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1. 发明授权

US09672432B2 Image generation device 有权
公开(公告)号：US09672432B2
公开(公告)日：2017-06-06
申请号：US14114665
申请日：2012-05-23
申请人： Kinji Yamamoto , Kazuya Watanabe , Shoko Takeda , Kenji Miura , Jun Kadowaki
发明人： Kinji Yamamoto , Kazuya Watanabe , Shoko Takeda , Kenji Miura , Jun Kadowaki
IPC分类号： G06K9/00 , G08G1/16 , G06T3/00 , G06T11/00 , G06T15/20 , H04N7/18
CPC分类号： G06K9/00805 , B60R2300/607 , G06K9/00255 , G06T3/00 , G06T11/001 , G06T15/205 , G08G1/166 , H04N7/18
摘要： An image generation device that enhances visual recognizability between a recognized 3D (three-dimensional) object and a substitute image synthesized in an area of a 3D object image which is a photographed image of the 3D object includes an image synthesis section that recognizes a 3D object present in the peripheral area of a vehicle and outputs 3D object attribute information indicative of attributes of this 3D object, determines a 3D object image area as an image area of the 3D object in the photographed image based on position information included in the 3D object attribute information, outputs at least one of a substitute image of the 3D object applied with a color based on the color information and a substitute image of the 3D object under a specified directional posture of the 3D object specified based on type information and directional posture information and generates a bird's-eye view image with a substitution image in which the substitution image outputted from a substitution image output section is synthesized at the position of the 3D object image area.

2. 发明申请

US20140063197A1 IMAGE GENERATION DEVICE 有权
标题翻译：图像生成装置
公开(公告)号：US20140063197A1
公开(公告)日：2014-03-06
申请号：US14114665
申请日：2012-05-23
申请人： Kinji Yamamoto , Kazuya Watanabe , Shoko Takeda , Kenji Miura , Jun Kadowaki
发明人： Kinji Yamamoto , Kazuya Watanabe , Shoko Takeda , Kenji Miura , Jun Kadowaki
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , B60R2300/607 , G06K9/00255 , G06T3/00 , G06T11/001 , G06T15/205 , G08G1/166 , H04N7/18
摘要： An image generation device that enhances visual recognizability between a recognized 3D (three-dimensional) object and a substitute image synthesized in an area of a 3D object image which is a photographed image of the 3D object includes an image synthesis section that recognizes a 3D object present in the peripheral area of a vehicle and outputs 3D object attribute information indicative of attributes of this 3D object, determines a 3D object image area as an image area of the 3D object in the photographed image based on position information included in the 3D object attribute information, outputs at least one of a substitute image of the 3D object applied with a color based on the color information and a substitute image of the 3D object under a specified directional posture of the 3D object specified based on type information and directional posture information and generates a bird's-eye view image with a substitution image in which the substitution image outputted from a substitution image output section is synthesized at the position of the 3D object image area.
摘要翻译：增强识别的3D（三维）物体与在3D物体的拍摄图像的3D对象图像的区域中合成的替代图像之间的视觉识别性的图像生成装置包括识别3D对象的图像合成部存在于车辆的周边区域并输出指示该3D对象的属性的3D对象属性信息，基于3D对象属性中包含的位置信息，将3D对象图像区域确定为拍摄图像中的3D对象的图像区域信息，基于颜色信息输出应用了颜色的3D对象的替代图像和基于类型信息和方位姿势信息指定的3D对象的指定方向姿势下的3D对象的替代图像中的至少一个，以及用替代图像生成鸟瞰图，其中替代图像从替代图像输出在3D对象图像区域的位置处合成图像输出部。

