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1. 发明专利

JP2009288152A Calibration method of on-vehicle camera 有权
标题翻译：车载摄像机校准方法
公开(公告)号：JP2009288152A
公开(公告)日：2009-12-10
申请号：JP2008142665
申请日：2008-05-30
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： G01B11/26 , B60R1/00 , G06T1/00 , H04N5/232 , H04N7/18
CPC分类号： H04N17/002 , G06K9/00791 , G06K9/209 , G06T1/0007 , G06T7/80 , G06T2207/30208 , G06T2207/30252 , H04N5/247
摘要： PROBLEM TO BE SOLVED: To provide a calibration method of an on-vehicle camera for easily adjusting the on-vehicle camera, and dispensing with a large-scale environmental facility. SOLUTION: A plurality of installation patterns 13 whose shapes or position relations are determined beforehand are provided on the ground, and a vehicle is stopped near the installation patterns 13. Then, the installation patterns 13 are photographed by cameras 1 in the vehicle, and a relation between the cameras 1 in the vehicle and the installation patterns 13 or the like is determined by utilizing an image obtained by performing bird's-eye view conversion of the photographed image, to thereby determine automatically the attitude of each camera 1. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种车载摄像机的校准方法，用于容易地调整车载摄像机，并且分配大型环境设施。解决方案：将地面上确定了其形状或位置关系的多个安装图案13设置在地面上，并且车辆在安装图案13附近停止。然后，车辆中的照相机1拍摄安装图案13 ，并且通过利用通过执行拍摄图像的鸟瞰图转换获得的图像来确定车辆中的照相机1与安装图案13等之间的关系，从而自动确定每个照相机1的姿态。 P>版权所有（C）2010，JPO＆INPIT

2. 发明专利

JP2006252577A Map data generating apparatus 审中-公开
标题翻译：地图数据生成装置
公开(公告)号：JP2006252577A
公开(公告)日：2006-09-21
申请号：JP2006132441
申请日：2006-05-11
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI
IPC分类号： G06T3/00 , B60R1/00 , G06T1/00 , G08G1/16 , H04N5/225 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a vehicle surrounding image processor and recording medium capable of drawing a part outside a visual field of a camera and reducing loads on arithmetic processing. SOLUTION: In a step 110, coordinate transformation of an image photographed by the camera 1 is performed to create a bird's-eye view image. In a step 120, the bird's-eye view conversion is stored in an image memory A. In a step 130, a moving amount of a vehicle is obtained on the basis of a vehicle speed signal and a yaw rate signal. In a step 140, an moved bird's-eye view image is obtained by moving the bird's-eye view being stored into an image memory B on the basis of the moving amount of the vehicle. In a step 150, a new second bird's-eye view image is read from the image memory A. In a step 160, the moved bird's-eye view image and the second bird's-eye view image are synthesized to create a composed bird's-eye view. In a step 170, the synthesized bird's-eye view image is stored in the image memory B. In a step 180, the synthesized bird's-eye view image is displayed to a monitor 5 together with an image showing the vehicle and an image showing an angle of field of the camera 1. COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种能够在摄像机的视野外部绘制一部分的图像处理器和记录介质的车辆，并减少算术处理的负担。解决方案：在步骤110中，执行由照相机1拍摄的图像的坐标变换以创建鸟瞰图图像。在步骤120中，鸟瞰图转换被存储在图像存储器A中。在步骤130中，基于车速信号和横摆率信号获得车辆的移动量。在步骤140中，通过基于车辆的移动量将存储在图像存储器B中的鸟瞰视图移动来获得移动的鸟瞰图。在步骤150中，从图像存储器A中读取新的第二鸟瞰图图像。在步骤160中，合成移动的鸟瞰图图像和第二鸟瞰图图像，以创建组合的鸟瞰图视图。在步骤170中，将合成的鸟瞰图图像存储在图像存储器B中。在步骤180中，将合成的鸟瞰图图像与显示车辆的图像一起显示给监视器5，摄像机的视场角度1.版权所有（C）2006，JPO＆NCIPI

