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    • 34. 发明授权
    • Image processing device for dividing an image into a plurality of regions
    • 用于将图像分割成多个区域的图像处理装置
    • US08498479B2
    • 2013-07-30
    • US12659115
    • 2010-02-25
    • Toru Saito
    • Toru Saito
    • G06K9/00
    • G06K9/00798G06K9/00825G06T7/11G06T2207/30252
    • An image processing device for dividing an image imaged by imaging means into multiple regions includes: processing means for grouping, when difference of the pieces of image data between a single pixel within the image and a pixel adjacent thereto is less than a predetermined threshold, the single pixel and the adjacent pixel, and dividing the image into multiple regions with finally obtained each group as each region of the image; and average-value calculating means for calculating the average value of the image data within the group including the single pixel; with the processing means comparing the image data of the single pixel, and the average value calculated at the average-value calculating means regarding the group to which the adjacent pixel belongs; and when the difference thereof is equal to or greater than a predetermined second threshold, doing not group the single pixel and the adjacent pixel.
    • 一种用于将通过成像装置成像的图像分割为多个区域的图像处理装置包括:处理装置,用于当图像内的单个像素与与其相邻的像素之间的图像数据之间的差异小于预定阈值时,进行分组, 单像素和相邻像素,并且将图像划分为多个区域,最终获得每个组作为图像的每个区域; 以及平均值计算装置,用于计算包括单个像素的组内的图像数据的平均值; 处理装置比较单个像素的图像数据和在平均值计算装置处计算的关于相邻像素所属的组的平均值; 并且当其差异等于或大于预定的第二阈值时,不对单个像素和相邻像素进行分组。
    • 35. 发明授权
    • White road line recognition device for vehicle
    • 白路线车识别装置
    • US08477997B2
    • 2013-07-02
    • US12858044
    • 2010-08-17
    • Yuichiro TamuraToru Saito
    • Yuichiro TamuraToru Saito
    • G06K9/00
    • G06K9/00798
    • In right and left white road line detection regions on a image, a stereo image recognition device of a white road line recognition device for a vehicle detects a pair of a white road line starting point and a white road line ending point for each of retrieval lines set in the horizontal direction based on the change in the luminance on the retrieval lines, calculates a midpoint Pm between each pair of the white road line starting point and white road line ending point, selects a point group with a smaller dispersion between the point group consisting of the white road line starting points and the point group consisting of midpoints based on a predetermined condition, and calculates a white road line based on the selected point group.
    • 在图像的左,右白线路检测区域中,用于车辆的白路线识别装置的立体图像识别装置检测每条检索线的白路线起点和白路线终点 基于检索线上的亮度变化设定在水平方向上,计算白线路起始点与白路线终点之间的中点Pm,选择点组之间的较小分散点的点组 由白路线起点和基于预定条件的中点组成的点组组成,并且基于所选择的点组计算白路线。
    • 37. 发明授权
    • Road line recognition apparatus
    • 路线识别装置
    • US08224031B2
    • 2012-07-17
    • US11410103
    • 2006-04-25
    • Toru Saito
    • Toru Saito
    • G06K9/00H04N17/02G08G1/00
    • G06K9/00798G06K9/6205
    • A road line recognition apparatus, including: an imaging section imaging a progress path of a own vehicle including a road to output a couple of images; an image processing section calculating a distance in a real space in a set region of at least an image on one side based on the imaged couple of images; and a detection section detecting a road line; wherein the detection section includes: a road line candidate point detection and conversion processing unit detecting a pixel on a road surface as a road line candidate point based on luminance and the distance with regard to the image on one side, and performing Hough conversion of the road line candidate point; a road line straight line detection processing unit detecting one straight line proper to the road line on each of a right side and a left side of the own vehicle based on at least a position or a behavior of the own vehicle between straight lines obtained by the Hough conversion; and a road line detection processing unit detecting the road line of a shape of a straight line or a curved line by recording a road line position which is a road line candidate point indicating a road line among the road line candidate points based on the detected straight line.
    • 一种路线识别装置,包括:对包括道路的本车辆的进行路径成像以输出一对图像的成像部分; 图像处理部,基于所成像的图像,计算一侧的至少图像的设定区域中的实际空间的距离; 和检测路线的检测部; 其中所述检测部分包括:道路候补点检测和转换处理单元,基于亮度和关于一侧的图像的距离,将路面上的像素作为道路候补点进行检测,并且对 路线候补点; 至少基于由本发明的车辆获得的直线之间的本车辆的位置或行为的至少一条路线直线检测处理单元,其检测本车辆的右侧和左侧各自的道路线上的一条直线 霍夫转换 以及路线检测处理单元,基于检测出的直线,通过记录作为表示道路线路的候补路线的路线位置来检测直线或曲线的形状的路线 线。
    • 40. 发明申请
    • ROAD SHAPE RECOGNITION DEVICE
    • 道路识别装置
    • US20100299109A1
    • 2010-11-25
    • US12782309
    • 2010-05-18
    • Toru Saito
    • Toru Saito
    • G06F17/50G06K9/00G06F17/10
    • G06T7/12G01S11/12G06K9/00798G06T2207/10012G06T2207/30252Y02T10/82
    • A road shape recognition device includes: distance and height detecting means for detecting distance data having a distance and height in real space regarding a road surface where a vehicle is traveling at multiple mutually different points; approximation line calculating means for dividing the plurality of distance data into near and far groups as viewed from the vehicle to calculate an approximation line of the distance data for each group each time the distance data of the boundary portion between the two groups is transferred from one of the groups to the other; statistics calculating means for calculating statistics from the corresponding approximation line for each group where the distance data is transferred; and road shape model generating means for selecting one out of combinations of the approximation lines to generate a road shape model using the selected combination.
    • 道路形状识别装置包括:距离和高度检测装置,用于检测在车辆在多个相互不同的点处行进的路面的实际空间中具有距离和高度的距离数据; 近似线计算装置,用于当从车辆观察时将多个距离数据分成近组和远组,以便每当两组之间的边界部分的距离数据从一个传送距离数据传送到每组时,计算每组的距离数据的近似线 的团体到另一方; 统计计算装置,用于从传送距离数据的每组的相应近似线计算统计; 以及道路形状模型生成装置,用于从所述近似线的组合中选择一个,以使用所选择的组合来生成道路形状模型。