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1. 发明申请

US20110216944A1 In-vehicle white line recognition apparatus 有权
标题翻译：车载白线识别装置
公开(公告)号：US20110216944A1
公开(公告)日：2011-09-08
申请号：US12932812
申请日：2011-03-07
申请人： Naoki Kawasaki , Tetsuya Takafuji , Kazuma Hashimoto , Shunsuke Suzuki
发明人： Naoki Kawasaki , Tetsuya Takafuji , Kazuma Hashimoto , Shunsuke Suzuki
IPC分类号： G06K9/00
CPC分类号： G06K9/00
摘要： An in-vehicle, white line recognition apparatus is disclosed. Form an image captured by a camera, the apparatus extracts multiple white line candidates including a first white line candidate and a second white line candidate. The apparatus calculates a certainty factor of each white line candidate, the certainty factor indicating a degree of certainty that the each white line candidate represents the white line. When the first and second white line candidates are, within a predetermined range and when a ratio of contrast of the first white line candidate to that of the second white line candidate is less than a predetermined value, the apparatus decreases the certainty factor of the first white line candidate.
摘要翻译：公开了车载白线识别装置。形成由相机拍摄的图像，该装置提取包括第一白线候选和第二白线候选的多个白线候选。该装置计算每个白线候选者的确定性因子，该确定因子表示每个白线候选者表示白线的确定程度。当第一和第二白线候选在预定范围内时，并且当第一白线候选与第二白线候选的对比度的比值小于预定值时，该装置降低第一白线候选的确定性因子白线候选人。

2. 发明授权

US08385601B2 In-vehicle white line recognition apparatus 有权
标题翻译：车载白线识别装置
公开(公告)号：US08385601B2
公开(公告)日：2013-02-26
申请号：US12932812
申请日：2011-03-07
申请人： Naoki Kawasaki , Tetsuya Takafuji , Kazuma Hashimoto , Shunsuke Suzuki
发明人： Naoki Kawasaki , Tetsuya Takafuji , Kazuma Hashimoto , Shunsuke Suzuki
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06K9/00
摘要： An in-vehicle white line recognition apparatus is disclosed. Form an image captured by a camera, the apparatus extracts multiple white line candidates including a first white line candidate and a second white line candidate. The apparatus calculates a certainty factor of each white line candidate, the certainty factor indicating a degree of certainty that the each white line candidate represents the white line. When the first and second white line candidates are within a predetermined range and when a ratio of contrast of the first white line candidate to that of the second white line candidate is less than a predetermined value, the apparatus decreases the certainty factor of the first white line candidate.
摘要翻译：公开了一种车载白线识别装置。形成由相机拍摄的图像，该装置提取包括第一白线候选和第二白线候选的多个白线候选。该装置计算每个白线候选者的确定性因子，该确定因子表示每个白线候选者表示白线的确定程度。当第一和第二白线候选在预定范围内时，并且当第一白线候选与第二白线候选的对比度的比值小于预定值时，该装置降低第一白线候选的确定性因子线候选人

3. 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。

4. 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。

5. 发明授权

US08548200B2 Lane-marker recognition system with improved recognition-performance 有权
标题翻译：车道识别系统具有改进的识别性能
公开(公告)号：US08548200B2
公开(公告)日：2013-10-01
申请号：US12931766
申请日：2011-02-10
申请人： Shunsuke Suzuki , Naoki Kawasaki
发明人： Shunsuke Suzuki , Naoki Kawasaki
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In a lane-marker recognition system installed in a vehicle, an image pickup unit picks up an image of a target region including a road ahead of the vehicle, and a light-intensity detecting unit detects a change in a light intensity of the target region in the picked-up image. A lane-marker recognizing unit compares the change in the light intensity of the target region in the picked-up image with a predetermined threshold value, and recognizes a region of at least one lane marker in the target region based on a result of the comparison, the at least one lane marker being formed on the road. A re-determining unit re-determines the threshold value based on a light intensity of the recognized region of the at least one lane marker.
摘要翻译：在安装在车辆中的车道识别识别系统中，摄像单元拍摄包括车辆前方的道路的目标区域的图像，并且光强度检测单元检测目标区域的光强度的变化在拍摄的图像中。车道标记识别单元将拍摄图像中的目标区域的光强度的变化与预定阈值进行比较，并且基于比较结果识别目标区域中的至少一个车道标记的区域所述至少一个车道标记形成在所述道路上。重新确定单元基于至少一个车道标记的识别区域的光强度来重新确定阈值。