3. 发明专利

JP2006203817A Multicamera system 审中-公开
标题翻译： MULTICAMERA系统
公开(公告)号：JP2006203817A
公开(公告)日：2006-08-03
申请号：JP2005016064
申请日：2005-01-24
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： MIMA NORIO , YANAGAWA HIROHIKO , FUJITA MITSURU
IPC分类号： H04N7/18 , H04N5/225 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a multicamera system in which various operations of a plurality of IEEE1394 cameras can be synchronized via a network connected by IEEE1394.
SOLUTION: A display issues an isochronous packet (Vsync packet) for synchronization for all the 1394 cameras connected to the network synchronously with a vertical synchronizing signal (Vsync) of the display and transmits the Vsync packet onto the network. Each of the 1394 cameras carries out processing for synchronizing a shutter timing and a video data transmission timing with a reception timing of the Vsync packet as a criterion.
COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种多摄像机系统，其中多个IEEE1394摄像机的各种操作可以经由IEEE1394连接的网络同步。解决方案：显示器同时显示连接到网络的所有1394摄像机的等时数据包（Vsync数据包），与显示器的垂直同步信号（Vsync）同步，并将Vsync数据包发送到网络上。 1394相机中的每一个执行用于使快门时序和视频数据发送定时与Vsync分组的接收定时同步的处理作为标准。版权所有（C）2006，JPO＆NCIPI

4. 发明专利

JP2006160126A Vehicle information collection system 有权
标题翻译：车辆信息采集系统
公开(公告)号：JP2006160126A
公开(公告)日：2006-06-22
申请号：JP2004356028
申请日：2004-12-08
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： FUKUI SHINJI , HATTORI TOSHIHIRO , IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： B60R16/023 , B60R1/00 , B60R11/02 , B62D41/00 , H04L12/28 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a vehicle information collection system capable of reducing the cost when the system is mounted on a vehicle. SOLUTION: Network information transmitted on a vehicular network 203 is transmitted to a terminal side communication IF 105 of a communication terminal 100 with an image recorder via a network IF 205 and a vehicle side communication IF 201. The vehicle side communication IF 201 and the terminal side communication IF 105 perform transmission and reception through non-contact radio waves (for example, radio waves and infrared rays). COPYRIGHT: (C)2006,JPO&NCIPI
摘要翻译：要解决的问题：提供一种当系统安装在车辆上时能够降低成本的车辆信息收集系统。解决方案：经由网络IF 205和车辆侧通信IF 201将在车辆网络203上发送的网络信息发送到具有图像记录器的通信终端100的终端侧通信IF 105。车辆侧通信IF 201 并且终端侧通信IF 105通过非接触无线电波（例如，无线电波和红外线）进行发送和接收。版权所有（C）2006，JPO＆NCIPI

5. 发明专利

JP2003274394A Vehicle circumference image processor, program, and recording medium 有权
标题翻译：车辆循环图像处理器，程序和记录介质
公开(公告)号：JP2003274394A
公开(公告)日：2003-09-26
申请号：JP2002067158
申请日：2002-03-12
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： B60R21/00 , B60R1/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a vehicle circumference image processor which can generate an accurate bird's-eye view image and precisely display a composite bird' s-eye view image even if the elevation angle of a camera varies depending upon the state of a vehicle.
SOLUTION: The vehicle circumference image processor irradiates a road surface with red light from a laser light emitting device built in a rear camera at, for example, time T and time T+1. Then variation of the position of a projection image of the red light in a photographic image plane is detected to calculate the quantity of variation in elevation angle from the variation of the position, and this is added to or subtracted from an initial value of the elevation which is previously measured to calculate a real-time value of the elevation angle. The real-time value of the elevation angle is substituted in a specified conversion expression and the photographed image of the camera is processed by bird's-eye view conversion to generate a bird's-eye view image.
COPYRIGHT: (C)2003,JPO
摘要翻译：要解决的问题：为了提供一种能够生成准确的鸟瞰图图像并精确地显示复合鸟瞰图图像的车辆周围图像处理器，即使照相机的仰角根据状态而变化的车辆解决方案：车辆周围图像处理器例如在时间T和时间T + 1处，从内置于后置摄像机中的激光发射装置用红光照射路面。然后检测摄影图像平面中的红光的投影图像的位置的变化，以从位置的变化计算仰角的变化量，并将其加到或从初始的高程值中减去其被预先测量以计算仰角的实时值。仰角的实时值以指定的转换表达式代替，并且通过鸟瞰图转换处理相机的拍摄图像以生成鸟瞰图图像。版权所有（C）2003，JPO