3. 发明授权

US08605156B2 Calibration target detection apparatus, calibration target detecting method for detecting calibration target, and program for calibration target detection apparatus 有权
标题翻译：校准目标检测装置，用于检测校准目标的校准目标检测方法，以及用于校准目标检测装置的程序
公开(公告)号：US08605156B2
公开(公告)日：2013-12-10
申请号：US13265103
申请日：2010-02-18
申请人： Shoko Takeda , Kazuya Watanabe , Tadashi Asano , Yukiko Donishi , Kinji Yamamoto
发明人： Shoko Takeda , Kazuya Watanabe , Tadashi Asano , Yukiko Donishi , Kinji Yamamoto
IPC分类号： H04N17/00 , H04N17/02 , G06K7/00
CPC分类号： H04N17/002 , G06K9/00791 , G06T7/80 , G06T2207/20068 , G06T2207/30204 , G06T2207/30252 , H04N5/2351 , H04N5/2353
摘要： There is disclosed a calibration target detection apparatus that can be obtained at a low cost and without increasing storage capacity, is the apparatus being provided with: a light measurement region setting unit for setting a long light measurement region; a light-measuring unit for detecting light measurement information of the light measurement region; a profile generation unit for generating a first profile, wherein the long light measurement region taking a predetermined one direction as a long direction is scanned along the other direction orthogonal to the one direction, and the change in the light measurement information in the other direction is shown; and a second profile, wherein the long light measurement region taking the other direction as the long direction is scanned along the one direction, and the change in the light measurement information in the one direction is shown; and a position calculation unit for calculating, on the basis of a characteristic point of the first and second profiles, a position of a calibration target or a position of a predetermined location of the calibration target, the calibration target being used for calibrating an onboard camera, and the calibration target being included in a captured image acquired by the onboard camera.
摘要翻译：公开了一种可以以低成本获得并且不增加存储容量的校准目标检测装置，该装置设置有：用于设置长光测量区域的光测量区域设置单元; 光测量单元，用于检测所述光测量区域的光测量信息; 用于产生第一轮廓的轮廓产生单元，其中沿着与所述一个方向正交的另一个方向扫描沿着与所述一个方向正交的另一个方向的长方向的长光测量区域，并且另一个方向上的光测量信息的变化是显示; 以及第二轮廓，其中沿着所述一个方向扫描作为长方向的另一方向的长光测量区域，并且示出了所述一个方向上的光测量信息的变化; 以及位置计算单元，用于基于第一和第二轮廓的特征点，计算校准目标的位置或校准目标的预定位置的位置，校准目标被用于校准车载摄像机并且校准目标被包括在由车载摄像机获取的捕获图像中。

4. 发明申请

US20120033087A1 CALIBRATION TARGET DETECTION APPARATUS, CALIBRATION TARGET DETECTING METHOD FOR DETECTING CALIBRATION TARGET, AND PROGRAM FOR CALIBRATION TARGET DETECTION APPARATUS 有权
标题翻译：校准目标检测装置，用于检测校准目标的校准目标检测方法和用于校准目标检测装置的程序
公开(公告)号：US20120033087A1
公开(公告)日：2012-02-09
申请号：US13265103
申请日：2010-02-18
申请人： Shoko Takeda , Kazuya Watanabe , Tadashi Asano , Yukiko Donishi , Kinji Yamamoto
发明人： Shoko Takeda , Kazuya Watanabe , Tadashi Asano , Yukiko Donishi , Kinji Yamamoto
IPC分类号： H04N17/00
CPC分类号： H04N17/002 , G06K9/00791 , G06T7/80 , G06T2207/20068 , G06T2207/30204 , G06T2207/30252 , H04N5/2351 , H04N5/2353
摘要： There is disclosed a calibration target detection apparatus that can be obtained at a low cost and without increasing storage capacity, is the apparatus being provided with: a light measurement region setting unit for setting a long light measurement region; a light-measuring unit for detecting light measurement information of the light measurement region; a profile generation unit for generating a first profile, wherein the long light measurement region taking a predetermined one direction as a long direction is scanned along the other direction orthogonal to the one direction, and the change in the light measurement information in the other direction is shown; and a second profile, wherein the long light measurement region taking the other direction as the long direction is scanned along the one direction, and the change in the light measurement information in the one direction is shown; and a position calculation unit for calculating, on the basis of a characteristic point of the first and second profiles, a position of a calibration target or a position of a predetermined location of the calibration target, the calibration target being used for calibrating an onboard camera, and the calibration target being included in a captured image acquired by the onboard camera.
摘要翻译：公开了一种可以以低成本获得并且不增加存储容量的校准目标检测装置，该装置设置有：用于设置长光测量区域的光测量区域设置单元; 光测量单元，用于检测所述光测量区域的光测量信息; 用于产生第一轮廓的轮廓产生单元，其中沿着与所述一个方向正交的另一个方向扫描沿着与所述一个方向正交的另一个方向的长方向的长光测量区域，并且另一个方向上的光测量信息的变化是显示; 以及第二轮廓，其中沿着所述一个方向扫描作为长方向的另一方向的长光测量区域，并且示出了所述一个方向上的光测量信息的变化; 以及位置计算单元，用于基于第一和第二简档的特征点，计算校准对象的位置或校准对象的预定位置的位置，校准对象用于校准车载摄像机并且校准目标被包括在由车载摄像机获取的捕获图像中。

