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1. 发明申请

US20130114887A1 STEREO DISTANCE MEASUREMENT APPARATUS AND STEREO DISTANCE MEASUREMENT METHOD 有权
标题翻译：立体距离测量装置和立体测距方法
公开(公告)号：US20130114887A1
公开(公告)日：2013-05-09
申请号：US13811058
申请日：2010-07-22
申请人： Takuya Nanri , Hirofumi Nishimura , Hisashi Kurokawa
发明人： Takuya Nanri , Hirofumi Nishimura , Hisashi Kurokawa
IPC分类号： G01C11/06
CPC分类号： G01C11/06 , G01C3/085 , G01C3/14 , G01S11/12 , G06T5/003 , G06T5/50 , G06T2207/10012 , G06T2207/20201
摘要： Provided is a stereo distance measurement apparatus wherein a camera image itself is adjusted to correct the blur, thereby preventing the distance measurement time from being long, while improving the precision of disparity detection. In the apparatus (100), a blur adjusting unit (102) uses a filter to tailor the blur of one of two images used by a disparity measuring unit (103), to the blur of the other which is weaker. A camera image itself is adjusted, whereby the blur can be corrected. Moreover, tailoring the blur of the one image to the blur of the other image which is weaker allows an application of the filter, which is a simple processing, to cause the blurs of the images used in the disparity detection, to coincide with each other. Therefore, the precision of disparity detection can be improved, while the distance measurement can be performed at a high speed.
摘要翻译：提供了一种立体声距离测量装置，其中调整相机图像本身以校正模糊，从而在提高视差检测的精度的同时防止距离测量时间长。在装置（100）中，模糊调整单元（102）使用滤波器来调整由视差测量单元（103）使用的两个图像之一的模糊到较弱的另一个的模糊。相机图像本身被调节，从而可以校正模糊。此外，将一幅图像的模糊度调整为较弱的其他图像的模糊，允许应用滤镜（这是一种简单的处理方式），以使视差检测中使用的图像模糊相互重合。因此，可以提高视差检测的精度，而可以高速进行距离测量。

2. 发明授权

US08995753B2 Stereo distance measurement apparatus and stereo distance measurement method 有权
标题翻译：立体声距离测量装置和立体声距离测量方法
公开(公告)号：US08995753B2
公开(公告)日：2015-03-31
申请号：US13811058
申请日：2011-06-28
申请人： Takuya Nanri , Hirofumi Nishimura , Hisashi Kurokawa
发明人： Takuya Nanri , Hirofumi Nishimura , Hisashi Kurokawa
IPC分类号： G06K9/00 , G01C11/06 , G01C3/08 , G01C3/14 , G06T5/00 , G06T5/50 , G01S11/12
CPC分类号： G01C11/06 , G01C3/085 , G01C3/14 , G01S11/12 , G06T5/003 , G06T5/50 , G06T2207/10012 , G06T2207/20201
摘要： Provided is a stereo distance measurement apparatus wherein a camera image itself is adjusted to correct the blur, thereby preventing the distance measurement time from being long, while improving the precision of disparity detection. In the apparatus (100), a blur adjusting unit (102) uses a filter to tailor the blur of one of two images used by a disparity measuring unit (103), to the blur of the other which is weaker. A camera image itself is adjusted, whereby the blur can be corrected. Moreover, tailoring the blur of the one image to the blur of the other image which is weaker allows an application of the filter, which is a simple processing, to cause the blurs of the images used in the disparity detection, to coincide with each other. Therefore, the precision of disparity detection can be improved, while the distance measurement can be performed at a high speed.
摘要翻译：提供了一种立体声距离测量装置，其中调整相机图像本身以校正模糊，从而在提高视差检测的精度的同时防止距离测量时间长。在装置（100）中，模糊调整单元（102）使用滤波器来调整由视差测量单元（103）使用的两个图像之一的模糊到较弱的另一个的模糊。相机图像本身被调节，从而可以校正模糊。此外，将一幅图像的模糊度调整为较弱的其他图像的模糊，允许应用滤镜（这是一种简单的处理方式），以使视差检测中使用的图像模糊相互重合。因此，可以提高视差检测的精度，而可以高速进行距离测量。

3. 发明授权

US08743183B2 Parallax calculation method and parallax calculation device 有权
标题翻译：视差计算方法和视差计算装置
公开(公告)号：US08743183B2
公开(公告)日：2014-06-03
申请号：US13125108
申请日：2010-09-02
申请人： Takuya Nanri , Hirofumi Nishimura
发明人： Takuya Nanri , Hirofumi Nishimura
IPC分类号： H04N13/02 , G01S11/12 , G06T7/00 , G08G1/16
CPC分类号： H04N13/20 , G01S11/12 , G06T7/593 , G06T2207/30261 , G08G1/16 , G08G1/165 , G08G1/168
摘要： A stereo camera implements ranging of an object that includes consecutive similar patterns. In stereo matching using the stereo camera, if a plurality of corresponding point candidates are present in a sum of absolute differences (SAD) or suchlike evaluation value distribution for a target point, an evaluation value map is generated by superimposing an evaluation value distribution of a target point for which a plurality of corresponding points are determined to be present and an evaluation value distribution of each other target point present in a peripheral area of that target point. By this means, the shape of an object is represented in real space around a target point for which a plurality of corresponding points are determined to be present, and it is possible to calculate the true distance of a railing or the like that extends in a straight line by extracting a line segment with the strongest linearity in the evaluation value map.
摘要翻译：立体相机实现包括连续相似图案的对象的范围。在使用立体相机的立体匹配中，如果多个对应的点候选存在于目标点的绝对差（SAD）或类似的评估值分布之和中，则通过叠加评估值分布来生成评估值映射确定存在多个对应点的目标点和存在于该目标点的周边区域中的每个其他目标点的评估值分布。通过这种方式，物体的形状在确定存在多个对应点的目标点周围的实际空间中表示，并且可以计算在一个或多个对象中延伸的栏杆等的真实距离通过在评估值图中提取最强线性的线段，直线。