6. 发明专利

JP2013156672A Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：JP2013156672A
公开(公告)日：2013-08-15
申请号：JP2012014245
申请日：2012-01-26
申请人： Nippon Soken Inc , 株式会社日本自動車部品総合研究所 , Denso Corp , 株式会社デンソー
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO , MATSUKAWA NORIFUMI , YOKOTA NOBUYUKI
IPC分类号： G08G1/16 , B60R1/00 , B60R21/00 , G06T1/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To allow a driver to more easily recognize a mobile body on the road than before in a technique for performing information display according to a change in pixel value on a detection line in a photographed image.SOLUTION: A vehicle periphery monitoring device detects a road direction being a direction the road extends with a vehicle as a reference (step 115), obtains a photographed image photographed by a camera that photographs periphery of the outside of the vehicle (step 123), sets a detection line parallel with the detected road direction in a three-dimensional space (step 120), calculates a position in the photographed image on the set detection line (125), and performs information display according to a change in pixel value at a position on the detection line in the photographed image (135, 140, 145).
摘要翻译：要解决的问题：根据拍摄图像中的检测线上的像素值的变化，允许驾驶员在用于执行信息显示的技术中更容易地识别道路上的移动体。解决方案：车辆周边监控设备以车辆为基准，检测作为道路延伸方向的道路方向（步骤115），获取摄像机拍摄的摄像图像（步骤123），其中摄像机拍摄车辆外部的周围（步骤123），设置与在三维空间中检测到的道路方向（步骤120），计算设定检测线（125）上的拍摄图像中的位置，并根据检测线上的位置处的像素值的变化进行信息显示拍摄的图像（135,140,145）。

7. 发明专利

JP2007274377A Periphery monitoring apparatus, and program 审中-公开
标题翻译：周边监控设备和程序
公开(公告)号：JP2007274377A
公开(公告)日：2007-10-18
申请号：JP2006097922
申请日：2006-03-31
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO
IPC分类号： H04N7/18 , B60R1/00 , B60R11/02 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a periphery monitoring apparatus which provides a high-visibility image, and to provide a program for driving the periphery monitoring apparatus.
SOLUTION: The periphery monitoring apparatus processes images photographed by a first imaging section, a second imaging section and a third imaging section to generate a merged bird's-eye view image disposed on one plane from the three photographed images (S220-S240), performs viewpoint conversion on the bird's-eye view image with a virtual camera as a viewpoint to generate a viewpoint converted image (S250), weights a pixel corresponding to a target pixel so as to increase a ratio of referring to the luminance of pixels belonging to an image having a rear boundary (or side boundary) (rear image in the rear boundary) as a distance from the boundary to the pixel is short, and obtains weighted average thereof, thereby calculating the luminance of the target pixel (S260). Thus, the image is defined as a display image and the display image is output to a display device (S270).
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种提供高可见度图像的周边监视装置，并提供用于驱动周边监视装置的程序。周边监视装置处理由第一成像部分，第二成像部分和第三成像部分拍摄的图像，以从三个拍摄的图像生成设置在一个平面上的合并的鸟瞰图像（S220-S240）利用虚拟摄像机作为视点对鸟瞰图图像进行视点转换以生成视点转换图像（S250），对与目标像素对应的像素进行加权，以增加参照所属像素的亮度的比率对于具有从边界到像素的距离的后边界（或边界）（后边界的后图像）的图像短，并且获得其加权平均值，从而计算目标像素的亮度（S260）。因此，将图像定义为显示图像，并将显示图像输出到显示装置（S270）。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2005239048A Parking assistance system 审中-公开
标题翻译：停车辅助系统
公开(公告)号：JP2005239048A
公开(公告)日：2005-09-08
申请号：JP2004053805
申请日：2004-02-27
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , MATSUE TAKENORI , INA TOSHIKAZU , HAYASHI IKUO , YANAGAWA HIROHIKO
IPC分类号： B60R21/00 , B60R1/00 , B62D6/00 , B62D101/00 , B62D111/00 , B62D113/00 , G06T1/00 , G06T3/00 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To easily set a user's target parking frame. SOLUTION: When an optional position is designated by the user with bird's eye view picture, the parking assistance system sets the designated position as a parking position, image-analyzes a periphery of the designated position and sets the detected direction as the parking direction. The system sets the parking frame based on the set parking position, the parking direction and a size of the own vehicle and superposes a parking frame figure representing the set parking frame on the bird's eye view picture and displays. The user can easily set the target parking frame while looking at the bird's eye view picture. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：轻松设置用户的目标停车框架。
解决方案：当用户用鸟瞰图来指定可选位置时，停车辅助系统将指定位置设置为停车位置，对指定位置的周边进行图像分析，并将检测到的方向设置为停车位方向。该系统基于设定的停车位置，停车方向和本车辆的大小设定停车框架，并将表示设定的停车框架的停车框架图像叠加在鸟瞰图上并显示。用户可以在观看鸟瞰图的同时轻松设置目标停车框。版权所有（C）2005，JPO＆NCIPI

