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1. 发明授权

US08005266B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08005266B2
公开(公告)日：2011-08-23
申请号：US11810569
申请日：2007-06-06
申请人： Masakazu Saka , Hiroyuki Koike , Fuminori Taniguchi
发明人： Masakazu Saka , Hiroyuki Koike , Fuminori Taniguchi
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus capable of recognizing the type of object existing around a vehicle with accuracy. The vehicle surroundings monitoring apparatus includes a process unit, which extracts a first image portion HP—1 likely to be the head of an object and sets a reference mask area MASK_C including HP—1, a left-hand mask area MASK_L near the left side of the reference mask area MASK_C, and a right-hand mask area MASK_R near the right side of the reference mask area MASK_C, and a process unit which searches for a second image portion presumed to be a leg image within a lower search area AREA—3 when a difference between an average luminance AVE_C of the reference mask area MASK_C and an average luminance AVE_L of the left-hand mask area MASK_L or a difference between the average luminance AVE_C and an average luminance AVE_R of the right-hand mask area MASK_R is equal to or greater than a predetermined level and which recognizes that the object type is “pedestrian” in the case where a plurality of second image portions are detected.
摘要翻译：一种能够准确地识别车辆周围的物体的类型的车辆周围环境监视装置。车辆周围环境监视装置包括处理单元，其提取可能是对象的头部的第一图像部分HP-1，并且设置包括HP-1的参考掩码区域MASK_C，在左侧附近的左侧屏蔽区域MASK_L 参考掩模区域MASK_C，以及在参考掩模区域MASK_C的右侧附近的右侧掩模区域MASK_R，以及处理单元，其搜索在下部搜索区域AREA-A中假定为腿部图像的第二图像部分，如图3所示，当参考掩模区域MASK_C的平均亮度AVE_C与左侧屏蔽区域MASK_L的平均亮度AVE_L或平均亮度AVE_C与右侧屏蔽区域MASK_R的平均亮度AVE_R之间的差为等于或大于预定水平，并且在检测到多个第二图像部分的情况下识别出对象类型是“行人”。

2. 发明授权

US07982748B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US07982748B2
公开(公告)日：2011-07-19
申请号：US11799987
申请日：2007-05-03
申请人： Fuminori Taniguchi , Hiroyuki Koike , Masakazu Saka
发明人： Fuminori Taniguchi , Hiroyuki Koike , Masakazu Saka
IPC分类号： G09G5/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus is provided herein which is capable of determining an object type, particularly capable of determining an animal other than a human being among objects. The vehicle surroundings monitoring apparatus which monitors the surroundings of a vehicle by using an image captured by a camera (2R, 2L) mounted on the vehicle, including an object extraction process unit which extracts an image area of the object from the captured image (steps 1 to 6) and an object type determination process unit which determines the object type according to whether the image area of the object extracted by the object extraction process unit includes a first object area of an inverse triangular shape and a second object area located below the first object area and within a predetermined range from the first object area (steps 31 to 36).
摘要翻译：本文提供一种能够确定物体类型的车辆周围环境监测装置，特别是能够确定物体之外的人类以外的动物。车辆周边监视装置，其通过使用由安装在车辆上的照相机（2R，2L）拍摄的图像监视车辆的周围环境，包括物体提取处理单元，其从拍摄图像中提取物体的图像区域（步骤 1至6）和对象类型确定处理单元，其根据由对象提取处理单元提取的对象的图像区域是否包括反三角形形状的第一对象区域和位于下方的第二对象区域来确定对象类型第一对象区域并且在距第一对象区域的预定范围内（步骤31至36）。

