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1. 发明授权

US07176959B2 Vehicle surroundings display device and image providing system 有权
标题翻译：车辆周边显示装置和图像提供系统
公开(公告)号：US07176959B2
公开(公告)日：2007-02-13
申请号：US10237514
申请日：2002-09-09
申请人： Satoshi Sato , Masamichi Nakagawa , Shusaku Okamoto , Atsushi Morimura , Yoshihiko Matsukawa , Kunio Nobori
发明人： Satoshi Sato , Masamichi Nakagawa , Shusaku Okamoto , Atsushi Morimura , Yoshihiko Matsukawa , Kunio Nobori
IPC分类号： H04N7/18
CPC分类号： G01S11/12 , G01S17/936
摘要： In the vehicle surroundings display device of the invention, an image processor generates an image showing the situation around a vehicle. When an obstacle is detected by an obstacle detection means, the image processor determines an image missing region using the position of the border of the obstacle on the vehicle side detected by an obstacle position detection means and fills the image missing region with substitute image data. This eliminates unnaturalness of a display image the user may feel and enables the user to accurately recognize the position of a neighboring obstacle that is important in driving operation.
摘要翻译：在本发明的车辆周边显示装置中，图像处理器生成表示车辆周围的情况的图像。当障碍物检测装置检测到障碍物时，图像处理器使用由障碍物位置检测装置检测到的车辆侧的障碍物的边界的位置来确定图像丢失区域，并用替代图像数据填充图像丢失区域。这消除了用户可能感觉到的显示图像的不自然，并且使用户能够准确地识别在驾驶操作中重要的相邻障碍物的位置。

2. 发明授权

US07515990B2 Article control system, article control server, article control method 有权
标题翻译：物品控制系统，物品控制服务器，物品控制方法
公开(公告)号：US07515990B2
公开(公告)日：2009-04-07
申请号：US10532157
申请日：2004-05-21
申请人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
发明人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J5/007 , G05B2219/39107 , G05B2219/40298 , G05D1/0238 , G05D1/028
摘要： The system includes a sensor for detecting a state of a space; a robot for executing a handling job for an article; an article identifying part for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensor; and an article handling subject identifying part for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot, the article handling subject identifying part identifies a subject having issued a job instruction to the robot as the article handling subject.
摘要翻译：该系统包括用于检测空间状态的传感器; 用于执行物品的处理作业的机器人; 物品识别部件，用于当物品被移动体处理时，根据由传感器获得的检测结果来识别物品; 以及用于识别处理该物品的物品处理对象的物品处理主体识别部件。当处理物品的可移动体是机器人时，物品处理对象识别部件将作为物品处理对象的向机器人发出作业指示的被摄体标识。

3. 发明申请

US20060047361A1 Article control system ,article control server, article control method 有权
标题翻译：物品控制系统，物品控制服务器，物品控制方法
公开(公告)号：US20060047361A1
公开(公告)日：2006-03-02
申请号：US10532157
申请日：2004-05-21
申请人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
发明人： Satoshi Sato , Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Osamu Yamada , Tomonobu Naruoka , Yoshihiko Matsukawa , Yasuhiro Morinaka , Katsuji Aoki , Mikiya Nakata
IPC分类号： G06F19/00
CPC分类号： G05D1/0246 , B25J5/007 , G05B2219/39107 , G05B2219/40298 , G05D1/0238 , G05D1/028
摘要： The system includes sensing means 120 for detecting a state of a space; a robot 102 for executing a handling job for an article; an article identifying part 32 for identifying, when an article is handled by a movable body, the article in response to a detection result obtained by the sensing means 120; and an article handling subject identifying part 33 for identifying an article handling subject that handles the article. When the movable body that handles the article is the robot 102, the article handling subject identifying part 33 identifies a subject having issued a job instruction to the robot 102 as the article handling subject.
摘要翻译：该系统包括用于检测空间状态的检测装置120; 用于执行物品的处理作业的机器人102; 物品识别部件32，用于当物品被移动体处理时，根据感测装置120获得的检测结果识别物品; 以及用于识别处理物品的物品处理对象的物品处理对象标识部分33。当处理物品的移动体是机器人102时，物品处理对象识别部件33将作为物品处理对象的向机器人102发出作业指示的被检体标识。

