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31. 发明申请

US20060072008A1 Structure for attaching stereoscopic camera in vehicle 失效
标题翻译：车载立体摄像机的结构
公开(公告)号：US20060072008A1
公开(公告)日：2006-04-06
申请号：US11243206
申请日：2005-10-04
申请人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
发明人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
IPC分类号： H04N7/18
CPC分类号： B60R11/04 , B60R2011/0038
摘要： This structure for attaching a stereoscopic camera in a vehicle allows a plurality of cameras to be attached to a vehicle body frame in order to stereoscopically capture images surrounding the vehicle, and the same structure includes: a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras at a cross member having both ends folded upward, having the terminals connected to the front end parts of the side frames at both sides of the engine room, and having a radiator supported at the middle part thereof, wherein at least a part of the plurality of cameras is disposed between both the ends of the cross member and the radiator.
摘要翻译：用于将立体摄像机安装在车辆中的结构允许将多个照相机附接到车体框架，以便立体地捕获车辆周围的图像，并且相同的结构包括：用于将多个照相机与每个摄像机连接的横向撑杆其他; 以及用于将横向支架或多个相机固定在两端向上折叠的横向构件上的支架，其具有连接到在发动机室两侧的侧框架的前端部分的端子，并且具有支撑在发动机室的散热器其中，所述多个照相机的至少一部分设置在所述横梁的两端和所述散热器之间。

32. 发明授权

US07526104B2 Vehicle surroundings monitoring apparatus 失效
标题翻译：车辆周边监控装置
公开(公告)号：US07526104B2
公开(公告)日：2009-04-28
申请号：US11287749
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Masahito Watanabe , Hiroshi Hattori
发明人： Nobuharu Nagaoka , Masahito Watanabe , Hiroshi Hattori
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60W30/08 , G01S3/7864 , G06K9/00651 , G06K9/00805 , G06T7/215 , G06T7/593 , G06T2207/10012 , G06T2207/10016 , G06T2207/10048 , G06T2207/20068 , G06T2207/30261
摘要： A vehicle surroundings monitoring apparatus having an infrared imaging device including a binarized object extraction device that extracts binarized object from image data obtained by binarizing gray scale 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; a luminance distribution status quantity calculation device that calculates luminance distribution status quantity relating to the luminance distribution in the region based on the luminance status quantity, in which the luminance status quantity is equal to or greater than a predetermined value; a luminance distribution status quantity determination device that determines whether or not the luminance distribution quantity exceeds a predetermined value; and an object type determination device that determines the type of the object based on the determination result of the luminance distribution status quantity determination device.
摘要翻译：一种车辆周边监视装置，具有红外线摄像装置，其包括二值化物体提取装置，从通过二值化灰度图像获得的图像数据中提取二值化物体; 区域设定装置，其将包含二值化对象的区域设定在灰度图像上; 亮度状态量计算装置，其计算所述区域的亮度状态量; 亮度分布状态量计算装置，其基于亮度状态量等于或大于预定值的亮度状态量来计算与该区域中的亮度分布有关的亮度分布状态量; 亮度分布状态量确定装置，其确定亮度分布量是否超过预定值; 以及对象类型确定装置，其基于亮度分布状态量确定装置的确定结果来确定对象的类型。

33. 发明授权

US07499100B2 Structure for attaching stereoscopic camera in vehicle 失效
标题翻译：车载立体摄像机的结构
公开(公告)号：US07499100B2
公开(公告)日：2009-03-03
申请号：US11243206
申请日：2005-10-04
申请人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
发明人： Yasuaki Miyazaki , Hiroshi Hattori , Masahito Watanabe , Yoshitaka Katashima , Nobuharu Nagaoka , Kazuhiko Iwaizako , Hiromichi Tsushima
IPC分类号： H04N5/225 , H04N13/00 , B60R19/54 , G08G1/017 , G08G1/054 , F16M11/04 , A47B97/00
CPC分类号： B60R11/04 , B60R2011/0038
摘要： A structure for attaching a stereoscopic camera in a vehicle allows a plurality of cameras to be attached to a vehicle body frame, in order to stereoscopically capture images surrounding the vehicle. The structure includes: a lateral stay for coupling the plurality of cameras with each other; and brackets for fixing the lateral stay or the plurality of cameras at a cross member having both ends folded upward, having the terminals connected to the front end parts of the side frames at both sides of the engine room, and having a radiator supported at the middle part thereof, wherein at least a part of the plurality of cameras is disposed between both the ends of the cross member and the radiator.
摘要翻译：用于将立体摄像机附着在车辆中的结构允许将多个照相机附接到车体框架，以便立体地捕获车辆周围的图像。该结构包括：用于将多个照相机彼此连接的横向撑杆; 以及用于将横向支架或多个相机固定在两端向上折叠的横向构件上的支架，其具有连接到在发动机室两侧的侧框架的前端部分的端子，并且具有支撑在发动机室的散热器其中，所述多个照相机的至少一部分设置在所述横梁的两端和所述散热器之间。

