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1. 发明申请

US20100259617A1 Boundary line recognition apparatus 有权
标题翻译：边界线识别装置
公开(公告)号：US20100259617A1
公开(公告)日：2010-10-14
申请号：US12798601
申请日：2010-04-07
申请人： Naoki Kawasaki , Hiroki Nakano , Kenta Hoki , Tetsuya Takafuji
发明人： Naoki Kawasaki , Hiroki Nakano , Kenta Hoki , Tetsuya Takafuji
IPC分类号： H04N7/18
CPC分类号： G06K9/00798 , G06K9/6292
摘要： In a boundary line recognition apparatus, a boundary line candidate extracting part extracts boundary line candidates from image data obtained by an on-vehicle camera based on known image processing such as pattern matching and Hough transform. One or more kinds of boundary line feature calculating parts calculate one or more likelihoods of each boundary line candidate. The likelihood indicates a degree of probability to be the boundary line. A boundary line feature combining means multiplies the likelihoods of each boundary line candidate and outputs a combined likelihood. A boundary line candidate selecting part selects the boundary line candidate having a maximum likelihood as the boundary line. The boundary line feature calculating part further calculates the likelihood of the boundary line candidate using a dispersion of brightness and an internal edge amount, and changes the likelihood based on an additional likelihood obtained by a driving lane surface feature extracting part.
摘要翻译：在边界线识别装置中，边界线候选提取部分基于诸如图案匹配和霍夫变换之类的已知图像处理从车载相机获得的图像数据中提取边界线候选。一种或多种边界线特征计算部分计算每个边界线候选的一个或多个似然性。可能性表示作为边界线的概率程度。边界线特征组合装置将每个边界候选候选的可能性相乘并输出组合似然。边界线候补选择部选择具有最大似然度的边界线候选作为边界线。边界线特征计算部分还使用亮度和内部边缘量的色散来计算边界线候选的可能性，并且基于由驾驶车道表面特征提取部获得的附加可能性来改变似然。

2. 发明授权

US08744194B2 Boundary line recognition apparatus 有权
标题翻译：边界线识别装置
公开(公告)号：US08744194B2
公开(公告)日：2014-06-03
申请号：US12798601
申请日：2010-04-07
申请人： Naoki Kawasaki , Hiroki Nakano , Kenta Hoki , Tetsuya Takafuji
发明人： Naoki Kawasaki , Hiroki Nakano , Kenta Hoki , Tetsuya Takafuji
IPC分类号： G06K9/48 , H04N7/00 , H04N7/18
CPC分类号： G06K9/00798 , G06K9/6292
摘要： In a boundary line recognition apparatus, a boundary line candidate extracting part extracts boundary line candidates from image data obtained by an on-vehicle camera based on known image processing such as pattern matching and Hough transform. One or more kinds of boundary line feature calculating parts calculate one or more likelihoods of each boundary line candidate. The likelihood indicates a degree of probability to be the boundary line. A boundary line feature combining means multiplies the likelihoods of each boundary line candidate and outputs a combined likelihood. A boundary line candidate selecting part selects the boundary line candidate having a maximum likelihood as the boundary line. The boundary line feature calculating part further calculates the likelihood of the boundary line candidate using a dispersion of brightness and an internal edge amount, and changes the likelihood based on an additional likelihood obtained by a driving lane surface feature extracting part.
摘要翻译：在边界线识别装置中，边界线候选提取部分基于诸如图案匹配和霍夫变换之类的已知图像处理从车载相机获得的图像数据中提取边界线候选。一种或多种边界线特征计算部分计算每个边界线候选的一个或多个似然性。可能性表示作为边界线的概率程度。边界线特征组合装置将每个边界候选候选的可能性相乘并输出组合似然。边界线候补选择部选择具有最大似然度的边界线候选作为边界线。边界线特征计算部分还使用亮度和内部边缘量的色散来计算边界线候选的可能性，并且基于由驾驶车道表面特征提取部获得的附加可能性来改变似然。