4. 发明申请

US20060195226A1 Mobile robot system and program for controlling the same 审中-公开
标题翻译：移动机器人系统和程序控制相同
公开(公告)号：US20060195226A1
公开(公告)日：2006-08-31
申请号：US11348452
申请日：2006-02-06
申请人： Yoshihiko Matsukawa , Masamichi Nakagawa , Kunio Nobori , Shusaku Okamoto
发明人： Yoshihiko Matsukawa , Masamichi Nakagawa , Kunio Nobori , Shusaku Okamoto
IPC分类号： G06F19/00
CPC分类号： B25J9/162
摘要： A living assistance system is provided with an information presentation device capable of directly displaying information relating to an article onto actual environment, a moving area generation unit (for generating a moving area of the robot, a grabbing feasible area generation unit for generating a grabbing feasible area of the robot, and a guide information generation unit for calculating guide information from an user to the article. The living assistance system displays information obtained by the moving area generation unit, the grabbing feasible area generation unit, and the guide information generation unit by using the information presentation device. Thus, there is provided the living assistance system that manages articles and the like in a house or the like, and can more intuitionally present attribute information to the article or information to be used for smoothly transferring the article to the user.
摘要翻译：一种生活辅助系统具有能够直接将与物品相关的信息直接显示到实际环境中的信息呈现装置，移动区域生成单元（用于生成机器人的移动区域，用于产生抓取可行性的抓取可行区域生成单元机器人的区域，以及用于计算从用户到物品的引导信息的引导信息生成单元，生活辅助系统显示由移动区域生成单元获取的信息，抓取可行区域生成单元和引导信息生成单元，因此，提供了在房屋等中管理物品等的生活辅助系统，并且可以更直观地呈现属性信息到文章或用于平滑地将物品传送到的物品的信息用户。

5. 发明授权

US07277123B1 Driving-operation assist and recording medium 有权
标题翻译：驾驶操作辅助和记录介质
公开(公告)号：US07277123B1
公开(公告)日：2007-10-02
申请号：US09581004
申请日：1999-10-06
申请人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： H04N7/18
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.
摘要翻译：车辆操作辅助包括周向状态成像器，用于利用照相机对车辆的周向状态进行成像并产生周向状态图像; 合成图像生成器，用于通过叠加在周向状态图像上，执行执行预定的一系列驾驶操作的车辆的假想移动模式来产生合成图像; 以及用于显示合成图像的显示器。圆周状态成像器具有至少一个照相机和照相机参数表，用于存储照相机的特性并基于照相机特征产生圆周状态图像。

6. 发明授权

US07266219B2 Monitoring system 有权
标题翻译：监视系统
公开(公告)号：US07266219B2
公开(公告)日：2007-09-04
申请号：US10088606
申请日：2001-07-19
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura , Nobuhiko Yasui , Akira Ishida , Atsushi Iisaka , Takashi Yoshida
IPC分类号： G06K9/36 , H04N7/18 , H04N9/47 , B60Q1/48 , G08G1/14
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/207 , B60R2300/30 , B60R2300/305 , B60R2300/404 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , G06T15/10
摘要： For supporting a complicated driving operation, a synthesized image is presented to the driver. The driver can view this image and thus drive with a sense of security. The synthesized image may include an image of at least one tire and may have an enlargement/reduction ratio that is relatively higher in a nearby area of the vehicle, including a grounding portion of at least one tire of the vehicle, as compared with a peripheral area of the vehicle.
摘要翻译：为了支持复杂的驾驶操作，向驾驶员呈现合成图像。司机可以查看此图像，从而以安全感驱动。合成图像可以包括至少一个轮胎的图像，并且可以具有在车辆的附近区域中相对较高的放大/缩小比率，包括车辆的至少一个轮胎的接地部分，与外围设备相比车辆区域。

7. 发明授权

US08111287B2 Driving-operation assist and recording medium 有权
标题翻译：驾驶操作辅助和记录介质
公开(公告)号：US08111287B2
公开(公告)日：2012-02-07
申请号：US11846085
申请日：2007-08-28
申请人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： H04N7/18
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.
摘要翻译：车辆操作辅助包括周向状态成像器，用于利用照相机对车辆的周向状态进行成像并产生周向状态图像; 合成图像生成器，用于通过叠加在周向状态图像上，执行执行预定的一系列驾驶操作的车辆的假想移动模式来产生合成图像; 以及用于显示合成图像的显示器。圆周状态成像器具有至少一个照相机和照相机参数表，用于存储照相机的特性并基于照相机特征产生圆周状态图像。