5. 发明授权

US08866905B2 Surroundings monitoring device for a vehicle 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08866905B2
公开(公告)日：2014-10-21
申请号：US12728477
申请日：2010-03-22
申请人： Kinji Yamamoto , Kazuya Watanabe
发明人： Kinji Yamamoto , Kazuya Watanabe
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B60R2300/8006 , B60R2300/802 , B60R2300/806 , B60R2300/8086 , B60R2300/8093
摘要： A surroundings monitoring device for a vehicle, includes a pair of side cameras, each of which is provided at a side mirror, obtaining capture images capturing views extending to left and right of the vehicle including views below the side mirrors, respectively, an image graphic generating portion generating an image graphic of the vehicle from a view point above a rear portion thereof towards a front lower portion thereof, or from a view point above a front portion of the vehicle towards a rear lower portion thereof in order to include at least a portion of the vehicle and the side mirrors on the image graphic, and a side image generating portion generating left and right side images on the basis of the capture images so as to correspond to images shown at left and right portions of the image graphic displayed on a monitor, respectively.
摘要翻译：一种用于车辆的环境监测装置，包括一对侧摄像机，每个侧摄像机设置在侧反光镜处，分别获得捕获图像，捕获图像分别延伸到车辆左侧和右侧，包括侧视图下方的视图，图像图形产生部分从其后部的视点上朝向其前下部，或从车辆前部的视点朝向其后下部产生车辆的图像图形，以便至少包括一个车辆的侧面部分和图像图像上的侧视镜，以及侧面图像生成部分，其基于捕获图像生成左侧和右侧图像，以对应于显示在图像图像的左侧和右侧的图像一个监视器。

6. 发明授权

US09050931B2 Vehicle periphery monitoring system 有权
标题翻译：车辆周边监控系统
公开(公告)号：US09050931B2
公开(公告)日：2015-06-09
申请号：US14131475
申请日：2012-07-12
申请人： Kinji Yamamoto , Kazuya Watanabe
发明人： Kinji Yamamoto , Kazuya Watanabe
IPC分类号： B60R1/00 , G06K9/00 , G06T3/40
CPC分类号： B60R1/00 , B60R2300/607 , G06K9/00791 , G06T3/4038
摘要： Provided is a vehicle periphery monitoring system that facilitates a driver's understanding about a photographing direction of an object which appears in an overlapping area of a bird's-eye view image generated from multiple photographed images. A displaying bird's-eye view image is generated by combining bird's-eye view image segments generated from the multiple photographed images photographed in a partially overlapping manner with superimposing mutually overlapped areas thereof. In displaying the displaying bird's-eye view image, a boundary-added bird's-eye view image formed by adding a boundary indicator to the overlapping area of the bird's-eye view image is displayed on a display unit; then, a merged superimposed image is displayed. The merged superimposed image is obtained by merging the overlapped areas of the bird's-eye view image according to a preset merger relationship.
摘要翻译：提供了一种车辆周边监视系统，其便于驾驶员了解出现在从多个拍摄图像生成的鸟瞰图图像的重叠区域中的物体的拍摄方向。通过将由以部分重叠的方式拍摄的多个拍摄图像生成的鸟瞰视图图像组合成叠加其相互重叠的区域来生成显示鸟瞰图图像。在显示鸟瞰图图像中，在显示单元上显示通过将边界指示符添加到鸟瞰图图像的重叠区域而形成的加法鸟瞰图图像; 然后，显示合并的叠加图像。通过根据预设的合并关系合并鸟瞰图图像的重叠区域来获得合并的叠加图像。