9. 发明专利

JP2005212660A Parking assist system 有权
标题翻译：停车辅助系统
公开(公告)号：JP2005212660A
公开(公告)日：2005-08-11
申请号：JP2004023299
申请日：2004-01-30
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , MATSUE TAKENORI , YANAGAWA HIROHIKO
IPC分类号： B60R21/00 , B60R1/00 , B60R11/02 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To make drivers properly recognize a relationship between a position of an own vehicle and peripheries at the time of parking.
SOLUTION: This parking assist system calculates a moving condition of the own vehicle, calculates a range of taken images according to the moving condition of the own vehicle as a schematic converting range, creates schematic images by schematically converting the range of the taken images calculated as the schematic converting range, and displays the schematic images by rotating and moving them in parallel according to the moving condition of the own vehicle in a manner that a display position of a parking frame (target) is matched with a display position of the parking frame on the schematic images at the parking start time. Thereby, the position of the own vehicle can be chronologically moved and displayed while resting a background.
COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：使驾驶员正确地识别自身车辆的位置与停车时的周边之间的关系。解决方案：该停车辅助系统计算自身车辆的移动状态，根据本车辆的移动状态计算拍摄图像的范围作为示意转换范围，通过示意性地转换所拍摄的范围来创建示意图像图像作为原理图转换范围计算，并且以与停车框（目标）的显示位置与显示位置相匹配的方式根据本车辆的移动状态旋转并平行移动它们来显示示意图像驻车框架在原理图上的停车开始时间。因此，本身的车辆的位置可以在休息背景的同时按时间顺序地移动和显示。版权所有（C）2005，JPO＆NCIPI

10. 发明专利

JP2003009141A Processing device for image around vehicle and recording medium 有权
标题翻译：用于车辆图像和记录介质的处理装置
公开(公告)号：JP2003009141A
公开(公告)日：2003-01-10
申请号：JP2001195135
申请日：2001-06-27
申请人： Denso Corp , Nippon Soken Inc , 株式会社デンソー , 株式会社日本自動車部品総合研究所
发明人： IMANISHI KATSUYUKI , YANAGAWA HIROHIKO , ISHIKAWA TETSUTOSHI
IPC分类号： G01B11/26 , B60R1/00 , G06T3/00 , G06T7/20 , H04N5/225 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a processing device for an image around a vehicle and a recording medium capable of forming an image of a part outside of the visual field of a camera and reducing burden of computing. SOLUTION: In step 110, coordinate transformation is applied to an image picked up with a camera 1 to form a bird's eye view image. In step 120, a first bird's eye view image is stored in an image memory B, and a second bird's eye view image is stored in an image memory B. In step 130, motion vectors are calculated by a method for matching the divided areas using the first and second bird's eye view images. In step 150, it is determined whether the average value of the motion vectors is equal to or more than a decision value K. In step 160, the center of movement of the vehicle is calculated. In step 170, an angle θ of movement of the vehicle is calculated. In step 180, a previous combined bird's eye view image of an image memory C is moved to form a bird's eye view image after being moved. In step 200, the bird's eye view image after being moved is combined with the second bird's eye view image to form a combined bird's eye view image.
摘要翻译：要解决的问题：提供一种用于车辆周围的图像的处理装置和能够形成摄像机的视野以外的部分的图像的记录介质，并且减少计算的负担。解决方案：在步骤110中，将坐标变换应用于用相机1拍摄的图像，以形成鸟瞰图。在步骤120中，将第一鸟瞰图图像存储在图像存储器B中，并且将第二鸟瞰图图像存储在图像存储器B中。在步骤130中，通过用于使用第一只和第二只鸟瞰图。在步骤150中，确定运动矢量的平均值是否等于或大于判定值K.在步骤160中，计算车辆的运动中心。在步骤170中，计算车辆的移动角度θ。在步骤180中，移动图像存储器C的先前组合的鸟瞰图图像以在移动之后形成鸟瞰图图像。在步骤200中，将移动后的鸟瞰图与第二鸟瞰图图像组合，形成组合的鸟瞰图。

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