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1. 发明申请

US20120218413A1 MONITORING SYSTEM 审中-公开
标题翻译：监视系统
公开(公告)号：US20120218413A1
公开(公告)日：2012-08-30
申请号：US13468661
申请日：2012-05-10
申请人： Shusaku Okamoto , Masamichi Nakagawa , Takashi Yoshida , Atsushi Iisaka , Atsushi Morimura
发明人： Shusaku Okamoto , Masamichi Nakagawa , Takashi Yoshida , Atsushi Iisaka , Atsushi Morimura
IPC分类号： H04N7/18
CPC分类号： G06T15/20 , B60R1/00 , B60R2300/207 , B60R2300/30 , B60R2300/60 , B60R2300/8066 , G06T5/006 , H04N7/181
摘要： A camera for taking a state behind a vehicle is installed in a position laterally shifted from the rear center of the vehicle. An image processing unit generates a rear image from a camera image by shifting merely a rectangular area of the camera image so that a vertical center line thereof can substantially accord with the center line along the lengthwise direction of the vehicle. Furthermore, processing for correcting lens distortion may be performed. As a result, when the vehicle is moved straight backward, an object present on the center line of the vehicle moves vertically in substantially the center of the screen, so that a user can be prevented from having an odd feeling to see the image.
摘要翻译：在车辆后方拍摄状态的照相机安装在从车辆后方侧向偏移的位置。图像处理单元仅通过仅移动摄像机图像的矩形区域从而使其垂直中心线基本上与沿着车辆的长度方向的中心线一致，从摄像机图像生成后方图像。此外，可以执行用于校正透镜失真的处理。结果，当车辆向后移动时，存在于车辆的中心线上的物体在屏幕的大致中心处垂直移动，从而可以防止用户看到图像的奇怪的感觉。

2. 发明授权

US08111287B2 Driving-operation assist and recording medium 有权
标题翻译：驾驶操作辅助和记录介质
公开(公告)号：US08111287B2
公开(公告)日：2012-02-07
申请号：US11846085
申请日：2007-08-28
申请人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： H04N7/18
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.
摘要翻译：车辆操作辅助包括周向状态成像器，用于利用照相机对车辆的周向状态进行成像并产生周向状态图像; 合成图像生成器，用于通过叠加在周向状态图像上，执行执行预定的一系列驾驶操作的车辆的假想移动模式来产生合成图像; 以及用于显示合成图像的显示器。圆周状态成像器具有至少一个照相机和照相机参数表，用于存储照相机的特性并基于照相机特征产生圆周状态图像。

3. 发明授权

US07443115B2 Apparatus and method for robot handling control 有权
标题翻译：机器人处理控制的装置和方法
公开(公告)号：US07443115B2
公开(公告)日：2008-10-28
申请号：US10694116
申请日：2003-10-27
申请人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
发明人： Shusasku Okamoto , Masamichi Nakagawa , Yasunao Okazaki , Takashi Anezaki , Tamao Okamoto
IPC分类号： H02P1/54
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译：机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出的是用于释放抓住物体的末端执行器的力的信号。终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。

4. 发明申请

US20070299584A1 DRIVING-OPERATION ASSIST AND RECORDING MEDIUM 有权
公开(公告)号：US20070299584A1
公开(公告)日：2007-12-27
申请号：US11846085
申请日：2007-08-28
申请人： Shusaku OKAMOTO , Hirofumi ISHII , Masamichi NAKAGAWA , Kunio NOBORI , Atsushi MORIMURA
发明人： Shusaku OKAMOTO , Hirofumi ISHII , Masamichi NAKAGAWA , Kunio NOBORI , Atsushi MORIMURA
IPC分类号： B62D6/00 , B60Q1/40 , H04N7/18 , B62D5/04
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.

5. 发明授权

US07176959B2 Vehicle surroundings display device and image providing system 有权
标题翻译：车辆周边显示装置和图像提供系统
公开(公告)号：US07176959B2
公开(公告)日：2007-02-13
申请号：US10237514
申请日：2002-09-09
申请人： Satoshi Sato , Masamichi Nakagawa , Shusaku Okamoto , Atsushi Morimura , Yoshihiko Matsukawa , Kunio Nobori
发明人： Satoshi Sato , Masamichi Nakagawa , Shusaku Okamoto , Atsushi Morimura , Yoshihiko Matsukawa , Kunio Nobori
IPC分类号： H04N7/18
CPC分类号： G01S11/12 , G01S17/936
摘要： In the vehicle surroundings display device of the invention, an image processor generates an image showing the situation around a vehicle. When an obstacle is detected by an obstacle detection means, the image processor determines an image missing region using the position of the border of the obstacle on the vehicle side detected by an obstacle position detection means and fills the image missing region with substitute image data. This eliminates unnaturalness of a display image the user may feel and enables the user to accurately recognize the position of a neighboring obstacle that is important in driving operation.
摘要翻译：在本发明的车辆周边显示装置中，图像处理器生成表示车辆周围的情况的图像。当障碍物检测装置检测到障碍物时，图像处理器使用由障碍物位置检测装置检测到的车辆侧的障碍物的边界的位置来确定图像丢失区域，并用替代图像数据填充图像丢失区域。这消除了用户可能感觉到的显示图像的不自然，并且使用户能够准确地识别在驾驶操作中重要的相邻障碍物的位置。

