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1. 发明授权

US07974445B2 Vehicle periphery monitoring device, vehicle, and vehicle periphery monitoring program 有权
标题翻译：车辆周边监控装置，车辆和车辆周边监控程序
公开(公告)号：US07974445B2
公开(公告)日：2011-07-05
申请号：US12809874
申请日：2008-10-07
申请人： Nobuharu Nagaoka , Yuji Yokochi
发明人： Nobuharu Nagaoka , Yuji Yokochi
IPC分类号： G06K9/00
CPC分类号： B60R1/00 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00369 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/136 , G06T7/73 , G06T2207/10016 , G06T2207/30261
摘要： A vehicle periphery monitoring device which determines type of an object with high accuracy, wherein the size of object regions that are set in each of the image representing the peripheral condition of the vehicle in each of two different points in time and that include the identical objects, are aligned on the basis of the distance from the vehicle to the object in each of the two different point in time. Further, local regions with the same arrangement pattern are set taking each of the object regions with aligned size as reference. Still further, the object is classified into the object class which corresponds to the arrangement pattern in the case where the degree of correlation between the local regions becomes equal to or larger than a threshold value.
摘要翻译：一种车辆周边监视装置，其以高精度确定对象的类型，其中，在两个不同时间点中的每一个中表示车辆的周边状态的每个图像中设置的对象区域的大小，并且包括相同对象在两个不同时间点的每一个中基于从车辆到物体的距离对准。此外，以具有对准尺寸的每个对象区域作为参考，设置具有相同布置图案的局部区域。此外，在本地区域之间的相关程度变得等于或大于阈值的情况下，将对象分类为与布置模式对应的对象类别。

2. 发明申请

US20100283845A1 VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE, VEHICLE PERIPHERY MONITORING PROGRAM, AND VEHICLE PERIPHERY MONITORING METHOD 有权
标题翻译：车辆周边监测装置，车辆，车辆周边监测程序和车辆周边监测方法
公开(公告)号：US20100283845A1
公开(公告)日：2010-11-11
申请号：US12812080
申请日：2008-11-18
申请人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
发明人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
IPC分类号： H04N7/18 , G06T7/00 , G06K9/00
CPC分类号： B60R1/00 , G06K9/00805
摘要： A vehicle periphery monitoring device comprising a distance detecting unit which detects the distance between cameras and an object, an object image extracting unit which extracts a first image portion of the object from the acquired image, a filtering unit which performs a filtering process to the acquired image, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the predetermined direction, and an object type identifying unit which identifies, on the basis of a shape of a second image portion extracted by the filtering process, whether or not the type of the object in real space corresponding to the second image portion is the specific type.
摘要翻译：一种车辆周边监视装置，包括：检测摄像机和物体之间的距离的距离检测单元;从所获取的图像中提取对象的第一图像部分的对象图像提取单元，对所获取的图像执行滤波处理的滤波单元; 图像，其中当宽度的假定值较小并且距离更长时，目标边缘宽度被设置为较窄，并且其中目标边缘方向被设置为与预定方向正交的方向，并且对象类型识别单元，其基于由所述滤波处理提取的第二图像部分的形状来识别与所述第二图像部分相对应的实际空间中的对象的类型是否是特定类型。

