度之间的车辆1的距离之间的相关关系的基础。当确定身体的类型不是交叉行人时，距离计算单元13基于大小的变化来执行计算身体和车辆之间的距离的第二距离计算处理从时间序列拍摄图像中提取物理身体的图像部分。

18. 发明申请

US20120314074A1 SURROUNDING AREA MONITORING DEVICE FOR VEHICLE 有权
标题翻译：用于车辆的环境监控装置
公开(公告)号：US20120314074A1
公开(公告)日：2012-12-13
申请号：US13580014
申请日：2011-02-21
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G01C3/14 , G06K9/00362 , G06K9/00805 , G06T7/593 , G06T2207/10012 , G06T2207/10048 , G06T2207/30196 , G06T2207/30261 , G08G1/166
摘要： A surrounding area monitoring apparatus, which is built into a vehicle, images the area surrounding the vehicle and detects physical objects in the area surrounding the vehicle based on the image taken. The apparatus determines whether the detected physical object is a pedestrian or an animal, and a warning is given to the driver of the vehicle if the determined physical object is present within a specified area from the vehicle. If it is determined that the detected physical object is an animal and that the animal is present within the specified area, the warning in continued for a specified period even after the animal has left the specified area. Since animals have habits of behaving in a herd, risk of lurking animals can be brought to the driver's attention by the continuation of the warning.
摘要翻译：基于所拍摄的图像，内置在车辆中的周边区域监视装置对车辆周围的区域进行成像，并检测车辆周围的区域中的物体。如果检测到的物体是行人或动物，则该装置确定是否在车辆的指定区域内存在确定的物体，并向车辆的驾驶员发出警告。如果确定检测到的物体是动物并且动物存在于指定区域内，则即使在动物离开指定区域之后，该警告仍持续指定的时间段。由于动物的行为习惯在牛群中，潜伏着动物的风险可以继续警告，引起司机的注意。

19. 发明授权

US09292735B2 Living body recognizing device 有权
标题翻译：生物识别装置
公开(公告)号：US09292735B2
公开(公告)日：2016-03-22
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 , G08G1/16 , H04N7/18 , 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。

20. 发明授权

US08994824B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08994824B2
公开(公告)日：2015-03-31
申请号：US13515618
申请日：2010-12-16
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18 , B60R1/00 , G06K9/00 , G08G1/16
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/103 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00805 , G06K9/00825 , G08G1/16 , G08G1/166
摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.
摘要翻译：车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

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