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1. 发明授权

US08953840B2 Vehicle perimeter monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08953840B2
公开(公告)日：2015-02-10
申请号：US13579754
申请日：2011-02-21
申请人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
发明人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
IPC分类号： G06K9/00 , B60R1/00 , G06T5/00 , G08G1/16
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8033 , B60R2300/8093 , G06T5/008 , G08G1/163 , G08G1/165
摘要： An imaging means mounted on a vehicle performs imaging resulting in grayscale images having brightness values corresponding to object temperature, and objects around the vehicle are detected from said images. On the basis of said grayscale images, display images to be displayed on a display device mounted on the vehicle are generated and displayed on the display device. The display images are generated by lowering the brightness of areas not corresponding to the objects detected in the grayscale images. The display device is positioned in the vehicle width direction at no more than a prescribed distance away from an imaginary line passing through the center of rotation of the vehicle steering wheel and extending in the longitudinal direction of the vehicle. Accordingly, because display images are generated in which only the objects are spotlighted, the driver can quickly comprehend the objects present when using a display device.
摘要翻译：安装在车辆上的成像装置执行成像，产生具有与物体温度对应的亮度值的灰度图像，并且从所述图像检测车辆周围的物体。基于所述灰度图像，生成显示装置上显示在显示装置上的显示图像。通过降低与灰度图像中检测到的对象不相对应的区域的亮度来生成显示图像。显示装置位于车宽方向上，距离通过车辆用方向盘的旋转中心的假想线规定距离，并且在车辆的长度方向上延伸。因此，由于生成只显示对象的显示图像，所以当使用显示装置时，驾驶员可以快速理解存在的对象。

2. 发明申请

US20110096956A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110096956A1
公开(公告)日：2011-04-28
申请号：US12994922
申请日：2009-03-04
申请人： Makoto Aimura , Nobuharu Nagaoka , Hideki Hashimoto
发明人： Makoto Aimura , Nobuharu Nagaoka , Hideki Hashimoto
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/205 , B60R2300/302 , B60R2300/307 , B60R2300/8093 , B60W30/095 , G06T7/248 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle periphery monitoring device is operable to report a high contact possibility between a vehicle and an object at an appropriate time or frequency according to the type of the object. When the object is determined to be a human being and the position of the object in real space is contained in a first contact determination area, a high contact possibility between the vehicle and the object is reported. On the other hand, when the object is determined to be a quadruped animal and the real spatial position of the object is contained in a second contact determination area, the corresponding report is made. The second contact determination area has an overlapped area that overlaps with the first contact determination area, and an overflowed area that has at least a part thereof overflowing from the first contact determination area.
摘要翻译：车辆周边监视装置可操作以根据对象的类型以合适的时间或频率报告车辆和物体之间的高接触可能性。当物体被确定为人类并且物体在真实空间中的位置被包含在第一接触确定区域中时，报告车辆和物体之间的高接触可能性。另一方面，当物体被确定为四足动物并且物体的实际空间位置被包含在第二接触确定区域中时，作出相应的报告。第二接触确定区域具有与第一接触确定区域重叠的重叠区域，以及至少部分地从第一接触确定区域溢出的溢出区域。

3. 发明授权

US08284253B2 Vehicle periphery monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08284253B2
公开(公告)日：2012-10-09
申请号：US12988551
申请日：2009-01-08
申请人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/30261
摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) at a high accuracy even when the object is moving.
摘要翻译：提供一种能够即使当物体移动时能够高精度地测量物体的位置的装置。根据车辆周围监视装置（10），当通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关度相关时，（k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为局部区域（B（k））。基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k））物体正在移动。