3. 发明申请

US20100278392A1 VEHICLE PERIPHERY MONITORING DEVICE, VEHICLE, AND VEHICLE PERIPHERY MONITORING PROGRAM 有权
标题翻译：车辆周边监测装置，车辆和车辆周边监测方案
公开(公告)号：US20100278392A1
公开(公告)日：2010-11-04
申请号：US12809874
申请日：2008-10-07
申请人： Nobuharu Nagaoka , Yuji Yokochi
发明人： Nobuharu Nagaoka , Yuji Yokochi
IPC分类号： G06T7/00
CPC分类号： B60R1/00 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00369 , G06K9/00805 , G06K9/3241 , G06K2209/23 , G06T7/136 , G06T7/73 , G06T2207/10016 , G06T2207/30261
摘要： A vehicle periphery monitoring device which determines type of an object with high accuracy, wherein the size of object regions that are set in each of the image representing the peripheral condition of the vehicle [[1]] in each of two different points in time and that include the identical objects, are aligned on the basis of the distance from the vehicle to the object in each of the two different point in time. Further, local regions with the same arrangement pattern are set taking each of the object regions with aligned size as reference. Still further, the object is classified into the object class which corresponds to the arrangement pattern in the case where the degree of correlation between the local regions becomes equal to or larger than [[the]] a threshold value.
摘要翻译：一种车辆周边监视装置，其以高精度确定对象的类型，其中，在两个不同时间点中的每一个中，在表示车辆周边状态的每个图像中设置的对象区域的大小[[1]]，以及包括相同物体的两个不同时间点中的每个中基于从车辆到物体的距离对准。此外，以具有对准尺寸的每个对象区域作为参考，设置具有相同布置图案的局部区域。此外，在本地区域之间的相关程度变得等于或大于[[]]阈值的情况下，将对象分类为与布置模式对应的对象类别。

4. 发明授权

US08077204B2 Vehicle periphery monitoring device, vehicle, vehicle periphery monitoring program, and vehicle periphery monitoring method 有权
标题翻译：车辆周边监控装置，车辆，车辆周边监控程序和车辆周边监控方法
公开(公告)号：US08077204B2
公开(公告)日：2011-12-13
申请号：US12812080
申请日：2008-11-18
申请人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
发明人： Yuji Yokochi , Nobuharu Nagaoka , Fuminori Taniguchi
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , G06K9/00805
摘要： A vehicle periphery monitoring device comprising a distance detecting unit which detects the distance between cameras and an object, an object image extracting unit which extracts a first image portion of the object from the acquired image, a filtering unit which performs a filtering process to the acquired image, in which a target edge width is set to be narrower as the assumed value of the width is smaller and the distance is longer, and in which a target edge direction is set to a direction orthogonal to the predetermined direction, and an object type identifying unit which identifies, on the basis of a shape of a second image portion extracted by the filtering process, whether or not the type of the object in real space corresponding to the second image portion is the specific type.
摘要翻译：一种车辆周边监视装置，包括：检测摄像机和物体之间的距离的距离检测单元;从所获取的图像中提取对象的第一图像部分的对象图像提取单元，对所获取的图像执行滤波处理的滤波单元; 图像，其中当宽度的假定值较小并且距离更长时，目标边缘宽度被设置为较窄，并且其中目标边缘方向被设置为与预定方向正交的方向，并且对象类型识别单元，其基于由所述滤波处理提取的第二图像部分的形状来识别与所述第二图像部分相对应的实际空间中的对象的类型是否是特定类型。

5. 发明授权

US08983123B2 Target-object distance measuring device and vehicle mounted with the device 有权
标题翻译：目标物体距离测量装置和装有该装置的车辆
公开(公告)号：US08983123B2
公开(公告)日：2015-03-17
申请号：US13511074
申请日：2010-10-18
申请人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
发明人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G06K9/00 , G06T7/00 , G06T7/60 , G08G1/16
CPC分类号： G06T7/0046 , G06T7/60 , G06T7/75 , G06T2207/30196 , G06T2207/30261 , G08G1/16 , G08G1/166
摘要： In a target-object distance measuring device and a vehicle on which the device is mounted, a human body detection device is utilized for calculating a distance between an image capturing device and a human body candidate in an actual space based on the size of the human body candidate in the image. The head width is approximately 15-16 cm. A body height in the actual space of the human candidate in the image is estimated based on the ratio between the head-width in the extracted image and at least one size of the human body feature, such as total height, in the extracted human body candidate region, and the distance from the image capturing device to the human body candidate in the actual space is calculated based on the estimated body height in the actual space and the body height of the human body candidate in the image.
摘要翻译：在目标物体距离测量装置和安装有该装置的车辆上，利用人体检测装置，根据人的尺寸，在实际空间中计算图像拍摄装置与人体候选者之间的距离身体候选人的形象。头部宽度约为15-16厘米。基于所提取的图像中的头部宽度与所提取的人体中的人体特征（例如总高度）的至少一个尺寸之比，估计图像中人类候选人的实际空间中的身高基于实际空间中估计的身高和人体候选者的身高在图像中计算出从实际空间中的图像拍摄装置到人体候选者的距离。

