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1. 发明授权

US09292735B2 Living body recognizing device 有权
标题翻译：生物识别装置
公开(公告)号：US09292735B2
公开(公告)日：2016-03-22
申请号：US14131969
申请日：2012-08-31
申请人： Nobuharu Nagaoka , Makoto Aimura , Kodai Matsuda
发明人： Nobuharu Nagaoka , Makoto Aimura , Kodai Matsuda
IPC分类号： G06K9/00 , G08G1/16 , H04N7/18 , H04N5/33
CPC分类号： G06K9/00369 , G08G1/166 , H04N5/33 , H04N7/18
摘要： A living body recognizing device is equipped with a captured image acquiring unit which acquires captured images from infrared cameras having a characteristics that a luminance of an image portion of a target object becomes higher as a temperature of the target object becomes higher than a background, and vice versa, according to a temperature difference between the background and the target object, a living body image extracting unit which executes a first living body image extracting processing of extracting the image portion of the target object assumed as a living body, from a region in the captured image where the luminance is equal to or lower than a first threshold value, and a living body recognizing unit which recognizes an existence of the living body, based on the image portion of the target object extracted by the living body image extracting unit.
摘要翻译：生物体识别装置配备有捕捉图像获取单元，其从具有目标对象的图像部分的亮度变得更高的特征的红外线照相机获取捕获图像，因为目标对象的温度变得高于背景，并且反之亦然，根据背景和目标对象之间的温度差，生物体图像提取单元执行从假定为生物体的目标对象的图像部分提取的第一生物体图像提取处理，基于由生物体图像提取单元提取的目标对象的图像部分，识别生物体的存在的生物体识别单元，其中亮度等于或低于第一阈值的拍摄图像。

2. 发明授权

US08994824B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08994824B2
公开(公告)日：2015-03-31
申请号：US13515618
申请日：2010-12-16
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18 , B60R1/00 , G06K9/00 , G08G1/16
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/103 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00805 , G06K9/00825 , G08G1/16 , G08G1/166
摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.
摘要翻译：车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

3. 发明授权

US08401715B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08401715B2
公开(公告)日：2013-03-19
申请号：US13265598
申请日：2010-01-14
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： G05D1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10016 , G06T2207/30261 , G08G1/166
摘要： Provided is a vehicle periphery monitoring device having: a first distance calculating unit (25) which calculates a distance between a vehicle (10) and an object, using a parallax gradient of image sections of the same object among a plurality of images captured by infrared cameras (2R, 2L) at different times within a predetermined sampling interval; a vehicular velocity sensor (4) which detects a vehicular velocity of the vehicle (10); and a sampling interval setting unit (23) which sets the sampling interval shorter with the increase of the vehicular velocity of the vehicle (10).
摘要翻译：本发明提供一种车辆周边监视装置，其具有：第一距离计算部（25），其使用由红外线捕获的多个图像中的相同对象的图像部分的视差梯度来计算车辆（10）和物体之间的距离相机（2R，2L）在预定采样间隔内的不同时间; 检测车辆（10）的车速的车速传感器（4）; 以及采样间隔设定单元（23），其随着车辆（10）的车速的增加来设定采样间隔更短。

4. 发明申请

US20120281878A1 TARGET-OBJECT DISTANCE MEASURING DEVICE AND VEHICLE MOUNTED WITH THE DEVICE 有权
标题翻译：目标对象距离测量装置和与装置安装的车辆
公开(公告)号：US20120281878A1
公开(公告)日：2012-11-08
申请号：US13511074
申请日：2010-10-18
申请人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
发明人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G06K9/46
CPC分类号： G06T7/0046 , G06T7/60 , G06T7/75 , G06T2207/30196 , G06T2207/30261 , G08G1/16 , G08G1/166
摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.
摘要翻译：在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离身体候选人的形象。头部宽度约为15-16厘米。基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

5. 发明授权

US08306263B2 Object type determination apparatus, vehicle, object type determination method, and program for determining object type 有权
标题翻译：对象类型确定装置，车辆，对象类型确定方法和用于确定对象类型的程序
公开(公告)号：US08306263B2
公开(公告)日：2012-11-06
申请号：US12218517
申请日：2008-07-16
申请人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
发明人： Nobuharu Nagaoka , Makoto Aimura , Takayuki Tsuji
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： An object type determination apparatus, an object type determination method, a vehicle, and a program for determining an object type, capable of accurately determining the type of the object by appropriately determining periodicity in movement of the object from images, are provided. The object type determination apparatus includes an object area extracting means (11) for extracting an area of an object from an image picked up by an image pick-up means (2R, 2L), an object end point extracting means (12) for extracting an end point of an image portion of the object from the extracted object area, an object periodicity determination means (13) for calculating time series data of a feature value representing a size of the object using the end point of the image portion of the object extracted by the object end point extracting means (12) from the area of the object extracted by the object area extracting means (11) for respective ones of time series images picked up by the image pick-up means (2R, 2L) to determine whether the feature value changes with prescribed periodicity, and a living body determination means (14) for determining the object having the feature value determined to change with periodicity as a living body.
摘要翻译：提供了一种对象类型确定装置，对象类型确定方法，车辆和用于确定对象类型的程序，能够通过从图像适当地确定对象的移动周期来精确地确定对象的类型。对象类型确定装置包括：对象区域提取装置，用于从由图像拾取装置（2R，2L）拾取的图像中提取对象的区域;对象终点提取装置（12），用于提取来自提取的对象区域的对象的图像部分的终点;对象周期性确定装置（13），用于使用对象的图像部分的终点来计算表示对象的大小的特征值的时间序列数据由对象终点提取装置（12）从由对象区域提取装置（11）提取的对象区域针对由图像拾取装置（2R，2L）拾取的各个时间序列图像提取出来，以确定所述特征值是否以规定的周期性变化，以及生物体确定装置（14），用于确定被确定为周期性变化的特征值的物体作为活体。

