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1. 发明申请

US20130335561A1 In-Vehicle Camera and In-Vehicle Camera System 有权
标题翻译：车载相机和车载相机系统
公开(公告)号：US20130335561A1
公开(公告)日：2013-12-19
申请号：US13983289
申请日：2012-03-01
申请人： Naoki Kourogi , Tatsuhiko Monji
发明人： Naoki Kourogi , Tatsuhiko Monji
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , B60R21/0134 , G08G1/165
摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.
摘要翻译：在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离，图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

2. 发明申请

US20120269382A1 Object Recognition Device and Object Recognition Method 有权
标题翻译：对象识别装置和对象识别方法
公开(公告)号：US20120269382A1
公开(公告)日：2012-10-25
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译：物体识别装置包括：安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

3. 发明授权

US08818026B2 Object recognition device and object recognition method 有权
标题翻译：物体识别装置和物体识别方法
公开(公告)号：US08818026B2
公开(公告)日：2014-08-26
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译：物体识别装置包括：安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

4. 发明申请

US20100040289A1 Load Sign Recognition Apparatus and Load Sign Recognition Method 审中-公开
标题翻译：负载符号识别装置和载荷识别方法
公开(公告)号：US20100040289A1
公开(公告)日：2010-02-18
申请号：US12370073
申请日：2009-02-12
申请人： Kota IRIE , Masahiro KIYOHARA , Naoki KOUROGI
发明人： Kota IRIE , Masahiro KIYOHARA , Naoki KOUROGI
IPC分类号： G06K9/36 , G06K9/62 , G06K9/46
CPC分类号： G01C21/26 , G06K9/00798
摘要： A road sign recognition apparatus generates a mosaic image formed by connecting accumulated images from a camera in time-series order, determines multiple road signs contained in the mosaic image by template matching, and generates positional information for the use of knowing a relative position of a vehicle to the road sign.
摘要翻译：路标识别装置生成通过以时间顺序连接来自摄像机的累积图像形成的马赛克图像，通过模板匹配来确定包含在马赛克图像中的多个道路标志，并生成用于知道马赛克的相对位置的位置信息车辆到路标。

5. 发明申请

US20090174577A1 Image recognition apparatuses, methods and programs 有权
标题翻译：图像识别装置，方法和程序
公开(公告)号：US20090174577A1
公开(公告)日：2009-07-09
申请号：US12292887
申请日：2008-11-28
申请人： Masaki Nakamura , Tomoaki Ishikawa , Osamu Aisaka , Kota Irie , Naoki Kourogi , Takeshi Shima , Masahiro Kiyohara
发明人： Masaki Nakamura , Tomoaki Ishikawa , Osamu Aisaka , Kota Irie , Naoki Kourogi , Takeshi Shima , Masahiro Kiyohara
IPC分类号： G08G1/123 , G06K9/00
CPC分类号： G06K9/00798
摘要： Image information apparatuses, methods, and programs acquire image information of a plurality of frames of images sensed at predetermined regular time intervals. The apparatuses, methods, and programs detect a leading and trailing end of a lane mark included in a detection area defined in each frame of the image information. The apparatuses, methods, and programs detect a detected distance from one of the leading and trailing end of the lane mark to the other one as a detected distance based on the speed of the vehicle and the number of frames between a frame in which one of the leading end and the trailing end of the lane mark is detected and a frame in which the other one of the leading end and the trailing end of the lane mark is detected and determine a lane mark type of the lane mark on the basis of the detected distance.
摘要翻译：图像信息装置，方法和程序获取以预定的规则时间间隔感测的多个图像帧的图像信息。设备，方法和程序检测包括在图像信息的每个帧中定义的检测区域中的车道标记的前端和后端。装置，方法和程序根据车辆的速度和帧之间的帧数检测从车道标记的前端和后端之一到另一车道标记的检测距离，检测车道标记的前端和尾端，并且检测车道标记的前端和后端中的另一个被检测到的帧，并基于该车道标记确定车道标记的车道标记类型检测距离。