6. 发明授权

US08810653B2 Vehicle surroundings monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08810653B2
公开(公告)日：2014-08-19
申请号：US11712533
申请日：2007-02-28
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Yoichi Sugimoto , Morimichi Nishigaki
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Yoichi Sugimoto , Morimichi Nishigaki
IPC分类号： H04N7/18 , G06K9/00
CPC分类号： G06K9/00369 , G06K9/00791 , G06K9/00805
摘要： A vehicle surroundings monitoring apparatus capable of distinguishing and determining an object type with high reliability, particularly a vehicle surroundings monitoring apparatus capable of determining an object by distinguishing between a pedestrian and other objects among the objects with high reliability. The vehicle surroundings monitoring apparatus detects an object existing around a vehicle (10) from images obtained by cameras 2R and 2L mounted on the vehicle (10) and includes an object extraction process unit (steps 1 to 9) which extracts an object from the image, a width calculation process unit (steps 101 to 104) which calculates widths of the object in a plurality of height positions spaced at vertical intervals of the object extracted by the object extraction process unit, and an object type determination process unit (step 105) which determines the type of the object based on the widths calculated by the width calculation process unit.
摘要翻译：特别是一种车辆周边监视装置，能够区分和确定具有高可靠性的对象类型的车辆周围环境监视装置，特别是能够通过以高可靠性区分对象之间的步行者和其他对象来确定对象的车辆周边监视装置。车辆周围环境监视装置根据安装在车辆（10）上的摄像机2R和2L获得的图像检测车辆（10）周围的物体，并且包括从图像中提取物体的物体提取处理单元（步骤1至9），宽度计算处理单元（步骤101至104），其计算由对象提取处理单元提取的对象的垂直间隔间隔开的多个高度位置中的对象的宽度;以及对象类型确定处理单元（步骤105）其基于由宽度计算处理单元计算的宽度来确定对象的类型。

7. 发明授权

US08766816B2 System for monitoring the area around a vehicle 有权
标题翻译：用于监控车辆周围区域的系统
公开(公告)号：US08766816B2
公开(公告)日：2014-07-01
申请号：US13124253
申请日：2009-06-24
申请人： Izumi Takatsudo , Nobuharu Nagaoka , Makoto Aimura
发明人： Izumi Takatsudo , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： B60Q1/00 , G05B23/02 , G06F17/10
CPC分类号： B60R1/00 , B60R2300/103 , B60R2300/105 , B60R2300/205 , B60R2300/301 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G06K9/00805
摘要： A system 1 for monitoring the area around a vehicle of the present invention capable of visually notifying the passenger in the vehicle 10 of not only the presence but also the kind of an object in images around the vehicle displayed in an HUD 7, for example, according to a difference in the display mode of the presence of the object, wherein the driver of the vehicle 10 is able to recognize which of a human or a four-footed animal the object belongs to, according to either a difference in the design between a first mark M1 and a second mark M2 or a difference in the design between a first frame F1 and a second frame F2 displayed on the HUD 7.
摘要翻译：用于监视本发明车辆周围区域的系统1，其能够在车辆10中视觉上通知车辆10中的乘客，不仅存在例如在HUD 7中显示的车辆周围的图像中的物体的存在，根据对象存在的显示模式的差异，其中车辆10的驾驶员能够识别对象所属的人或四足动物中的哪一个，根据设计中的哪一个第一标记M1和第二标记M2或在HUD 7上显示的第一帧F1和第二帧F2之间的设计的差异。

