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1. 发明授权

US07711147B2 Time-to-contact estimation device and method for estimating time to contact 有权
标题翻译：时间接触估计装置和估计接触时间的方法
公开(公告)号：US07711147B2
公开(公告)日：2010-05-04
申请号：US11495944
申请日：2006-07-28
申请人： Hiroyuki Koike , Shingo Ogawa , Ichiro Masaki , Berthold K. P. Horn , Yajun Fang
发明人： Hiroyuki Koike , Shingo Ogawa , Ichiro Masaki , Berthold K. P. Horn , Yajun Fang
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06T7/269 , G06T2207/10016 , G06T2207/30261 , G08G1/16 , G08G1/165 , G08G1/166
摘要： A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.
摘要翻译：一种用于估计移动体与移动体周围的物体的接触时间的时间接触估计装置，包括：设置在移动体上的图像传感器，并且连续捕获周围环境的时变图像移动体; 亮度变化计算单元，其计算一个接一个地捕获的时变图像之间的像素的亮度变化; 以及时间接触计算单元，基于由亮度变化计算单元计算的亮度变化来计算优化的亮度梯度，并且基于优化的亮度梯度计算移动体与物体的接触时间。

2. 发明申请

US20080046181A1 Time-to-contact estimation device and method for estimating time to contact 有权
标题翻译：时间接触估计装置和估计接触时间的方法
公开(公告)号：US20080046181A1
公开(公告)日：2008-02-21
申请号：US11495944
申请日：2006-07-28
申请人： Hiroyuki Koike , Shingo Ogawa , Ichiro Masaki , Berthold K.P. Horn , Yajun Fang
发明人： Hiroyuki Koike , Shingo Ogawa , Ichiro Masaki , Berthold K.P. Horn , Yajun Fang
IPC分类号： G08G1/16
CPC分类号： G06K9/00805 , G06T7/269 , G06T2207/10016 , G06T2207/30261 , G08G1/16 , G08G1/165 , G08G1/166
摘要： A time-to-contact estimation device for estimating a time to contact of a moving body to an object in surroundings of the moving body, includes: an image sensor provided on the moving body, and continuously capturing time-varying images of the surroundings of the moving body; a brightness change calculation unit calculating brightness changes in pixels between the time-varying images captured one after another; and a time-to-contact calculation unit calculating optimized brightness gradients based on the brightness changes calculated by the brightness change calculation unit, and calculating the time to contact of the moving body to the object based on the optimized brightness gradients.
摘要翻译：一种用于估计移动体与移动体周围的物体的接触时间的时间接触估计装置，包括：设置在移动体上的图像传感器，并且连续捕获周围环境的时变图像移动体; 亮度变化计算单元，其计算一个接一个地捕获的时变图像之间的像素的亮度变化; 以及时间接触计算单元，基于由亮度变化计算单元计算的亮度变化来计算优化的亮度梯度，并且基于优化的亮度梯度计算移动体与物体的接触时间。

3. 发明授权

US07860162B2 Object tracking method and object tracking apparatus 有权
标题翻译：物体跟踪方法和物体跟踪装置
公开(公告)号：US07860162B2
公开(公告)日：2010-12-28
申请号：US11239551
申请日：2005-09-29
申请人： Sumio Yokomitsu , Yajun Fang , Ichiro Masaki , Berthold K. P. Horn
发明人： Sumio Yokomitsu , Yajun Fang , Ichiro Masaki , Berthold K. P. Horn
IPC分类号： H04N7/12 , H04N5/14
CPC分类号： G06T7/246
摘要： An object tracking apparatus includes a buffer unit that is configured to store picture information, an object position detecting unit that detects positional information of an object from the picture information, an object region detecting unit that detects a region of the object in the picture information based on the positional information, a storage unit that detects a feature properties of the object located in the region and stores the positional information, the feature properties and the region of the object, a predicting unit that predicts a position of the object of the next frame in the picture information from the position information, a determining unit that determines a predictive area of the next frame where the region is to be moved based on the position of the object of the next frame, and a verifying unit that verifies the feature properties of the object within the predictive area of the next frame and outputs a most resemble region.
摘要翻译：对象跟踪装置包括：被配置为存储图像信息的缓冲单元，从图像信息检测对象的位置信息的对象位置检测单元，检测图像信息中的对象区域的对象区域检测单元在位置信息中，存储单元，其检测位于该区域中的对象的特征属性并存储该对象的位置信息，特征属性和区域;预测单元，其预测下一帧的对象的位置在来自位置信息的图像信息中，确定单元，其基于下一帧的对象的位置来确定要移动该区域的下一帧的预测区域;以及验证单元，其验证特征属性在下一帧的预测区域内的对象，并输出最相似的区域。

4. 发明申请

US20070070201A1 Object tracking method and object tracking apparatus 有权
标题翻译：物体跟踪方法和物体跟踪装置
公开(公告)号：US20070070201A1
公开(公告)日：2007-03-29
申请号：US11239551
申请日：2005-09-29
申请人： Sumio Yokomitsu , Yajun Fang , Ichiro Masaki , Berthold Horn
发明人： Sumio Yokomitsu , Yajun Fang , Ichiro Masaki , Berthold Horn
IPC分类号： H04N5/225
CPC分类号： G06T7/246
摘要： An object tracking apparatus includes a buffer unit that is configured to store picture information, an object position detecting unit that detects positional information of an object from the picture information, an object region detecting unit that detects a region of the object in the picture information based on the positional information, a storage unit that detects a feature properties of the object located in the region and stores the positional information, the feature properties and the region of the object, a predicting unit that predicts a position of the object of the next frame in the picture information from the position information, a determining unit that determines a predictive area of the next frame where the region is to be moved based on the position of the object of the next frame, and a verifying unit that verifies the feature properties of the object within the predictive area of the next frame and outputs a most resemble region.
摘要翻译：对象跟踪装置包括：被配置为存储图像信息的缓冲单元，从图像信息检测对象的位置信息的对象位置检测单元，检测图像信息中的对象区域的对象区域检测单元在位置信息中，存储单元，其检测位于该区域中的对象的特征属性并存储该对象的位置信息，特征属性和区域;预测单元，其预测下一帧的对象的位置在来自位置信息的图像信息中，确定单元，其基于下一帧的对象的位置来确定要移动该区域的下一帧的预测区域;以及验证单元，其验证特征属性在下一帧的预测区域内的对象，并输出最相似的区域。

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