6. 发明申请

US20090226035A1 Three-Dimensional Object Detecting Device 失效
标题翻译：三维物体检测装置
公开(公告)号：US20090226035A1
公开(公告)日：2009-09-10
申请号：US12223638
申请日：2007-02-07
申请人： Akira Iihoshi , Yasushi Ueda , Satoko Furuki , Zhencheng Hu , Keiichi Uchimura , Naoki Kourogi
发明人： Akira Iihoshi , Yasushi Ueda , Satoko Furuki , Zhencheng Hu , Keiichi Uchimura , Naoki Kourogi
IPC分类号： G06K9/00
CPC分类号： G06K9/00234 , G06K9/00255 , G06T7/521 , G06T7/74 , G06T2207/30196 , G06T2207/30268
摘要： A three-dimensional-object can be effectively detected. A pair of image capture devices capture a three-dimensional-object and calculate disparity component data of subdivided-image regions, respectively. On a basis of the disparity component data, gray scale values indicative of distances from the image capture device are calculated and a gray scale image in which each region has its corresponding gray scale value is generated. A model of the three-dimensional-object is defined and correlation values is calculated to show the degree of a similarity between the model and the image subdivided regions in the gray scale image. The model is a two-dimensional image with a shaping characteristic when the three-dimensional object is viewed from positions of the image capture devices while each subdivided region of the two-dimensional image has a gray scale value indicative of a distance from the image capture device at a portion corresponding to the three-dimensional object. The correlation values are calculated on a basis of gray scale values of the model and those of the image region in the gray scale image. The model and an image region with the highest correlation value are detected in the gray scale image, so that a three-dimensional image is detected.
摘要翻译：可以有效地检测三维物体。一对图像捕获装置捕获三维对象并分别计算细分图像区域的视差分量数据。在视差分量数据的基础上，计算指示与图像拍摄装置的距离的灰度值，并生成其中每个区域具有其对应的灰度值的灰度图像。定义三维对象的模型，并计算相关值，以显示灰度图像中模型与图像细分区域之间的相似度。该模型是当从图像捕获装置的位置观看三维物体时具有成形特征的二维图像，而二维图像的每个细分区域具有指示距离图像捕获的距离的灰度值设备在对应于三维物体的部分。基于灰度图像的灰度值和图像区域的灰度值计算相关值。在灰度图像中检测出具有最高相关值的模型和图像区域，从而检测出三维图像。

7. 发明授权

US08878935B2 In-vehicle camera and in-vehicle camera system 有权
标题翻译：车载摄像头和车载摄像头系统
公开(公告)号：US08878935B2
公开(公告)日：2014-11-04
申请号：US13983289
申请日：2012-03-01
申请人： Naoki Kourogi , Tatsuhiko Monji
发明人： Naoki Kourogi , Tatsuhiko Monji
IPC分类号： H04N7/18 , G06K9/00 , H04N5/225 , G08G1/16 , B60R21/0134
CPC分类号： H04N7/18 , B60R21/0134 , G08G1/165
摘要： In the present invention, images at a front side or a rear side of a vehicle are obtained from a plurality of image capturing devices and a disparity and a distance to the captured object are calculated from the images, if the disparity is not sufficiently obtained, pattern light is irradiated onto a capturing object and an image of the object onto which the pattern light is irradiated is obtained again from the plurality of image capturing devices and the disparity and the distance to the captured object are calculated. Therefore, it is possible to provide an in-vehicle camera and system that recognizes an obstacle even in a situation where it is difficult to obtain the disparity of the obstacle around the vehicle.
摘要翻译：在本发明中，从多个图像拍摄装置获得车辆的前侧或后侧的图像，并且如果不能充分获得视差，则根据图像计算与拍摄对象的视差和距离，图案光被照射到拍摄对象上，并且从多个图像捕获装置再次获得照射有图案光的对象的图像，并且计算视差和到被拍摄对象的距离。因此，即使在难以获得车辆周围的障碍物的不一致的情况下，也可以提供识别障碍物的车载摄像机和系统。