6. 发明授权

US08077909B2 Apparatus and method for testing infrared camera 有权
标题翻译：红外摄像机测试装置及方法
公开(公告)号：US08077909B2
公开(公告)日：2011-12-13
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译：一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。

7. 发明申请

US20110234805A1 VEHICLE PERIPHERY MONITORING APPARATUS 审中-公开
标题翻译：车辆周边监控装置
公开(公告)号：US20110234805A1
公开(公告)日：2011-09-29
申请号：US13124171
申请日：2009-10-08
申请人： Kodai Matsuda , Nobuharu Nagaoka , Izumi Takatsudo
发明人： Kodai Matsuda , Nobuharu Nagaoka , Izumi Takatsudo
IPC分类号： H04N5/33
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/205 , B60R2300/301 , B60R2300/307 , B60R2300/70 , B60R2300/8033 , G06K9/00369 , G06K9/00805 , G06K2209/07 , G06T7/11 , G06T7/136 , G06T2207/10048 , G06T2207/20132 , G06T2207/30196 , G06T2207/30261
摘要： Provided is a device for monitoring the surrounding area of a vehicle. The device separates and extracts an object around the vehicle in better precision from the background. The device detects the ambient temperature of the vehicle, and determines a temperature difference between the ambient temperature and an object surface temperature estimated on the basis of the ambient temperature. On the basis of the brightness value of the background of a captured image obtained by an infrared camera and a brightness difference corresponding to the temperature difference, the brightness value of the object is calculated. The captured image is binarized by using the brightness value of the object as a threshold value, and the object is extracted. Since the binary threshold value is set on the basis of the relation between the ambient temperature and the object surface temperature, the object can be separated and extracted in the better precision from the background.
摘要翻译：提供了用于监视车辆的周围区域的装置。该设备从背景中更精确地分离并提取车辆周围的物体。该装置检测车辆的环境温度，并且确定环境温度和基于环境温度估计的物体表面温度之间的温度差。基于由红外线摄像机获得的拍摄图像的背景的亮度值和对应于温度差的亮度差，计算对象的亮度值。通过使用对象的亮度值作为阈值对拍摄图像进行二值化处理，并提取对象。由于根据环境温度和物体表面温度之间的关系来设定二值阈值，所以可以从背景中以更好的精度分离和提取物体。

8. 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。

9. 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。

10. 发明授权

US07974445B2 Vehicle periphery monitoring device, vehicle, and vehicle periphery monitoring program 有权
标题翻译：车辆周边监控装置，车辆和车辆周边监控程序
公开(公告)号：US07974445B2
公开(公告)日：2011-07-05
申请号：US12809874
申请日：2008-10-07
申请人： Nobuharu Nagaoka , Yuji Yokochi
发明人： Nobuharu Nagaoka , Yuji Yokochi
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00369 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/136 , G06T7/73 , G06T2207/10016 , G06T2207/30261
摘要： A vehicle periphery monitoring device which determines type of an object with high accuracy, wherein the size of object regions that are set in each of the image representing the peripheral condition of the vehicle in each of two different points in time and that include the identical objects, are aligned on the basis of the distance from the vehicle to the object in each of the two different point in time. Further, local regions with the same arrangement pattern are set taking each of the object regions with aligned size as reference. Still further, the object is classified into the object class which corresponds to the arrangement pattern in the case where the degree of correlation between the local regions becomes equal to or larger than a threshold value.
摘要翻译：一种车辆周边监视装置，其以高精度确定对象的类型，其中，在两个不同时间点中的每一个中表示车辆的周边状态的每个图像中设置的对象区域的大小，并且包括相同对象在两个不同时间点的每一个中基于从车辆到物体的距离对准。此外，以具有对准尺寸的每个对象区域作为参考，设置具有相同布置图案的局部区域。此外，在本地区域之间的相关程度变得等于或大于阈值的情况下，将对象分类为与布置模式对应的对象类别。

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