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11. 发明授权

US07619668B2 Abnormality detecting apparatus for imaging apparatus 失效
标题翻译：用于成像装置的异常检测装置
公开(公告)号：US07619668B2
公开(公告)日：2009-11-17
申请号：US11287739
申请日：2005-11-28
申请人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Hideki Hashimoto
发明人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Hideki Hashimoto
IPC分类号： H04N9/64 , H04N7/18
CPC分类号： G03B43/00 , H04N17/002
摘要： An abnormality detecting apparatus for an imaging apparatus that detects a presence of abnormalities in imaging apparatuses mounted on a vehicle to capture vehicle surroundings, which includes: a luminance variance value calculating device that calculates a luminance variance value of each image from the imaging apparatuses using the luminance value of each image from the imaging apparatuses obtained by the imaging apparatuses; and an abnormality detecting device that detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device.
摘要翻译：一种成像装置的异常检测装置，其检测安装在车辆上的摄像装置中存在异常以捕获车辆周围环境，所述异常检测装置包括：亮度方差值计算装置，其使用所述摄像装置计算每个图像的亮度方差值来自由成像装置获得的成像装置的每个图像的亮度值; 以及异常检测装置，其根据由亮度方差值计算装置计算的亮度方差值来检测任何摄像装置中的异常的存在。

12. 发明授权

US07590263B2 Vehicle vicinity monitoring apparatus 失效
标题翻译：车辆附近监控装置
公开(公告)号：US07590263B2
公开(公告)日：2009-09-15
申请号：US11287553
申请日：2005-11-23
申请人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka , Yoshitaka Hirai , Toshiya Okabe
发明人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka , Yoshitaka Hirai , Toshiya Okabe
IPC分类号： G06K9/00 , G06K9/62 , H04N7/18 , G05D1/02
CPC分类号： G06K9/00362 , G06K9/00805 , G06T7/593 , G08G1/166
摘要： An ECU of a night vision system stores small obtained images of provisional targets as six templates depending on the distance from infrared cameras, and selects one of the templates depending on the distance up to an actual object. Using the selected template, the ECU performs template matching on images obtained by the infrared cameras, and calculates coordinates of the inspection target. The ECU compares the calculated coordinates of the inspection target and stored reference coordinates with each other, and determines mounted angles of the infrared cameras.
摘要翻译：夜视系统的ECU根据与红外摄像机的距离将临时目标的小获得图像存储为六个模板，并且根据到实际对象的距离来选择一个模板。使用所选择的模板，ECU对由红外线摄像机获得的图像执行模板匹配，并计算检查对象的坐标。 ECU将检查对象的计算坐标与存储的基准坐标进行比较，并确定红外摄像机的安装角度。

13. 发明申请

US20060204037A1 Vehicle vicinity monitoring apparatus 失效
公开(公告)号：US20060204037A1
公开(公告)日：2006-09-14
申请号：US11287555
申请日：2005-11-23
申请人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka
发明人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka
IPC分类号： G05D1/00 , G06K9/00 , H04N7/18
CPC分类号： G06K9/00805 , B60W2420/40 , B60W2540/12
摘要： A right infrared camera produces a right gray-scale image by imaging aiming targets disposed in a right position, and a left infrared camera produces a left gray-scale image by imaging aiming targets disposed in a left position. An average value of coordinates of the aiming targets in a preset clipping area is determined, and an average value of coordinates of the aiming targets in a preset clipping area is determined. A difference between the average value and the average value is determined, and the clipping area is moved depending on the difference.

14. 发明授权

US07885430B2 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：US07885430B2
公开(公告)日：2011-02-08
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 , G06K9/46 , G08G1/16
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）获得的图像中存在对象的区域设定为第一区域（A1i），将第一区域（A1i）的下部设定为第二区域（A2i）。基于第二区域（A2i）提取对象的特征，并且基于所提取的特征来识别对象。由此，即使在第一区域（A1i）被设定的情况下，由于物体的上部与图像的背景重叠，物体的上部的特征也不能被提取，所以物体通过提取第二区域（A2i）中的对象的下部的特征，仍然通过高精度来识别。