6. 发明授权

US07161616B1 Image processing device and monitoring system 有权
标题翻译：图像处理装置及监控系统
公开(公告)号：US07161616B1
公开(公告)日：2007-01-09
申请号：US09807654
申请日：2000-04-17
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： A47G23/02
CPC分类号： G06T15/205 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/607 , B60R2300/806 , G03B37/04 , G06T2200/32 , H04N7/181
摘要： A synthetic image viewed from a virtual point of view above a vehicle is generated, using images captured by a plurality of cameras shooting surroundings of the vehicle. In the synthetic image, an illustration image or an actual image of the vehicle is displayed in a vehicle region in which the vehicle is present. The area around the vehicle that is not shot by any of the cameras is displayed as a blind spot region.
摘要翻译：使用摄像车辆周围的多个摄像机拍摄的图像，生成从车辆上方的虚拟视点观看的合成图像。在合成图像中，在车辆存在的车辆区域中显示车辆的图示图像或实际图像。未被任何相机拍摄的车辆周围的区域被显示为盲点区域。

7. 发明授权

US07012548B2 Driving operation assisting method and system 有权
公开(公告)号：US07012548B2
公开(公告)日：2006-03-14
申请号：US09826797
申请日：2001-04-05
申请人： Hirofumi Ishii , Shusaku Okamoto , Kunio Nobori , Masamichi Nakagawa
发明人： Hirofumi Ishii , Shusaku Okamoto , Kunio Nobori , Masamichi Nakagawa
IPC分类号： B60Q1/48
CPC分类号： B62D15/027 , B60T2201/10 , B62D15/0285 , G08G1/161 , G08G1/165 , G08G1/168
摘要： In a driving operation assisting technique, the burden on a user is reduced. The user is allowed to specify, on an image representing the surrounding conditions around a vehicle, the end position of the vehicle at the end of a predetermined driving operation by using, for example, a pointer. A driving operation assisting system obtains the start position of the driving operation based on a prescribed movement pattern representing the movement of the vehicle in the driving operation, and superimposes the end position on the display image.

8. 发明授权

US06912001B2 Image processor and monitoring system 有权
标题翻译：图像处理器和监控系统
公开(公告)号：US06912001B2
公开(公告)日：2005-06-28
申请号：US09866082
申请日：2001-05-25
申请人： Shusaku Okamoto , Masamichi Nakagawa , Hirofumi Ishii , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Masamichi Nakagawa , Hirofumi Ishii , Kunio Nobori , Atsushi Morimura
IPC分类号： B60R21/00 , B60R1/00 , B60W30/00 , G06T3/00 , G08G1/16 , H04N1/387 , H04N7/18 , H04N5/228 , H04N9/47
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/303
摘要： In an image processor for synthesizing images that have been taken by multiple cameras mounted on a vehicle, even if any movable part of the vehicle has changed its state, the synthesized image will have no unnatural part. A pixel synthesizer receives the images that have been captured by the cameras included in an imaging section and generates the synthesized image by reference to a mapping table. Receiving a signal indicative of the state of a movable part such as the door or hood of the vehicle, a display mode changer disables at least one of the cameras that is taking an image to be affected by any change in the state of the movable part. For that purpose, the changer rewrites mapping data stored on the mapping table and thereby eliminates the image in question from the synthesized image.
摘要翻译：在用于合成由安装在车辆上的多个摄像机拍摄的图像的图像处理器中，即使车辆的任何可移动部分已经改变其状态，合成图像将不会有不自然的部分。像素合成器接收由成像部分所包含的相机拍摄的图像，并参照映射表生成合成图像。接收到指示诸如车辆的门或罩的可移动部件的状态的信号时，显示模式改变器禁止正在拍摄图像的至少一个相机受到可移动部件的状态的任何改变的影响。为此，更换器重写存储在映射表上的映射数据，从而从合成图像中消除所讨论的图像。