3. 发明申请

US20060132353A1 APPARATUS FOR DETECTING DIRECTION OF TARGET USING DIFFERENCE IN PHASE OF RADIO WAVE SIGNALS RECEIVED THROUGH PLURAL CHANNELS 有权
标题翻译：用于通过多路通道接收的无线电波信号相位差来检测目标方向的装置
公开(公告)号：US20060132353A1
公开(公告)日：2006-06-22
申请号：US10717468
申请日：2003-11-21
申请人： Kazuma Natsume , Hiroaki Kumon , Kenta Hoki
发明人： Kazuma Natsume , Hiroaki Kumon , Kenta Hoki
IPC分类号： G01S13/44
CPC分类号： G01S13/4463 , G01S13/723 , G01S13/867
摘要： An apparatus for detecting a direction of a target is provided. The apparatus transmits and receives radio waves through a plurality of transmission/reception channels causing a phase difference in signals to be received through the transmission/reception channels and calculates the direction based on the phase difference. The apparatus comprises a direction calculating device, range determining device, and direction correcting device. The direction calculating device calculates the direction of the target based on the phase difference in the received signals on the assumption that the phase difference is within a range of −π to +π [rad]. The range determining device determines that the target exists in any of azimuthal angle ranges each corresponding to ranges defined by (2m−1)π to (2m+1)π [rad] (m is an integer). The direction correcting device corrects the direction according to a range-determined result.
摘要翻译：提供了一种用于检测目标方向的装置。该装置通过多个发送/接收信道发送和接收无线电波，导致通过发送/接收信道接收信号的相位差，并基于相位差计算方向。该装置包括方向计算装置，范围确定装置和方向校正装置。方向计算装置假设相位差在-pi至+ pi [rad]的范围内，基于接收信号中的相位差来计算目标的方向。范围确定装置确定目标存在于每个对应于由（2m-1）pi至（2m + 1）pi [rad]（m是整数）定义的范围的方位角范围内的任何一个。方向校正装置根据范围确定的结果校正方向。

4. 发明申请

US20090262188A1 Image processing device for vehicle, image processing method of detecting three-dimensional object, and image processing program 有权
标题翻译：用于车辆的图像处理装置，检测三维物体的图像处理方法和图像处理程序
公开(公告)号：US20090262188A1
公开(公告)日：2009-10-22
申请号：US12386160
申请日：2009-04-14
申请人： Kenta Hoki
发明人： Kenta Hoki
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G06K9/3233 , G06T7/13 , G06T2207/10016 , G06T2207/20132 , G06T2207/30261 , G08G1/165
摘要： An image processing device determines, cuts and extracts a processing area from an image data monitored by a camera mounted onto a driver's vehicle based on a distance between a front target object and a driver's vehicle, a horizontal position of the driver's vehicle, and a strength of a radar wave transmitted from a radar device and then reflected by objects in front of the driver's vehicle. The radar device is mounted to the driver's vehicle and transmits the radar wave to the front area of the driver's vehicle. The image processing device extracts vertical edges and horizontal edges from the image data in the processing area, and subtracts the horizontal edge values from the vertical edge values, and finally detects whether or not the front target object is a three-dimensional object based on the calculated result of the subtraction of the edges.
摘要翻译：图像处理装置基于前方目标物体和驾驶员车辆之间的距离，驾驶员车辆的水平位置和强度来确定，从由安装在驾驶员车辆上的照相机监控的图像数据中切割并提取处理区域从雷达装置发射的雷达波，然后由驾驶员车辆前方的物体反射。雷达装置安装在驾驶员车辆上，并将雷达波传输到驾驶员车辆的前部区域。图像处理装置从处理区域中的图像数据中提取垂直边缘和水平边缘，并且从垂直边缘值中减去水平边缘值，并且基于该图像处理装置最终检测前向目标对象是否是三维对象减去边缘的计算结果。

5. 发明授权

US08363124B2 Exposure control apparatus and exposure control program for vehicle-mounted electronic camera 有权
公开(公告)号：US08363124B2
公开(公告)日：2013-01-29
申请号：US12318145
申请日：2008-12-22
申请人： Kentaro Mochida , Takayuki Kimura , Kenta Hoki
发明人： Kentaro Mochida , Takayuki Kimura , Kenta Hoki
IPC分类号： H04N5/235
CPC分类号： H04N5/243 , G03B7/08 , G03B7/28
摘要： In an exposure control apparatus for a vehicle-installed camera which captures images of an external scene ahead of the vehicle as respective arrays of picture elements, highest-brightness and lowest-brightness picture elements of each image are excluded from processing for measuring the brightness of a region in the scene ahead of the vehicle, thereby enabling stable measurement of brightness with reduced effects of incident light from oncoming vehicle headlights, dark patches on the road surface, etc.