8. 发明申请

US20130243261A1 VEHICLE SURROUNDINGS MONITORING DEVICE 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20130243261A1
公开(公告)日：2013-09-19
申请号：US13817466
申请日：2011-06-22
申请人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
发明人： Kodai Matsuda , Nobuharu Nagaoka , Makoto Aimura
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G08G1/166
摘要： When it is determined that a type of a physical body in real space corresponding to an image portion is a crossing pedestrian, a distance calculating unit 13 performs a first distance calculating process of calculating a distance between a vehicle 1 and the physical body, on the basis of a correlative relationship between the distance from the vehicle 1 set on assumption of a height of the pedestrian and a height of the image portion, according to the height of the image portion. When it is determined that the type of the physical body is not the crossing pedestrian, then the distance calculating unit 13 performs a second distance calculating process which calculates the distance between the physical body and the vehicle, on the basis of a change in size of the image portions of the physical body extracted from time-series captured images.
摘要翻译：当确定对应于图像部分的实际空间中的身体的类型是交叉行人时，距离计算单元13执行计算车辆1和身体之间的距离的第一距离计算处理，在根据图像部分的高度，基于假定行人高度和图像部分的高度之间的车辆1的距离之间的相关关系的基础。当确定身体的类型不是交叉行人时，距离计算单元13基于大小的变化来执行计算身体和车辆之间的距离的第二距离计算处理从时间序列拍摄图像中提取物理身体的图像部分。

9. 发明申请

US20120314074A1 SURROUNDING AREA MONITORING DEVICE FOR VEHICLE 有权
标题翻译：用于车辆的环境监控装置
公开(公告)号：US20120314074A1
公开(公告)日：2012-12-13
申请号：US13580014
申请日：2011-02-21
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G01C3/14 , G06K9/00362 , G06K9/00805 , G06T7/593 , G06T2207/10012 , G06T2207/10048 , G06T2207/30196 , G06T2207/30261 , G08G1/166
摘要： A surrounding area monitoring apparatus, which is built into a vehicle, images the area surrounding the vehicle and detects physical objects in the area surrounding the vehicle based on the image taken. The apparatus determines whether the detected physical object is a pedestrian or an animal, and a warning is given to the driver of the vehicle if the determined physical object is present within a specified area from the vehicle. If it is determined that the detected physical object is an animal and that the animal is present within the specified area, the warning in continued for a specified period even after the animal has left the specified area. Since animals have habits of behaving in a herd, risk of lurking animals can be brought to the driver's attention by the continuation of the warning.
摘要翻译：基于所拍摄的图像，内置在车辆中的周边区域监视装置对车辆周围的区域进行成像，并检测车辆周围的区域中的物体。如果检测到的物体是行人或动物，则该装置确定是否在车辆的指定区域内存在确定的物体，并向车辆的驾驶员发出警告。如果确定检测到的物体是动物并且动物存在于指定区域内，则即使在动物离开指定区域之后，该警告仍持续指定的时间段。由于动物的行为习惯在牛群中，潜伏着动物的风险可以继续警告，引起司机的注意。

10. 发明授权

US08184862B2 Vehicle periphery monitoring apparatus 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08184862B2
公开(公告)日：2012-05-22
申请号：US12936426
申请日：2009-01-08
申请人： Nobuharu Nagaoka , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Hideki Hashimoto
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00369 , G06T7/248 , G06T7/55 , G06T2207/10016 , G06T2207/30196 , G06T2207/30261 , G08G1/166
摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. A vehicle periphery monitoring apparatus (10) calculates the change rate (Rate(t)) of the size of an object region between two times separated by a specified interval (ΔT). The specified interval (ΔT) is a time interval defined so that the shapes and postures of an object in images resemble or match each other to such an extent that it is possible to identify that the object is identical. Based on the change rage (Rate(t)) of the size of the object region during the specified interval (ΔT), it is possible to measure the distance from a vehicle (1) to the object or the position 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。车辆周边监视装置（10）计算在指定间隔（＆Dgr; T）之间分开的两次之间的对象区域的大小的变化率（Rate（t））。指定的间隔（＆Dgr; T）是定义的时间间隔，使得图像中的对象的形状和姿势类似于或相互匹配，使得可以识别对象是相同的。基于指定间隔（＆Dgr; T）期间对象区域的大小的变化幅度（Rate（t）），可以测量从车辆（1）到物体或高位置的距离即使对象正在移动，也能确定精度。

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