4. 发明申请

US20130004021A1 VEHICLE PERIMETER MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20130004021A1
公开(公告)日：2013-01-03
申请号：US13579754
申请日：2011-02-21
申请人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
发明人： Nobuharu Nagaoka , Hideki Hashimoto , Makoto Aimura
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8033 , B60R2300/8093 , G06T5/008 , G08G1/163 , G08G1/165
摘要： An imaging means mounted on a vehicle performs imaging resulting in grayscale images having brightness values corresponding to object temperature, and objects around the vehicle are detected from said images. On the basis of said grayscale images, display images to be displayed on a display device mounted on the vehicle are generated and displayed on the display device. The display images are generated by lowering the brightness of areas not corresponding to the objects detected in the grayscale images. The display device is positioned in the vehicle width direction at no more than a prescribed distance away from an imaginary line passing through the center of rotation of the vehicle steering wheel and extending in the longitudinal direction of the vehicle. Accordingly, because display images are generated in which only the objects are spotlighted, the driver can quickly comprehend the objects present when using a display device.
摘要翻译：安装在车辆上的成像装置执行成像，产生具有与物体温度对应的亮度值的灰度图像，并且从所述图像检测车辆周围的物体。基于所述灰度图像，生成显示装置上显示在显示装置上的显示图像。通过降低与灰度图像中检测到的对象不相对应的区域的亮度来生成显示图像。显示装置位于车宽方向上，距离通过车辆用方向盘的旋转中心的假想线规定距离，并且在车辆的长度方向上延伸。因此，由于生成只显示对象的显示图像，所以当使用显示装置时，驾驶员可以快速理解存在的对象。

5. 发明授权

US08189868B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08189868B2
公开(公告)日：2012-05-29
申请号：US12994922
申请日：2009-03-04
申请人： Makoto Aimura , Nobuharu Nagaoka , Hideki Hashimoto
发明人： Makoto Aimura , Nobuharu Nagaoka , Hideki Hashimoto
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/205 , B60R2300/302 , B60R2300/307 , B60R2300/8093 , B60W30/095 , G06T7/248 , G06T7/593 , G06T2207/10021 , G06T2207/10048 , G06T2207/30261 , G08G1/166
摘要： A vehicle periphery monitoring device is operable to report a high contact possibility between a vehicle and an object at an appropriate time or frequency according to the type of the object. When the object is determined to be a human being and the position of the object in real space is contained in a first contact determination area, a high contact possibility between the vehicle and the object is reported. On the other hand, when the object is determined to be a quadruped animal and the real spatial position of the object is contained in a second contact determination area, the corresponding report is made. The second contact determination area has an overlapped area that overlaps with the first contact determination area, and an overflowed area that has at least a part thereof overflowing from the first contact determination area.
摘要翻译：车辆周边监视装置可操作以根据对象的类型以合适的时间或频率报告车辆和物体之间的高接触可能性。当物体被确定为人类并且物体在真实空间中的位置被包含在第一接触确定区域中时，报告车辆和物体之间的高接触可能性。另一方面，当物体被确定为四足动物并且物体的实际空间位置被包含在第二接触确定区域中时，作出相应的报告。第二接触确定区域具有与第一接触确定区域重叠的重叠区域，以及至少部分地从第一接触确定区域溢出的溢出区域。

6. 发明申请

US20110032358A1 VEHICLE PERIPHERY MONITORING APPARATUS 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110032358A1
公开(公告)日：2011-02-10
申请号：US12988551
申请日：2009-01-08
申请人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/30261
摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) at a high accuracy even when the object is moving.
摘要翻译：提供一种能够即使当物体移动时能够高精度地测量物体的位置的装置。根据车辆周边监视装置（10），与通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关程度相关的放大因子（k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为局部区域（B（k））。基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k））物体正在移动。

7. 发明授权

US09030560B2 Apparatus for monitoring surroundings of a vehicle 有权
标题翻译：用于监测车辆周围环境的装置
公开(公告)号：US09030560B2
公开(公告)日：2015-05-12
申请号：US13700289
申请日：2011-05-30
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N9/18 , G08G1/16 , G06T7/00
CPC分类号： G08G1/166 , G06K9/00362 , G06T7/12 , G06T7/73 , G06T2207/10048 , G06T2207/30261
摘要： The vehicle surroundings monitoring apparatus is provided with an imaging device and a device that transforms captured image to digital image. A first edge extraction mask is applied to detect multiple horizontal edges. The apparatus further includes a detector that detects upper end of the head of the object by detecting a horizontal edge having a highest edge intensity out of the multiple horizontal edges. A second edge extraction mask is used to detect the lower end of the head of the physical object by detecting multiple vertical edges and matching the positional variation of the multiple vertical edges with predetermined patterns.
摘要翻译：车辆周边监视装置具备成像装置和将拍摄图像变换为数字图像的装置。应用第一边缘提取掩模来检测多个水平边缘。该装置还包括检测器，其通过检测多个水平边缘中具有最高边缘强度的水平边缘来检测物体的头部的上端。第二边缘提取掩模用于通过检测多个垂直边缘并且利用预定图案匹配多个垂直边缘的位置变化来检测物体的头部的下端。