15. 发明授权

US07620237B2 Position detecting apparatus and method of correcting data therein 有权
标题翻译：位置检测装置及其中的数据校正方法
公开(公告)号：US07620237B2
公开(公告)日：2009-11-17
申请号：US11287554
申请日：2005-11-23
申请人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
发明人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
IPC分类号： G06K9/00 , G06K9/46 , G06K9/66 , G06K9/40 , H04N15/00 , H04N13/00 , H04N9/47 , H04N7/00 , H04N7/18 , G01B11/14 , G01D18/00 , G12B13/00
CPC分类号： G06T7/593 , G06T7/73 , G06T7/85 , G06T2207/10012 , G06T2207/10048 , G06T2207/30261
摘要： Two aiming targets are arranged at positions that are away from two infrared cameras by a predetermined distance. One of the infrared cameras images one of the aiming targets, and the other of the infrared cameras images the other of the aiming targets. Assuming that the obtained images relate to an image of one aiming target, a parallax offset value is calculated. The correction of position is performed based on the parallax offset value.
摘要翻译：两个瞄准目标被布置在远离两个红外摄像机预定距离的位置处。其中一个红外摄像机成像了其中一个瞄准目标，而另一个红外摄像机则成像了另一个瞄准目标。假设所获得的图像与一个瞄准目标的图像相关，则计算视差偏移值。基于视差偏移值进行位置校正。

16. 发明授权

US07616806B2 Position detecting apparatus and method of correcting data therein 失效
标题翻译：位置检测装置及其中的数据校正方法
公开(公告)号：US07616806B2
公开(公告)日：2009-11-10
申请号：US11287577
申请日：2005-11-23
申请人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
发明人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
IPC分类号： G06K9/00 , G06K9/46 , G06K9/66 , G06K9/40 , H04N15/00 , H04N13/00 , H04N13/02 , G01B11/14 , G01D18/00 , G12B13/00
CPC分类号： G06K9/00805
摘要： A first object and a second object arranged in an actual space with coordinates (Xn, Zn) and (Xn−D, Zn) are imaged, and respective coordinates x1* and x2* of the first object and the second object in the image are calculated. Then, a coordinate x1 of the first object in the image and a coordinate x2 of the second object in the image are calculated by equations: x1=F·Xn/Zn x2=F·(Xn−D)/Zn where F is a design parameter of an imaging unit. An image distortion corrective value α to correct the design parameter F is calculated by equations: α·x1*=x1 α·x2*=x2 using a difference between the coordinates x1 and x1* and a difference between the coordinates x2 and x2*.
摘要翻译：布置在具有坐标（Xn，Zn）和（Xn-D，Zn）的实际空间中的第一物体和第二物体被成像，并且图像中的第一物体和第二物体的各个坐标x1 *和x2 * 计算。然后，通过以下等式计算图像中的第一对象的坐标x1和图像中的第二对象的坐标x2：x1 = F.Xn / Zn×2 = F（Xn-D）/ Zn，其中F是成像单元的设计参数。用于校正设计参数F的图像失真校正值α通过等式计算：alpha.x1 * = x1 alpha.x2 * = x2，使用坐标x1和x1 *之间的差异以及坐标x2和x2 *之间的差。

17. 发明授权

US07599521B2 Vehicle vicinity monitoring apparatus 失效
标题翻译：车辆附近监控装置
公开(公告)号：US07599521B2
公开(公告)日：2009-10-06
申请号：US11287555
申请日：2005-11-23
申请人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka
发明人： Masahito Watanabe , Masakazu Saka , Nobuharu Nagaoka
IPC分类号： G06K9/00 , H04N7/18 , G05D1/00
CPC分类号： G06K9/00805 , B60W2420/40 , B60W2540/12
摘要： A right infrared camera produces a right gray-scale image by imaging aiming targets disposed in a right position, and a left infrared camera produces a left gray-scale image by imaging aiming targets disposed in a left position. An average value of coordinates of the aiming targets in a preset clipping area is determined, and an average value of coordinates of the aiming targets in a preset clipping area is determined. A difference between the average value and the average value is determined, and the clipping area is moved depending on the difference.
摘要翻译：右红外线摄像机通过成像瞄准位置的瞄准目标成像，产生正确的灰度图像，左红外摄像机通过成像位于左侧位置的瞄准目标进行成像而产生左灰度图像。确定预设裁剪区域中的瞄准目标的坐标的平均值，并且确定预设剪切区域中的瞄准目标的坐标的平均值。确定平均值和平均值之间的差异，并且根据差异移动剪切区域。

