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1. 发明授权

US07132933B2 Obstacle detection device and method therefor 有权
标题翻译：障碍物检测装置及其方法
公开(公告)号：US07132933B2
公开(公告)日：2006-11-07
申请号：US11086357
申请日：2005-03-23
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
摘要翻译：提供了一种技术，用于帮助驾驶安全驾驶，实现车辆自动驾驶，或计算道路上过往车辆的数量，或者监控那些过往车辆进行驾驶的技术。使用安装在车辆中或设置在道路上方的多个照相机，即使路面和各个照相机之间的关系由于照相机振动或道路倾斜的变化而不断地在相对位置或姿势上变化，所以位于检测道路上的其他车辆，停放的车辆和道路上的行人，而不会混淆那些与白线，道路标志，油漆，道路污渍和路边物体的阴影的纹理，这些都不会扰乱车辆行驶。障碍物检测装置10由图像输入部11构成，用于从多个摄像装置101接收图像，对应检测部12，用于从接收到的左右图像中找到多对对应点，倾斜度计算部13，用于计算包括对应点的平面的倾斜度;以及结果确定部14，用于当所计算的坡度大于预定值时确定为有障碍物。

2. 发明授权

US07091837B2 Obstacle detecting apparatus and method 有权
标题翻译：障碍物检测装置及方法
公开(公告)号：US07091837B2
公开(公告)日：2006-08-15
申请号：US10387465
申请日：2003-03-14
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus configured to detect an obstacle present on the road, such as a vehicle running ahead, a parked vehicle, and a pedestrian, by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle, such as the texture like the white line or signs on the road surface, and the guardrail along the roadside.
摘要翻译：障碍物检测装置，被配置为通过将障碍物与不会阻碍车辆驾驶的物体（例如纹理）区分开来来检测诸如前方行驶的车辆，停放的车辆和行人路上存在的障碍物像路面上的白线或标志，路边的护栏。

3. 发明授权

US06906620B2 Obstacle detection device and method therefor 有权
公开(公告)号：US06906620B2
公开(公告)日：2005-06-14
申请号：US10649939
申请日：2003-08-28
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/00 , G08G1/04 , G08G1/16 , H04N7/18
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

4. 发明授权

US07209031B2 Obstacle detecting apparatus and method 有权
标题翻译：障碍物检测装置及方法
公开(公告)号：US07209031B2
公开(公告)日：2007-04-24
申请号：US11384314
申请日：2006-03-21
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus includes an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images, a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images, a feature comparing unit for comparing the feature quantities, and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result. The obstacle detecting apparatus can thus detect an obstacle present on the road by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle.
摘要翻译：障碍物检测装置包括：图像输入单元，用于接收分别从多个摄像装置输入并累积输入图像的图像;特征计算单元，用于计算各个累积图像中的预定特定特征量;特征比较单元用于比较特征量，以及结果判断单元，用于基于比较结果来判断障碍物的存在与否。障碍物检测装置因此可以通过将障碍物与仅对物体隔离而不会阻碍车辆的行驶来检测存在于道路上的障碍物。

5. 发明申请

US20060182312A1 Obstacle detecting apparatus and method 有权
公开(公告)号：US20060182312A1
公开(公告)日：2006-08-17
申请号：US11384314
申请日：2006-03-21
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00 , B60Q1/00 , H04N7/18
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus, comprising: an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images; a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images; a feature comparing unit for comparing the feature quantities in the respective accumulated images; and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result obtained in the feature comparing unit. The obstacle detecting apparatus can thus detect an obstacle present on the road, such as a vehicle running ahead, a parked vehicle, and a pedestrian, by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle, such as the texture like the white line or signs on the road surface, and the guardrail along the roadside.

6. 发明申请

US20050169530A1 Obstacle detection device and method therefor 有权
标题翻译：障碍物检测装置及其方法
公开(公告)号：US20050169530A1
公开(公告)日：2005-08-04
申请号：US11086357
申请日：2005-03-23
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/00 , G08G1/04 , G08G1/16 , H04N7/18 , G06K9/46
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
摘要翻译：提供了一种技术，用于帮助驾驶安全驾驶，实现车辆自动驾驶，或计算道路上过往车辆的数量，或者监控那些过往的车辆进行驾驶。使用安装在车辆中或设置在道路上方的多个照相机，即使路面和各个照相机之间的关系由于照相机振动或道路倾斜的变化而不断地在相对位置或姿势上变化，所以位于检测道路上的其他车辆，停放的车辆和道路上的行人，而不会混淆那些与白线，道路标志，油漆，道路污渍和路边物体的阴影的纹理，这些都不会扰乱车辆行驶。障碍物检测装置10由图像输入部11构成，用于从多个摄像装置101接收图像，对应检测部12，用于从接收到的左右图像中找到多对对应点，倾斜度计算部13，用于计算包括对应点的平面的倾斜度;以及结果确定部14，用于当所计算的坡度大于预定值时确定为有障碍物。