8. 发明授权

US08396283B2 Three-dimensional object detecting device 失效
标题翻译：三维物体检测装置
公开(公告)号：US08396283B2
公开(公告)日：2013-03-12
申请号：US12223638
申请日：2007-02-07
申请人： Akira Iihoshi , Yasushi Ueda , Satoko Furuki , Zhencheng Hu , Keiichi Uchimura , Naoki Kourogi
发明人： Akira Iihoshi , Yasushi Ueda , Satoko Furuki , Zhencheng Hu , Keiichi Uchimura , Naoki Kourogi
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： G06K9/00234 , G06K9/00255 , G06T7/521 , G06T7/74 , G06T2207/30196 , G06T2207/30268
摘要： A three-dimensional-object can be effectively detected. A pair of image capture devices capture a three-dimensional-object and calculate disparity component data of subdivided-image regions, respectively. On a basis of the disparity component data, gray scale values indicative of distances from the image capture device are calculated and a gray scale image in which each region has its corresponding gray scale value is generated. A model of the three-dimensional-object is defined and correlation values is calculated to show the degree of a similarity between the model and the image subdivided regions in the gray scale image. The model is a two-dimensional image with a shaping characteristic when the three-dimensional object is viewed from positions of the image capture devices while each subdivided region of the two-dimensional image has a gray scale value indicative of a distance from the image capture device at a portion corresponding to the three-dimensional object. The correlation values are calculated on a basis of gray scale values of the model and those of the image region in the gray scale image. The model and an image region with the highest correlation value are detected in the gray scale image, so that a three-dimensional image is detected.
摘要翻译：可以有效地检测三维物体。一对图像捕获装置捕获三维对象并分别计算细分图像区域的视差分量数据。在视差分量数据的基础上，计算指示与图像拍摄装置的距离的灰度值，并生成其中每个区域具有其对应的灰度值的灰度图像。定义三维对象的模型，并计算相关值，以显示灰度图像中模型与图像细分区域之间的相似度。该模型是当从图像捕获装置的位置观看三维物体时具有成形特征的二维图像，而二维图像的每个细分区域具有指示距离图像捕获的距离的灰度值设备在对应于三维物体的部分。基于灰度图像的灰度值和图像区域的灰度值计算相关值。在灰度图像中检测出具有最高相关值的模型和图像区域，从而检测出三维图像。

9. 发明授权

US07948397B2 Image recognition apparatuses, methods and programs 有权
标题翻译：图像识别装置，方法和程序
公开(公告)号：US07948397B2
公开(公告)日：2011-05-24
申请号：US12292887
申请日：2008-11-28
申请人： Masaki Nakamura , Tomoaki Ishikawa , Osamu Aisaka , Kota Irie , Naoki Kourogi , Takeshi Shima , Masahiro Kiyohara
发明人： Masaki Nakamura , Tomoaki Ishikawa , Osamu Aisaka , Kota Irie , Naoki Kourogi , Takeshi Shima , Masahiro Kiyohara
IPC分类号： G08G1/16
CPC分类号： G06K9/00798
摘要： Image information apparatuses, methods, and programs acquire image information of a plurality of frames of images sensed at predetermined regular time intervals. The apparatuses, methods, and programs detect a leading and trailing end of a lane mark included in a detection area defined in each frame of the image information. The apparatuses, methods, and programs detect a detected distance from one of the leading and trailing end of the lane mark to the other one as a detected distance based on the speed of the vehicle and the number of frames between a frame in which one of the leading end and the trailing end of the lane mark is detected and a frame in which the other one of the leading end and the trailing end of the lane mark is detected and determine a lane mark type of the lane mark on the basis of the detected distance.
摘要翻译：图像信息装置，方法和程序获取以预定的规则时间间隔感测的多个图像帧的图像信息。设备，方法和程序检测包括在图像信息的每个帧中定义的检测区域中的车道标记的前端和后端。装置，方法和程序根据车辆的速度和帧之间的帧数检测从车道标记的前端和后端之一到另一车道标记的检测距离，检测车道标记的前端和尾端，并且检测车道标记的前端和后端中的另一个被检测到的帧，并基于该车道标记确定车道标记的车道标记类型检测距离。

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