9. 发明授权

US06417880B1 Stereoscopic CG image generating apparatus and stereoscopic TV apparatus 有权
标题翻译：立体CG图像产生装置和立体电视装置
公开(公告)号：US06417880B1
公开(公告)日：2002-07-09
申请号：US09880287
申请日：2001-06-13
申请人： Kenya Uomori , Masamichi Nakagawa
发明人： Kenya Uomori , Masamichi Nakagawa
IPC分类号： H04N1300
CPC分类号： H04N13/398 , H04N13/122 , H04N13/128 , H04N13/161 , H04N13/167 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/257 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/327 , H04N13/337 , H04N13/341 , H04N13/356 , H04N13/361 , H04N13/373 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range. According to the thus constructed stereoscopic CG image generating apparatus and stereoscopic TV apparatus, proper camera parameters (focal length or field of view, camera spacing, and converging point) are determined based on the camera-to-object distance information, the magnitude of parallax of the generated stereoscopic CG images on the display device (or in a window on the display screen), and the viewing distance, so that easy-to-view stereoscopic CG images are automatically generated regardless of the display size, and by horizontally translating left-eye and right-eye images, binocular parallax of displayed images is automatically brought within the viewer's binocular fusional range regardless of the size of a stereoscopic display used.
摘要翻译：立体CG图像生成装置和立体电视装置具有投影变换部，其基于描述对象的三维形状的三维结构信息，从多个角度生成多个二维投影模型视点的距离信息提取部，其生成用于投影变换部中的计算的相机对物体距离信息;以及照相机参数确定部，其基于距离信息提取部的输出，用于显示最终生成的二维投影模型和观看者的观看距离的立体图像显示装置确定相机参数，使得立体CG图像将被带入观看者的双目融合范围内。根据如此构造的立体CG图像生成装置和立体电视装置，基于相机到物体的距离信息来确定适当的相机参数（焦距或视场，相机间距和会聚点），视差的大小在显示装置（或显示屏幕上的窗口）中产生的立体CG图像和观看距离，使得易于观看的立体CG图像被自动生成，而不管显示尺寸如何，并且通过水平平移左眼睛和右眼图像，无论所使用的立体显示器的尺寸如何，显示图像的双目视差自动被带入观察者的双目视觉范围内。

10. 发明授权

US06175379B1 Stereoscopic CG image generating apparatus and stereoscopic TV apparatus 有权
标题翻译：立体CG图像产生装置和立体电视装置
公开(公告)号：US06175379B1
公开(公告)日：2001-01-16
申请号：US09447638
申请日：1999-11-23
申请人： Kenya Uomori , Masamichi Nakagawa , Atsushi Morimura
发明人： Kenya Uomori , Masamichi Nakagawa , Atsushi Morimura
IPC分类号： H04N1302
CPC分类号： H04N13/398 , H04N13/122 , H04N13/128 , H04N13/161 , H04N13/167 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/257 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/327 , H04N13/337 , H04N13/341 , H04N13/356 , H04N13/361 , H04N13/373 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range. According to the thus constructed stereoscopic CG image generating apparatus and stereoscopic TV apparatus, proper camera parameters (focal length or field of view, camera spacing, and converging point) are determined based on the camera-to-object distance information, the magnitude of parallax of the generated stereoscopic CG images on the display device (or in a window on the display screen), and the viewing distance, so that easy-to-view stereoscopic CG images are automatically generated regardless of the display size, and by horizontally translating left-eye and right-eye images, binocular parallax of displayed images is automatically brought within the viewer's binocular fusional range regardless of the size of a stereoscopic display used.
摘要翻译：立体CG图像生成装置和立体电视装置具有投影变换部，其基于描述对象的三维形状的三维结构信息，从多个角度生成多个二维投影模型视点的距离信息提取部，其生成用于投影变换部中的计算的相机对物体距离信息;以及照相机参数确定部，其基于距离信息提取部的输出，用于显示最终生成的二维投影模型和观看者的观看距离的立体图像显示装置确定相机参数，使得立体CG图像将被带入观看者的双目融合范围内。根据如此构造的立体CG图像生成装置和立体电视装置，基于相机到物体的距离信息来确定适当的相机参数（焦距或视场，相机间距和会聚点），视差的大小在显示装置（或显示屏幕上的窗口）中产生的立体CG图像和观看距离，使得易于观看的立体CG图像被自动生成，而不管显示尺寸如何，并且通过水平平移左眼睛和右眼图像，无论所使用的立体显示器的尺寸如何，显示图像的双目视差自动被带入观察者的双目视觉范围内。

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