8. 发明授权

US07161616B1 Image processing device and monitoring system 有权
标题翻译：图像处理装置及监控系统
公开(公告)号：US07161616B1
公开(公告)日：2007-01-09
申请号：US09807654
申请日：2000-04-17
申请人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： A47G23/02
CPC分类号： G06T15/205 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/607 , B60R2300/806 , G03B37/04 , G06T2200/32 , H04N7/181
摘要： A synthetic image viewed from a virtual point of view above a vehicle is generated, using images captured by a plurality of cameras shooting surroundings of the vehicle. In the synthetic image, an illustration image or an actual image of the vehicle is displayed in a vehicle region in which the vehicle is present. The area around the vehicle that is not shot by any of the cameras is displayed as a blind spot region.
摘要翻译：使用摄像车辆周围的多个摄像机拍摄的图像，生成从车辆上方的虚拟视点观看的合成图像。在合成图像中，在车辆存在的车辆区域中显示车辆的图示图像或实际图像。未被任何相机拍摄的车辆周围的区域被显示为盲点区域。

9. 发明授权

US06912001B2 Image processor and monitoring system 有权
标题翻译：图像处理器和监控系统
公开(公告)号：US06912001B2
公开(公告)日：2005-06-28
申请号：US09866082
申请日：2001-05-25
申请人： Shusaku Okamoto , Masamichi Nakagawa , Hirofumi Ishii , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Masamichi Nakagawa , Hirofumi Ishii , Kunio Nobori , Atsushi Morimura
IPC分类号： B60R21/00 , B60R1/00 , B60W30/00 , G06T3/00 , G08G1/16 , H04N1/387 , H04N7/18 , H04N5/228 , H04N9/47
CPC分类号： H04N7/181 , B60R1/00 , B60R2300/105 , B60R2300/30 , B60R2300/303
摘要： In an image processor for synthesizing images that have been taken by multiple cameras mounted on a vehicle, even if any movable part of the vehicle has changed its state, the synthesized image will have no unnatural part. A pixel synthesizer receives the images that have been captured by the cameras included in an imaging section and generates the synthesized image by reference to a mapping table. Receiving a signal indicative of the state of a movable part such as the door or hood of the vehicle, a display mode changer disables at least one of the cameras that is taking an image to be affected by any change in the state of the movable part. For that purpose, the changer rewrites mapping data stored on the mapping table and thereby eliminates the image in question from the synthesized image.
摘要翻译：在用于合成由安装在车辆上的多个摄像机拍摄的图像的图像处理器中，即使车辆的任何可移动部分已经改变其状态，合成图像将不会有不自然的部分。像素合成器接收由成像部分所包含的相机拍摄的图像，并参照映射表生成合成图像。接收到指示诸如车辆的门或罩的可移动部件的状态的信号时，显示模式改变器禁止正在拍摄图像的至少一个相机受到可移动部件的状态的任何改变的影响。为此，更换器重写存储在映射表上的映射数据，从而从合成图像中消除所讨论的图像。

10. 发明申请

US20080033606A1 DRIVING-OPERATION ASSIST AND RECORDING MEDIUM 审中-公开
标题翻译：驾驶辅助和记录介质
公开(公告)号：US20080033606A1
公开(公告)日：2008-02-07
申请号：US11846027
申请日：2007-08-28
申请人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
发明人： Shusaku Okamoto , Hirofumi Ishii , Masamichi Nakagawa , Kunio Nobori , Atsushi Morimura
IPC分类号： G05D1/02
CPC分类号： B62D15/02 , B60R1/00 , B60R2300/102 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/307 , B60R2300/607 , B60R2300/806 , B60R2300/8086 , B62D15/027 , B62D15/028 , G06T17/05 , H04N7/181
摘要： A vehicle-operation assist includes a circumferential-state imager for imaging a circumferential state of a vehicle with a camera and generating a circumferential-state image; a synthetic-image generator for generating a synthetic image by superimposing on the circumferential-state image, an assumed-movement pattern of the vehicle performing a predetermined series of driving operations; and a display for displaying the synthetic image. The circumferential-state imager has at least one camera and a camera parameter table for storing characteristics of the camera and generating the circumferential-state image on the basis of the camera characteristics.
摘要翻译：车辆操作辅助包括周向状态成像器，用于利用照相机对车辆的周向状态进行成像并产生周向状态图像; 合成图像生成器，用于通过叠加在周向状态图像上，执行执行预定的一系列驾驶操作的车辆的假想移动模式来产生合成图像; 以及用于显示合成图像的显示器。圆周状态成像器具有至少一个照相机和照相机参数表，用于存储照相机的特性并基于照相机特征产生圆周状态图像。

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