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71. 发明申请

US20110199197A1 SYSTEM FOR MONITORING THE AREA AROUND A VEHICLE 有权
标题翻译：用于监测车辆区域的系统
公开(公告)号：US20110199197A1
公开(公告)日：2011-08-18
申请号：US13124253
申请日：2009-06-24
申请人： Izumi Takatsudo , Nobuharu Nagaoka , Makoto Aimura
发明人： Izumi Takatsudo , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G08B23/00 , G06K9/46
CPC分类号： B60R1/00 , B60R2300/103 , B60R2300/105 , B60R2300/205 , B60R2300/301 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G06K9/00805
摘要： A system 1 for monitoring the area around a vehicle of the present invention capable of visually notifying the passenger in the vehicle 10 of not only the presence but also the kind of an object in images around the vehicle displayed in an HUD 7, for example, according to a difference in the display mode of the presence of the object, wherein the driver of the vehicle 10 is able to recognize which of a human or a four-footed animal the object belongs to, according to either a difference in the design between a first mark M1 and a second mark M2 or a difference in the design between a first frame F1 and a second frame F2 displayed on the HUD 7.
摘要翻译：用于监视本发明车辆周围区域的系统1，其能够在车辆10中视觉上通知车辆10中的乘客，不仅存在例如在HUD 7中显示的车辆周围的图像中的物体的存在，根据对象存在的显示模式的差异，其中车辆10的驾驶员能够识别对象所属的人或四足动物中的哪一个，根据设计中的哪一个第一标记M1和第二标记M2或在HUD 7上显示的第一帧F1和第二帧F2之间的设计的差异。

72. 发明申请

US20110170748A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110170748A1
公开(公告)日：2011-07-14
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。

73. 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。

74. 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。

75. 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。

76. 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。

77. 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。

78. 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。

79. 发明授权

US07567688B2 Apparatus for and method of extracting image 失效
标题翻译：提取图像的设备及方法
公开(公告)号：US07567688B2
公开(公告)日：2009-07-28
申请号：US11287552
申请日：2005-11-23
申请人： Nobuharu Nagaoka , Fuminori Taniguchi , Masahito Watanabe
发明人： Nobuharu Nagaoka , Fuminori Taniguchi , Masahito Watanabe
IPC分类号： G06K9/00 , G06K9/62 , H04N7/18
CPC分类号： G06T5/50 , G06T7/337 , G06T2207/10048 , G06T2207/20216 , G06T2207/30261
摘要： The luminance signal of a reference image obtained by an infrared camera is adjusted such that the luminance signal of the reference image obtained is greater at all times than the luminance signal of a searching image obtained by an infrared camera. Correlative calculations are performed on the reference image and the searching image to detect one object in the reference image and the searching image without detecting the background of the images in error.
摘要翻译：调整由红外线摄像机获得的参考图像的亮度信号，使得获得的参考图像的亮度信号总是比由红外相机获得的搜索图像的亮度信号更大。对参考图像和搜索图像进行相关计算，以检测参考图像中的一个对象和搜索图像，而不检测图像的背景错误。

80. 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。

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