34. 发明授权

US07330568B2 Device for monitoring around vehicle 有权
标题翻译：车辆周边监控装置
公开(公告)号：US07330568B2
公开(公告)日：2008-02-12
申请号：US10801413
申请日：2004-03-16
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka , Masahito Watanabe
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masakazu Saka , Masahito Watanabe
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/106 , B60R2300/205 , B60R2300/207 , B60R2300/30 , B60R2300/302 , B60R2300/8053 , G06K9/00369 , G06K9/00805
摘要： A device for monitoring around a vehicle capable of detecting objects present around the vehicle based on an image captured by at least one infrared camera member provided with the vehicle. An area which is inferred to correspond to the pedestrian's head is established as a reference area. Two object areas are established above the reference area so as to correspond to spaces above the shoulders on both sides of the pedestrian's head. An area which corresponds to the head and the shoulders in an infra-red ray image is acknowledged. Another object area which is inferred to correspond to the shoulders and arms of the pedestrian is established. If a distance from an entire pedestrian and a distance from an area which corresponds to the shoulders and arms are equal, it is acknowledged that a binary object including the area which corresponds to the shoulders and arms indicates a pedestrian.
摘要翻译：一种用于基于由至少一个设置有车辆的红外线摄像机构件拍摄的图像来监视车辆周围的能够检测车辆周围的物体的装置。建立与行人头部对应的推断区域作为参照区域。在参考区域上方建立两个物体区域，以对应于行人头部两侧的肩膀上方的空间。在红外线图像中对应于头部和肩部的区域被确认。建立了与行人的肩膀和手臂相对应的另一个物体区域。如果距离整个行人的距离和与肩膀和手臂相对应的区域的距离相等，则确认包括对应于肩膀和手臂的区域的二进制对象表示行人。

35. 发明申请

US20060114320A1 Position detecting apparatus and method of correcting data therein 有权
公开(公告)号：US20060114320A1
公开(公告)日：2006-06-01
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： H04N7/18
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.

36. 发明授权

US06658150B2 Image recognition system 失效
标题翻译：图像识别系统
公开(公告)号：US06658150B2
公开(公告)日：2003-12-02
申请号：US09728511
申请日：2000-12-01
申请人： Takayuki Tsuji , Nobuharu Nagaoka , Hiroshi Hattori , Masahito Watanabe
发明人： Takayuki Tsuji , Nobuharu Nagaoka , Hiroshi Hattori , Masahito Watanabe
IPC分类号： G06K968
CPC分类号： G06K9/6203 , G06T7/97 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： An image recognition system recognizes correspondence between object images contained respectively in two images obtained by two infrared ray cameras. One of the two images is set to a reference image and another of the two images to a comparison image. A correlation parameter indicative of a correlation between a reference pattern contained in the reference image and containing an object image and each pattern contained in the comparison image and identical in shape to the reference pattern is calculated by using a luminance value indicative of a luminance of the reference pattern and a luminance value indicative of a luminance of the each pattern contained in the comparison image. Based on the calculated correlation parameter, a pattern having a highest correlation with the reference pattern is extracted from the comparison image as a corresponding pattern which corresponds to the reference pattern. Identity between the object image contained in the reference pattern and the object image contained in the corresponding pattern is determined based on a difference between a contrast value indicative of a contrast of the reference pattern and a contrast value indicative of a contrast of the corresponding pattern.
摘要翻译：图像识别系统识别由两个红外线摄像机获得的两个图像中分别包含的对象图像之间的对应关系。将两个图像中的一个设置为参考图像，将两个图像中的另一个设置为比较图像。通过使用表示参考图像的亮度的亮度值来计算指示包含在参考图像中并包含对象图像的参考图案和包含在比较图像中并且与形状相同的参考图案之间的相关性的相关参数参考图案和指示比较图像中包含的每个图案的亮度的亮度值。基于所计算的相关参数，从比较图像中提取与参考图案具有最高相关性的图案作为对应于参考图案的对应图案。基于指示参考图案的对比度的对比度值和表示对应图案的对比度的对比度值之间的差异来确定包含在参考图案中的对象图像与包含在对应图案中的对象图像之间的身份。

37. 发明授权

US06531959B1 Position detecting device 有权
标题翻译：位置检测装置
公开(公告)号：US06531959B1
公开(公告)日：2003-03-11
申请号：US09612799
申请日：2000-07-10
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori
IPC分类号： B60Q100
CPC分类号： G01S11/12 , G01C3/085
摘要： A position detecting device for a vehicle detects the position of an object in a real space coordinate system. A plurality of objects are extracted from an image obtained by cameras, and a pitching-dependent correction amount is calculated based on amounts of displacement in position of the plurality of objects in a direction of height. Positions of the plurality of objects are corrected based on the pitching-dependent correction amount.
摘要翻译：用于车辆的位置检测装置检测物体在实际空间坐标系中的位置。从通过照相机获得的图像中提取多个对象，并且基于多个物体在高度方向上的位置位移量来计算俯仰相关校正量。基于俯仰相关的校正量来校正多个对象的位置。

38. 发明授权

US08077909B2 Apparatus and method for testing infrared camera 有权
标题翻译：红外摄像机测试装置及方法
公开(公告)号：US08077909B2
公开(公告)日：2011-12-13
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译：一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。

39. 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。

40. 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。

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