3. 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。

4. 发明申请

US20100156616A1 VEHICLE ENVIRONMENT MONITORING APPARATUS 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20100156616A1
公开(公告)日：2010-06-24
申请号：US12608321
申请日：2009-10-29
申请人： Makoto AIMURA , Hideki HASHIMOTO , Masakazu SAKA
发明人： Makoto AIMURA , Hideki HASHIMOTO , Masakazu SAKA
IPC分类号： G06T7/00 , B60Q1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle environment monitoring apparatus is equipped with a monitored object detecting unit 26 which detects an object having possibility of contact by applying an object detecting algorithm for short range when the distance calculated from data on one disparity by the first distance calculating unit 24 is equal to or less than a predetermined distance, and detects the object having possibility of contact by applying an object detecting algorithm for long range when the distance is longer than the predetermined distance, using the distance between the object and the vehicle calculated from a disparity gradient by the second distance calculating unit 25.
摘要翻译：车辆环境监测装置配备有被监视对象检测单元26，当从第一距离计算单元24的一个视差上的数据计算出的距离等于第一距离计算单元26时，通过应用近距离的对象检测算法来检测具有接触可能性的对象或者小于预定距离，并且通过使用距离长于预定距离的远距离的物体检测算法，使用由视差梯度计算的物体与车辆之间的距离，来检测具有接触可能性的物体第二距离计算单元25。

5. 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。

6. 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。

7. 发明授权

US07130448B2 Device for monitoring around a vehicle 有权
标题翻译：用于在车辆周围监控的设备
公开(公告)号：US07130448B2
公开(公告)日：2006-10-31
申请号：US10346517
申请日：2003-01-17
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06K9/00805 , G06K2209/23
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. The device includes a binary object extraction unit which subjects a gray scale image of the image captured by the infrared camera member to a binary thresholding method, and extracts a binary object from the gray scale image; a gray scale object extraction unit which extracts a gray scale object, a range of the gray scale object including the binary object, from the gray scale image based on change in luminance of the gray scale image, and a pedestrian determination unit which sets a search area in an area including the gray scale object, and recognizes a pedestrian in the gray scale image based on a luminance variance in the search area.
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。该装置包括二进制对象提取单元，其将由红外相机成员捕获的图像的灰度图像进行二进制阈值处理，并从灰度图像中提取二进制对象; 灰度对象提取单元，其基于灰度图像的亮度的变化从灰度图像中提取灰度对象，包括二进制对象的灰度对象的范围，以及设置搜索的行人确定单元区域，并且基于搜索区域中的亮度方差识别灰度图像中的行人。

8. 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.

9. 发明申请

US20060115122A1 VEHICLE SURROUNDINGS MONITORING APPARATUS 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20060115122A1
公开(公告)日：2006-06-01
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 , G06G7/78
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： Abstract of the DisclosureA 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 objectfrom image data obtainedby 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：摘要：一种车辆环境监视装置，其基于由包括二进制化物体提取装置的红外成像装置拍摄的图像提取车辆周围的物体作为对象，所述二值化物体提取装置从二次化物体提取装置通过二值化图像的灰度图像获得的图像数据; 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。

10. 发明申请

US20060115121A1 Abnormality detecting apparatus for imaging apparatus 失效
公开(公告)号：US20060115121A1
公开(公告)日：2006-06-01
申请号：US11287870
申请日：2005-11-28
申请人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Takayuki Tsuji
发明人： Masakazu Saka , Nobuharu Nagaoka , Masahito Watanabe , Takayuki Tsuji
IPC分类号： G06K9/00 , G06G7/78
CPC分类号： H04N17/002 , G06T7/0002 , H04N5/33
摘要： An abnormality detecting apparatus for an imaging apparatus that detects the presence of abnormalities in an imaging apparatus mounted on a vehicle to capture vehicle surroundings which includes: a region setting device that sets a region including at least a road boundary portion in an image obtained by the imaging apparatus; a luminance variance value calculating device that calculates a luminance variance value using the luminance value acquired from the image with respect to the region set by the region setting device; and an abnormality detecting device that detects the presence of abnormalities in the imaging apparatus according to the luminance variance value calculated by the luminance variance value calculating device.

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