6. 发明授权

US08102421B2 Image processing device for vehicle, image processing method of detecting three-dimensional object, and image processing program 有权
标题翻译：用于车辆的图像处理装置，检测三维物体的图像处理方法和图像处理程序
公开(公告)号：US08102421B2
公开(公告)日：2012-01-24
申请号：US12386160
申请日：2009-04-14
申请人： Kenta Hoki
发明人： Kenta Hoki
IPC分类号： H04N13/00
CPC分类号： G08G1/166 , G06K9/3233 , G06T7/13 , G06T2207/10016 , G06T2207/20132 , G06T2207/30261 , G08G1/165
摘要： An image processing device determines, cuts and extracts a processing area from an image data monitored by a camera mounted onto a driver's vehicle based on a distance between a front target object and a driver's vehicle, a horizontal position of the driver's vehicle, and a strength of a radar wave transmitted from a radar device and then reflected by objects in front of the driver's vehicle. The radar device is mounted to the driver's vehicle and transmits the radar wave to the front area of the driver's vehicle. The image processing device extracts vertical edges and horizontal edges from the image data in the processing area, and subtracts the horizontal edge values from the vertical edge values, and finally detects whether or not the front target object is a three-dimensional object based on the calculated result of the subtraction of the edges.
摘要翻译：图像处理装置基于前方目标物体和驾驶员车辆之间的距离，驾驶员车辆的水平位置和强度来确定，从由安装在驾驶员车辆上的照相机监控的图像数据中切割并提取处理区域从雷达装置发射的雷达波，然后由驾驶员车辆前方的物体反射。雷达装置安装在驾驶员车辆上，并将雷达波传输到驾驶员车辆的前部区域。图像处理装置从处理区域中的图像数据中提取垂直边缘和水平边缘，并且从垂直边缘值中减去水平边缘值，并且基于该图像处理装置最终检测前向目标对象是否是三维对象减去边缘的计算结果。

7. 发明申请

US20090251563A1 Exposure control apparatus and exposure control program for vehicle-mounted electronic camera 有权
标题翻译：车载电子照相机的曝光控制装置和曝光控制程序
公开(公告)号：US20090251563A1
公开(公告)日：2009-10-08
申请号：US12318145
申请日：2008-12-22
申请人： Kentaro Mochida , Takayuki Kimura , Kenta Hoki
发明人： Kentaro Mochida , Takayuki Kimura , Kenta Hoki
IPC分类号： H04N5/235
CPC分类号： H04N5/243 , G03B7/08 , G03B7/28
摘要： In an exposure control apparatus for a vehicle-installed camera which captures images of an external scene ahead of the vehicle as respective arrays of picture elements, highest-brightness and lowest-brightness picture elements of each image are excluded from processing for measuring the brightness of a region in the scene ahead of the vehicle, thereby enabling stable measurement of brightness with reduced effects of incident light from oncoming vehicle headlights, dark patches on the road surface, etc.
摘要翻译：在车辆摄像机的曝光控制装置中，将车辆前方的外部场景的图像拍摄为像素的各个像素，将每个图像的最高亮度和最低亮度的图像元素排除在用于测量在车辆前方的场景中，从而能够稳定地测量亮度，减少迎面而来的车辆前灯的入射光，路面上的暗斑等的影响。

8. 发明授权

US07088286B2 Apparatus for detecting direction of target using difference in phase of radio wave signals received through plural channels 有权
标题翻译：用于通过多个通道接收的无线电波信号的相位差来检测目标方向的装置
公开(公告)号：US07088286B2
公开(公告)日：2006-08-08
申请号：US10717468
申请日：2003-11-21
申请人： Kazuma Natsume , Hiroaki Kumon , Kenta Hoki
发明人： Kazuma Natsume , Hiroaki Kumon , Kenta Hoki
IPC分类号： G01S13/44
CPC分类号： G01S13/4463 , G01S13/723 , G01S13/867
摘要： An apparatus for detecting a direction of a target is provided. The apparatus transmits and receives radio waves through a plurality of transmission/reception channels causing a phase difference in signals to be received through the transmission/reception channels and calculates the direction based on the phase difference. The apparatus comprises a direction calculating device, range determining device, and direction correcting device. The direction calculating device calculates the direction of the target based on the phase difference in the received signals on the assumption that the phase difference is within a range of −π to +π [rad]. The range determining device determines that the target exists in any of azimuthal angle ranges each corresponding to ranges defined by (2m−1) π to (2m+1) π [rad] (m is an integer). The direction correcting device corrects the direction according to a range-determined result.
摘要翻译：提供了一种用于检测目标方向的装置。该装置通过多个发送/接收信道发送和接收无线电波，导致通过发送/接收信道接收信号的相位差，并基于相位差计算方向。该装置包括方向计算装置，范围确定装置和方向校正装置。方向计算装置假设相位差在-pi至+ pi [rad]的范围内，基于接收信号中的相位差来计算目标的方向。范围确定装置确定目标存在于每个对应于由（2m-1）pi至（2m + 1）pi [rad]（m是整数）定义的范围的方位角范围内的任何一个。方向校正装置根据范围确定的结果校正方向。