7. 发明授权

US07706572B2 Obstacle detection system and method therefor 失效
标题翻译：障碍物检测系统及其方法
公开(公告)号：US07706572B2
公开(公告)日：2010-04-27
申请号：US12028646
申请日：2008-02-08
申请人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
发明人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
摘要翻译：使用安装在车辆上的立体摄像机的障碍物检测系统，即使立体摄像机未校准并且在行驶中具有振动和倾斜变化，也能够以高速和高精度检测存在于接地平面上的障碍物的地面飞机。障碍物检测系统包括：多个未校准的电视摄像机，用于输入立体图像; 图像存储单元2，用于存储从电视摄像机输入的多个图像; 特征提取单元3，用于提取存在于地平面上的多个相互平行的线; 参数计算单元4，用于从由特征提取单元3提取的多行确定在各个图像之间保持接地平面的任意点的投影位置之间的关系的关系; 以及检测单元5，用于通过使用由参数计算单元4确定的关系来检测具有来自地平面的高度的物体。

8. 发明授权

US07391883B2 System and method for detecting obstacle 有权
标题翻译：障碍物检测系统及方法
公开(公告)号：US07391883B2
公开(公告)日：2008-06-24
申请号：US11752622
申请日：2007-05-23
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
摘要翻译：一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P，在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得将相似度D和相似度P之间的差K作为参考平面区域获得，判断为障碍物处于差异K大的位置，并且基于第二图像上的垂直方向上的位置来确定处理区域的宽度和高度。

9. 发明授权

US07349582B2 System and method for detecting obstacle 有权
标题翻译：障碍物检测系统及方法
公开(公告)号：US07349582B2
公开(公告)日：2008-03-25
申请号：US11752950
申请日：2007-05-24
申请人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/36
CPC分类号： G06K9/00805 , G01C11/06 , G01S11/12 , G06K9/00798 , G06T7/30 , G08G1/166 , G08G1/167
摘要： A method for detecting an obstacle by using two cameras, the obstacle being on a reference plane in a field of view common to the two cameras, the method inputting a first image and a second image from the two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating a similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.
摘要翻译：一种用于通过使用两个摄像机来检测障碍物的方法，所述障碍物在两个照相机共同的视场中的参考平面上，所述方法分别从所述两个照相机输入第一图像和第二图像，以转换所述第一图像获得表示第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D，获得表示第一图像中相似度的相似度P，在第二图像中建立的处理区域中的图像和在变换图像中建立的相应处理区域中的图像，基于相似度D和参考平面区域上的相似度P来检测障碍物，获得差异将相似度D和相似度P之间的K都作为参考平面区域获得，判断为障碍物处于差异K大的位置，当没有相似度等于或大于预先关于所有图像的垂直方向设置的阈值的相似度K时，判断为无障碍物，并且检测当在图像的垂直方向存在等于或大于阈值的相似度的差异K时存在障碍。

10. 发明申请

US20050196034A1 Obstacle detection system and method therefor 有权
标题翻译：障碍物检测系统及其方法
公开(公告)号：US20050196034A1
公开(公告)日：2005-09-08
申请号：US11116307
申请日：2005-04-28
申请人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
发明人： Hiroshi Hattori , Kazunori Onoguchi , Nobuyuki Takeda
IPC分类号： B60R1/00 , G06K9/00 , G06K9/32 , G06T7/00
CPC分类号： G06K9/3241 , B60R1/00 , G06K9/00805 , G06K9/209 , G06K2209/23 , G06T7/593 , G06T2207/10012 , G06T2207/30261
摘要： An obstacle detection system using stereo cameras mounted on a vehicle, to detect an obstacle existing on a ground plane at a high speed and in a high precision even with the stereo cameras being uncalibrated and with a vibration during a traveling and a change in the inclination of the ground plane. The obstacle detection system comprises: a plurality of uncalibrated TV cameras for inputting stereo images; an image storage unit 2 for storing a plurality of images inputted from the TV cameras; a feature extraction unit 3 for extracting a plurality of mutually parallel lines existing on the ground plane; a parameter computation unit 4 for determining a relation to hold between the projected positions of an arbitrary point of the ground plane upon the individual images, from the plurality of lines extracted by the feature extraction unit 3; and a detection unit 5 for detecting an object having a height from the ground plane, by using the relation determined by the parameter computation unit 4.
摘要翻译：使用安装在车辆上的立体摄像机的障碍物检测系统，即使立体摄像机未校准并且在行驶中具有振动和倾斜变化，也能够以高速和高精度检测存在于接地平面上的障碍物的地面飞机。障碍物检测系统包括：多个未校准的电视摄像机，用于输入立体图像; 图像存储单元2，用于存储从电视摄像机输入的多个图像; 特征提取单元3，用于提取存在于地平面上的多个相互平行的线; 参数计算单元4，用于从由特征提取单元3提取的多行确定在各个图像之间保持接地平面的任意点的投影位置之间的关系的关系; 以及检测单元5，用于通过使用由参数计算单元4确定的关系来检测具有来自地平面的高度的物体。

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