8. 发明申请

US20140153777A1 LIVING BODY RECOGNIZING DEVICE 有权
标题翻译：生活身体识别装置
公开(公告)号：US20140153777A1
公开(公告)日：2014-06-05
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 , 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。

9. 发明申请

US20130070098A1 APPARATUS FOR MONITORING SURROUNDINGS OF A VEHICLE 有权
标题翻译：监视车辆周边的装置
公开(公告)号：US20130070098A1
公开(公告)日：2013-03-21
申请号：US13700289
申请日：2011-05-30
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18 , H04N5/33
CPC分类号： G08G1/166 , G06K9/00362 , G06T7/12 , G06T7/73 , G06T2207/10048 , G06T2207/30261
摘要： The vehicle surroundings monitoring apparatus is provided with an imaging device and a device that transforms captured image to digital image. A first edge extraction mask is applied to detect multiple horizontal edges. The apparatus further includes a detector that detects upper end of the head of the object by detecting a horizontal edge having a highest edge intensity out of the multiple horizontal edges. A second edge extraction mask is used to detect the lower end of the head of the physical object by detecting multiple vertical edges and matching the positional variation of the multiple vertical edges with predetermined patterns.
摘要翻译：车辆周边监视装置具备成像装置和将拍摄图像变换为数字图像的装置。应用第一边缘提取掩模来检测多个水平边缘。该装置还包括检测器，其通过检测多个水平边缘中具有最高边缘强度的水平边缘来检测物体的头部的上端。第二边缘提取掩模用于通过检测多个垂直边缘并且利用预定图案匹配多个垂直边缘的位置变化来检测物体的头部的下端。

10. 发明授权

US09160986B2 Device for monitoring surroundings of a vehicle 有权
标题翻译：用于监视车辆周围环境的装置
公开(公告)号：US09160986B2
公开(公告)日：2015-10-13
申请号：US13884732
申请日：2011-11-09
申请人： Nobuharu Nagaoka , Makoto Aimura
发明人： Nobuharu Nagaoka , Makoto Aimura
IPC分类号： H04N7/18 , G08G1/16 , G06K9/00
CPC分类号： H04N7/183 , G06K9/00805 , G08G1/163
摘要： A device for monitoring surroundings of a vehicle mounted in a vehicle, captures an image of surroundings of the vehicle, extracts from the captured image an image area for a predetermined part of a desired type of object, and sets a predetermined area below the extracted image area. The device extracts candidates for the desired type of object present outside the vehicle based on the predetermined area and determines, for each of the extracted object candidates, whether the object candidate is the desired type of object. When no pattern different from the background is captured in the predetermined area, or when a pattern different from the background is captured only in one of a first and a second areas, then the object in the image area is excluded from the candidates for the desired type of object. Thus, a pedestrian, for example, can be distinguished from an artificial structure.
摘要翻译：一种用于监视安装在车辆中的车辆的周围环境的装置，捕获车辆周围的图像，从捕获的图像中提取期望类型的物体的预定部分的图像区域，并将提取的图像下方的预定区域设置区。基于预定区域，设备提取车辆外部存在的期望类型的候选，并且为每个提取的对象候选确定对象候选是否是期望类型的对象。当在预定区域中没有捕获与背景不同的图案时，或者当仅在第一和第二区域中的一个区域捕获与背景不同的图案时，则将图像区域中的对象从期望的候选者中排除物件类型因此，例如，行人可以与人造结构区分开。

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