7. 发明申请

US20100245577A1 SURROUNDINGS MONITORING DEVICE FOR A VEHICLE 有权
标题翻译：监视车辆监控设备
公开(公告)号：US20100245577A1
公开(公告)日：2010-09-30
申请号：US12728477
申请日：2010-03-22
申请人： Kinji Yamamoto , Kazuya Watanabe
发明人： Kinji Yamamoto , Kazuya Watanabe
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/607 , B60R2300/8006 , B60R2300/802 , B60R2300/806 , B60R2300/8086 , B60R2300/8093
摘要： A surroundings monitoring device for a vehicle, includes a pair of side cameras, each of which is provided at a side mirror, obtaining capture images capturing views extending to left and right of the vehicle including views below the side mirrors, respectively, an image graphic generating portion generating an image graphic of the vehicle from a view point above a rear portion thereof towards a front lower portion thereof, or from a view point above a front portion of the vehicle towards a rear lower portion thereof in order to include at least a portion of the vehicle and the side mirrors on the image graphic, and a side image generating portion generating left and right side images on the basis of the capture images so as to correspond to images shown at left and right portions of the image graphic displayed on a monitor, respectively.
摘要翻译：一种用于车辆的环境监测装置，包括一对侧摄像机，每个侧摄像机设置在侧反光镜处，分别获得捕获图像，捕获图像分别延伸到车辆左侧和右侧，包括侧视图下方的视图，图像图形产生部分从其后部的视点上朝向其前下部，或从车辆前部的视点朝向其后下部产生车辆的图像图形，以便至少包括一个车辆的侧面部分和图像图像上的侧视镜，以及侧面图像生成部分，其基于捕获图像生成左侧和右侧图像，以对应于显示在图像图像的左侧和右侧的图像一个监视器。

8. 发明申请

US20140152827A1 VEHICLE PERIPHERY MONITORING SYSTEM 有权
标题翻译：车辆周边监测系统
公开(公告)号：US20140152827A1
公开(公告)日：2014-06-05
申请号：US14131475
申请日：2012-07-12
申请人： Kinji Yamamoto , Kazuya Watanabe
发明人： Kinji Yamamoto , Kazuya Watanabe
IPC分类号： B60R1/00
CPC分类号： B60R1/00 , B60R2300/607 , G06K9/00791 , G06T3/4038
摘要： Provided is a vehicle periphery monitoring system that facilitates a driver's understanding about a photographing direction of an object which appears in an overlapping area of a bird's-eye view image generated from multiple photographed images. A displaying bird's-eye view image is generated by combining bird's-eye view image segments generated from the multiple photographed images photographed in a partially overlapping manner with superimposing mutually overlapped areas thereof. In displaying the displaying bird's-eye view image, a boundary-added bird's-eye view image formed by adding a boundary indicator to the overlapping area of the bird's-eye view image is displayed on a display unit; then, a merged superimposed image is displayed. The merged superimposed image is obtained by merging the overlapped areas of the bird's-eye view image according to a preset merger relationship.
摘要翻译：提供了一种车辆周边监视系统，其便于驾驶员了解出现在从多个拍摄图像生成的鸟瞰图图像的重叠区域中的物体的拍摄方向。通过将由以部分重叠的方式拍摄的多个拍摄图像生成的鸟瞰视图图像组合成叠加其相互重叠的区域来生成显示鸟瞰图图像。在显示鸟瞰图图像中，在显示单元上显示通过将边界指示符添加到鸟瞰图图像的重叠区域而形成的加法鸟瞰图图像; 然后，显示合并的叠加图像。通过根据预设的合并关系合并鸟瞰图图像的重叠区域来获得合并的叠加图像。