18. 发明申请

US20060114318A1 Abnormality detecting apparatus for imaging apparatus 失效
公开(公告)号：US20060114318A1
公开(公告)日：2006-06-01
申请号：US11287739
申请日：2005-11-28
申请人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Hideki Hashimoto
发明人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Hideki Hashimoto
IPC分类号： H04N7/18 , H04N9/47
CPC分类号： G03B43/00 , H04N17/002
摘要： An abnormality detecting apparatus for an imaging apparatus that detects a presence of abnormalities in imaging apparatuses mounted on a vehicle to capture vehicle surroundings, which includes: a luminance variance value calculating device that calculates a luminance variance value of each image from the imaging apparatuses using the luminance value of each image from the imaging apparatuses obtained by the imaging apparatuses; and an abnormality detecting device that detects the presence of abnormalities in any of the imaging apparatuses in accordance with the luminance variance values calculated by the luminance variance value calculating device.

19. 发明申请

US20060115117A1 Position detecting apparatus and method of correcting data therein 失效
标题翻译：位置检测装置及其中的数据校正方法
公开(公告)号：US20060115117A1
公开(公告)日：2006-06-01
申请号：US11287577
申请日：2005-11-23
申请人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
发明人： Nobuharu Nagaoka , Masakazu Saka , Masahito Watanabe
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： A first object and a second object arranged in an actual space with coordinates (Xn, Zn) and (Xn−D, Zn) are imaged, and respective coordinates x1* and x2* of the first object and the second object in the image are calculated. Then, a coordinate x1 of the first object in the image and a coordinate x2 of the second object in the image are calculated by equations: x1=F·Xn/Zn x2=F·(Xn−D)/Zn where F is a design parameter of an imaging unit. An image distortion corrective value α to correct the design parameter F is calculated by equations: α·x1*=x1 α·x2*=x2 using a difference between the coordinates x1 and x1* and a difference between the coordinates x2 and x2*.
摘要翻译：布置在具有坐标（Xn，Zn）和（Xn-D，Zn）的实际空间中的第一物体和第二物体被成像，并且第一物体和第二物体的坐标x 1 *和x 2 * 图像计算。然后，通过等式来计算图像中的第一对象的坐标x 1和图像中的第二对象的坐标x 2：<？in-line-formula description =“In-line Formulas”end =“lead” ？> x1 = F.Xn / Zn <？in-line-formula description =“In-line Formulas”end =“tail”？> <？in-line-formula description =“In-line Formulas”end =“lead “？> x2 = F。（Xn-D）/ Zn <？in-line-formula description =”In-line Formulas“end =”tail“？>其中F是成像单元的设计参数。校正设计参数F的图像失真校正值α通过等式计算：<？in-line-formula description =“In-line Formulas”end =“lead”？> alpha.x1 * = x1 <？in-line -formulae description =“In-line Formulas”end =“tail”？> <？in-line-formula description =“In-line formula”end =“lead”？> alpha.x2 * = x2 <？in-line -formulae description =“在线公式”end =“tail”？>使用坐标x 1和x 1 *之间的差异以及坐标x 2和x 2 *之间的差异。

20. 发明授权

US07515737B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US07515737B2
公开(公告)日：2009-04-07
申请号：US11287873
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka
IPC分类号： G06K9/00 , G05D1/02
CPC分类号： G06K9/3241 , B60W50/14 , G01S3/7864 , G06K2209/23 , G06T7/215 , G06T2207/10012 , G06T2207/10016 , 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 at least a portion of the binarized object on the gray scale image; a luminance status quantity calculation device that calculates a luminance status quantity of the region; an interval status quantity calculation device that calculates an interval status quantity according to an interval between a position of a substantially maximum luminance value and a position of a substantially minimum luminance value within the region based on the luminance status quantity; and an object type determination device that determines a type of the object based on the interval status quantity.
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; 区域设定装置，其将包含所述二值化对象的至少一部分的区域设定在所述灰度图像上; 亮度状态量计算装置，其计算所述区域的亮度状态量; 间隔状态量计算装置，其基于所述亮度状态量，根据所述区域内的基本上最大亮度值的位置与所述基本上最小亮度值的位置之间的间隔来计算间隔状态量; 以及对象类型确定装置，其基于间隔状态量确定对象的类型。

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