6. 发明申请

US20110200258A1 Lane-marker recognition system with improved recognition-performance 有权
标题翻译：车道识别系统具有改进的识别性能
公开(公告)号：US20110200258A1
公开(公告)日：2011-08-18
申请号：US12931766
申请日：2011-02-10
申请人： Shunsuke Suzuki , Naoki Kawasaki
发明人： Shunsuke Suzuki , Naoki Kawasaki
IPC分类号： G06K9/48
CPC分类号： G06K9/00798
摘要： In a lane-marker recognition system installed in a vehicle, an image pickup unit picks up an image of a target region including a road ahead of the vehicle, and a light-intensity detecting unit detects a change in a light intensity of the target region in the picked-up image. A lane-marker recognizing unit compares the change in the light intensity of the target region in the picked-up image with a predetermined threshold value, and recognizes a region of at least one lane marker in the target region based on a result of the comparison, the at least one lane marker being formed on the road. A re-determining unit re-determines the threshold value based on a light intensity of the recognized region of the at least one lane marker.
摘要翻译：在安装在车辆中的车道识别识别系统中，摄像单元拍摄包括车辆前方的道路的目标区域的图像，并且光强度检测单元检测目标区域的光强度的变化在拍摄的图像中。车道标记识别单元将拍摄图像中的目标区域的光强度的变化与预定阈值进行比较，并且基于比较结果识别目标区域中的至少一个车道标记的区域所述至少一个车道标记形成在所述道路上。重新确定单元基于至少一个车道标记的识别区域的光强度来重新确定阈值。

7. 发明授权

US08786697B2 Apparatus for determining the presence of fog using image obtained by vehicle-mounted imaging device 有权
标题翻译：用于通过车载成像装置获得的图像来确定雾的存在的装置
公开(公告)号：US08786697B2
公开(公告)日：2014-07-22
申请号：US12008408
申请日：2008-01-10
申请人： Naoki Kawasaki
发明人： Naoki Kawasaki
IPC分类号： H04N7/18
CPC分类号： G06K9/00825 , B60Q2300/312 , G06K9/00805
摘要： An apparatus that detects the presence of a constituent such as fog affecting a view of space which is present ahead of a vehicle, the constituent resulting from a natural phenomenon in the space is provided. In this apparatus, the determination of whether the presence of the element is determined based on an image that captured by a vehicle-mounted camera and in which a picture of a high-luminance obstacle located on a road over which the vehicle is traveling is masked.
摘要翻译：提供了一种检测出存在诸如影响车辆前方的空间视图的雾的成分的装置，由空间中的自然现象导致的成分。在该装置中，基于由车载摄像机拍摄的图像来确定元素的存在的确定，并且其中屏蔽了位于车辆行驶的道路上的高亮度障碍物的图像。

8. 发明申请

US20080007429A1 Visibility condition determining device for vehicle 审中-公开
标题翻译：车辆可见度条件决定装置
公开(公告)号：US20080007429A1
公开(公告)日：2008-01-10
申请号：US11820224
申请日：2007-06-18
申请人： Naoki Kawasaki , Takayuki Miyahara , Yukimasa Tamatsu
发明人： Naoki Kawasaki , Takayuki Miyahara , Yukimasa Tamatsu
IPC分类号： G08G1/00
CPC分类号： G01J1/4228 , B60W40/08 , G01N21/538 , G08G1/167
摘要： A visibility condition determining device for a vehicle has a lighting device, an in-vehicle camera and an image processing unit. The lighting device is mounted on the vehicle and irradiates an outside of the vehicle with its light beam. The in-vehicle camera picks up an image including a transmission space through which the beam irradiated from the lighting device is transmitted in an imaging area, and including a non-irradiated area that is not directly irradiated with the beam in a background of the transmission space in the image. The image processing unit determines a visibility condition outside of the vehicle based on a brightness of the non-irradiated area in the image which is picked up by the in-vehicle camera when the lighting device irradiates outside of the vehicle.
摘要翻译：一种用于车辆的可见度条件确定装置，具有照明装置，车载照相机和图像处理单元。照明装置安装在车辆上并用其光束照射车辆的外部。车载摄像机拍摄包括发射空间的图像，通过该透射空间将照明装置照射的光束在成像区域中透射，并且包括在透射背景中不直接照射光束的未照射区域图像中的空间。图像处理单元基于当照明装置照射到车辆外部时由车载摄像机拾取的图像中的未照射区域的亮度来确定车辆外部的可见度条件。