9. 发明授权

US08964034B2 Vehicle surroundings awareness support device 有权
标题翻译：车辆环境意识支持装置
公开(公告)号：US08964034B2
公开(公告)日：2015-02-24
申请号：US13388849
申请日：2010-07-28
申请人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
发明人： Noboru Nagamine , Kazuya Watanabe , Tomoyuki Matsuba , Jun Kadowaki , Toshihiro Mori , Yuuichi Ooshita
IPC分类号： H04N9/47 , B62D15/02 , B60R1/00 , G08G1/16 , G06T7/20
CPC分类号： B62D15/0275 , B60R1/00 , B60R2300/305 , B60R2300/307 , B60R2300/8033 , B60R2300/806 , B60R2300/8086 , G06T7/246 , G06T2207/30261 , G08G1/166 , G08G1/168
摘要： Provided is a vehicle surroundings awareness support device capable of providing a prompt for a driver to intuitively direct their attention, without the driver feeling hassled. Captured images comprising a plurality of frames taken sequentially by an onboard camera for imaging the surroundings of the vehicle are received; an optical flow is computed on the basis of feature points contained in the plurality of frames imaged at different times; moving objects in the surroundings of the vehicle are detected on the basis of the optical flow; and a display for showing movement trajectories for the moving objects is superimposed on the captured images on the basis of the optical flow.
摘要翻译：提供一种车辆环境意识支持装置，其能够提供驾驶员直观地引导他们的注意力，而不会使驾驶员感到困扰。接收包括由车载摄像机依次拍摄的用于对车辆周围进行摄像的多个帧的拍摄图像; 基于在不同时间成像的多个帧中包含的特征点来计算光流; 基于光流检测车辆周围的移动物体; 并且用于显示用于移动物体的运动轨迹的显示器基于光流被叠加在所捕获的图像上。

10. 发明申请

US20110298639A1 PARKING ASSIST APPARATUS 有权
标题翻译：停车辅助装置
公开(公告)号：US20110298639A1
公开(公告)日：2011-12-08
申请号：US13202259
申请日：2010-02-15
申请人： Jun Kadowaki , Kazuya Watanabe , Yu Tanaka , Kosuke Sato , Atsuo Fukaya , Hiroyuki Tachibana , Motokatsu Tomozawa , Kenji Kodera
发明人： Jun Kadowaki , Kazuya Watanabe , Yu Tanaka , Kosuke Sato , Atsuo Fukaya , Hiroyuki Tachibana , Motokatsu Tomozawa , Kenji Kodera
IPC分类号： B60Q1/48
CPC分类号： B62D15/027 , B62D15/028 , G08G1/168
摘要： A parking assist apparatus includes a parking target position setting section for setting a parking target position when a vehicle is to be parked by reversing, a parking pathway determining section for determining possibility/impossibility of direct parking for parking the vehicle to the parking target position without turnaround, and a report outputting section for effecting reporting to allow a driver engaged in parking to recognize the possibility/impossibility of the direct parking based on the result of determination by the parking pathway determining section.
摘要翻译：停车辅助装置包括：停车目标位置设定部，其用于通过反转来设定待停车的停车目标位置;停车路径确定部，用于确定用于将车辆停放到停车目标位置的直接停车的可能性/不可能性，而没有以及报告输出部分，用于进行报告以允许从事停车的驾驶员基于停车路径确定部分的确定结果来识别直接停车的可能性/不可能性。

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