9. 发明申请

US20050152581A1 Road surface reflection detecting apparatus 有权
标题翻译：路面反射检测装置
公开(公告)号：US20050152581A1
公开(公告)日：2005-07-14
申请号：US11032893
申请日：2005-01-11
申请人： Kenta Hoki , Yukimasa Tamatsu , Kenji Kobayashi
发明人： Kenta Hoki , Yukimasa Tamatsu , Kenji Kobayashi
IPC分类号： G01N21/47 , B60Q1/08 , B60Q1/14 , B60R1/00 , G01N1/00 , G06K9/00 , G06K9/46 , G06T7/60 , G08G1/16
CPC分类号： G06K9/4604 , B60Q1/085 , B60Q1/143 , B60Q2300/054 , B60Q2300/112 , B60Q2300/122 , B60Q2300/134 , B60Q2300/142 , B60Q2300/312 , B60Q2300/41 , G06K9/00791 , G06K2209/23 , G08G1/161
摘要： A road surface reflection detecting apparatus includes a road recognition unit for recognizing a road in a picture taken by a camera of a road existing in front of a vehicle. A road surface reflection detection unit extracts a picture from the road recognized by the road recognition unit and determines the degree of reflection of light from the surface of the road based on the picture extracted from the road. The picture includes the reflection of light beam radiated from vehicle headlights. If the reflection is determined to be high, the direction or intensity of the light beam from the vehicle headlights is regulated.
摘要翻译：路面反射检测装置包括道路识别单元，用于识别由车辆前方存在的道路的照相机拍摄的图像中的道路。路面反射检测单元从道路识别单元识别的道路中提取图像，并且基于从道路提取的图像来确定来自道路表面的光的反射度。该图包括从车灯头辐射的光束的反射。如果反射被确定为高，则调节来自车辆前灯的光束的方向或强度。

10. 发明授权

US07676094B2 Road surface reflection detecting apparatus 有权
标题翻译：路面反射检测装置
公开(公告)号：US07676094B2
公开(公告)日：2010-03-09
申请号：US11032893
申请日：2005-01-11
申请人： Kenta Hoki , Yukimasa Tamatsu , Kenji Kobayashi
发明人： Kenta Hoki , Yukimasa Tamatsu , Kenji Kobayashi
IPC分类号： G06K9/48 , G06K9/00 , G06K9/46 , G06K9/66
CPC分类号： G06K9/4604 , B60Q1/085 , B60Q1/143 , B60Q2300/054 , B60Q2300/112 , B60Q2300/122 , B60Q2300/134 , B60Q2300/142 , B60Q2300/312 , B60Q2300/41 , G06K9/00791 , G06K2209/23 , G08G1/161
摘要： A road surface reflection detecting apparatus includes a road recognition unit for recognizing a road in a picture taken by a camera of a road existing in front of a vehicle. A road surface reflection detection unit extracts a picture from the road recognized by the road recognition unit and determines the degree of reflection of light from the surface of the road based on the picture extracted from the road. The picture includes the reflection of light beam radiated from vehicle headlights. If the reflection is determined to be high, the direction or intensity of the light beam from the vehicle headlights is regulated.
摘要翻译：路面反射检测装置包括道路识别单元，用于识别由车辆前方存在的道路的照相机拍摄的图像中的道路。路面反射检测单元从道路识别单元识别的道路中提取图像，并且基于从道路提取的图像来确定来自道路表面的光的反射度。该图包括从车灯头辐射的光束的反射。如果反射被确定为高，则调节来自车辆前灯的光束的方向或强度。

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