9. 发明申请

US20050125154A1 Sensor fusion system and vehicle control system therewith 有权
标题翻译：传感器融合系统及车辆控制系统
公开(公告)号：US20050125154A1
公开(公告)日：2005-06-09
申请号：US10973073
申请日：2004-10-25
申请人： Naoki Kawasaki
发明人： Naoki Kawasaki
IPC分类号： B60K31/00 , G01D1/16 , G06F17/10 , G06T1/00 , G06T7/00 , G08G1/16
CPC分类号： G01D1/16
摘要： Each of multiple probability distribution outputting units computes a probability distribution of a data value detected by the corresponding sensor or algorithm in an image recognition processing or the like. The respective probability distributions of the multiple probability distribution outputting units are given as outputs to a synthetic determination processing unit. Data formats of the outputs to the synthetic determination processing unit can be thereby standardized. Hence, the synthetic determination processing unit is exempted from considering which type of sensor or algorithm each of the outputs is based upon. Even when a sensor or algorithm is added or changed, the same data-fusing algorithm in the synthetic determination processing unit can be uniformly used.
摘要翻译：多个概率分布输出单元中的每一个在图像识别处理等中计算由相应的传感器或算法检测到的数据值的概率分布。将多个概率分布输出单元的各个概率分布作为合成判定处理单元的输出。因此，可以将合成确定处理单元的输出的数据格式标准化。因此，合成确定处理单元被免除考虑每个输出的哪种类型的传感器或算法。即使添加或更改传感器或算法，也可以均匀地使用合成确定处理单元中的相同的数据融合算法。

10. 发明授权

US06427658B1 Outboard motor 有权
标题翻译：舷外马达
公开(公告)号：US06427658B1
公开(公告)日：2002-08-06
申请号：US09570177
申请日：2000-05-12
申请人： Takeshi Toyama , Naoki Kawasaki
发明人： Takeshi Toyama , Naoki Kawasaki
IPC分类号： F02F700
CPC分类号： F02B75/007 , F02B61/045 , F02B75/20 , F02B2075/027 , F02B2075/1812
摘要： An outboard motor including an engine holder, an in-line multi-cylinder type engine disposed above the engine holder in a mounted usable state of the outboard motor, an oil pan disposed below the engine holder, and an engine cover covering the engine holder, engine and oil pan. The in-line multi-cylinder type engine includes vertically arranged cylinders and a crank chamber of a crank case corresponding to a lowermost cylinder has both shoulder portions formed by a wall section continuous to a wall section of the lowermost cylinder and extending in a direction normal thereto and another wall section substantially parallel to the wall section of the lowermost cylinder so as to define shapes of the shoulder portions to be substantially square in section.
摘要翻译：一种舷外马达，其包括发动机保持器，设置在发动机保持器上方的舷外马达的安装可用状态的直列式多气缸型发动机，设置在发动机保持架下方的油底壳和覆盖发动机保持架的发动机盖，发动机和油底壳。直列式多气缸型发动机包括垂直排列的气缸，与最低气缸相对应的曲轴箱的曲柄室具有由与最下部气缸的壁部连续的壁部分形成的两个肩部，并沿正常方向延伸以及基本上平行于最下面的圆柱体的壁部分的另一个壁部分，以便将肩部的形状限定为截面大致正方形。

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