4. 发明申请

US20130094713A1 STEREO IMAGE PROCESSING APPARATUS AND METHOD OF PROCESSING STEREO IMAGE 有权
标题翻译：立体图像处理装置和处理立体图像的方法
公开(公告)号：US20130094713A1
公开(公告)日：2013-04-18
申请号：US13702168
申请日：2011-06-30
申请人： Takuya Nanri , Hirofumi Nishimura , Wenli Zhang
发明人： Takuya Nanri , Hirofumi Nishimura , Wenli Zhang
IPC分类号： G06K9/78
CPC分类号： G06K9/78 , G01C11/06 , G06T7/593 , G06T2207/10012 , G06T2207/10024 , G06T2207/20048 , G06T2207/30201 , G06T2207/30252 , G06T2207/30268
摘要： Provided is a stereo image processing apparatus and a method of processing a stereo image, wherein calculation precision of disparity is improved, while maintaining a processing amount equal to the SAD method. In the stereo image processing apparatus (200), a data deletion unit (201) is installed in a stage prior to an image matching unit (102) and a filter unit (103), and forms a thinned-out target image and a thinned-out reference image, by thinning out a target image and a reference image. The filter unit (103) carries out filtering that uses an inverted phase filter, which is matching based on phase correlation.
摘要翻译：提供了立体图像处理装置和处理立体图像的方法，其中提高了视差的计算精度，同时保持与SAD方法相同的处理量。在立体图像处理装置（200）中，数据删除单元（201）安装在图像匹配单元（102）和滤波器单元（103）之前的阶段，并且形成稀疏目标图像和变薄的 - 通过稀疏目标图像和参考图像来输出参考图像。滤波器单元（103）进行使用基于相位相关匹配的反相滤波器的滤波。

5. 发明申请

US20120026295A1 STEREO IMAGE PROCESSOR AND STEREO IMAGE PROCESSING METHOD 有权
标题翻译：立体图像处理器和立体图像处理方法
公开(公告)号：US20120026295A1
公开(公告)日：2012-02-02
申请号：US13258987
申请日：2010-03-05
申请人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
发明人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
IPC分类号： H04N13/02
CPC分类号： H04N13/128 , G01B11/26 , G01C11/06 , G06T7/285 , G06T7/32 , G06T7/74 , G06T2207/10012 , G06T2207/20228 , H04N2013/0081
摘要： A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position. In this way, there is provided a stereo image processor that has improved accuracy of disparity calculation and analytical resolution and that requires less computation for disparity calculation and is capable of fast processing.
摘要翻译：立体图像处理器（1）在图像匹配部分（6）中分别对包括在基本图像和比较图像中的相同对象的部分图像进行图像匹配，并且检测基本图像和基准图像之间的像素精度部分位移基于图像匹配结果的比较图像。接下来，在第二匹配部分（8）中的反相滤波处理部分（9）中，使用反相相位滤波器对来自比较图像的像素值进行滤波，使用来自基本图像的顺序的像素值作为滤波器系数给出了具有最小像素精度部分位移的相同对象的部分图像，其被反转。然后，在峰值检测部（10）中，检测出反相滤波器的滤波的输出值为最大的峰值位置，基于图像和比较图像之间的子像素精度部分位移，基于峰值位置。以这种方式，提供了具有提高的视差计算和分析分辨率的精度的立体图像处理器，并且需要较少的视差计算的计算并且能够快速处理。

6. 发明授权

US08903135B2 Stereo image processing apparatus and method of processing stereo image 有权
标题翻译：立体图像处理装置和处理立体图像的方法
公开(公告)号：US08903135B2
公开(公告)日：2014-12-02
申请号：US13702168
申请日：2011-06-30
申请人： Takuya Nanri , Hirofumi Nishimura , Wenli Zhang
发明人： Takuya Nanri , Hirofumi Nishimura , Wenli Zhang
IPC分类号： H04N7/18 , G06T7/00 , G06K9/78 , G01C11/06 , G06K9/00
CPC分类号： G06K9/78 , G01C11/06 , G06T7/593 , G06T2207/10012 , G06T2207/10024 , G06T2207/20048 , G06T2207/30201 , G06T2207/30252 , G06T2207/30268
摘要： Provided is a stereo image processing apparatus and a method of processing a stereo image, wherein calculation precision of disparity is improved, while maintaining a processing amount equal to the SAD method. In the stereo image processing apparatus (200), a data deletion unit (201) is installed in a stage prior to an image matching unit (102) and a filter unit (103), and forms a thinned-out target image and a thinned-out reference image, by thinning out a target image and a reference image. The filter unit (103) carries out filtering that uses an inverted phase filter, which is matching based on phase correlation.
摘要翻译：提供了立体图像处理装置和处理立体图像的方法，其中提高了视差的计算精度，同时保持与SAD方法相同的处理量。在立体图像处理装置（200）中，数据删除单元（201）安装在图像匹配单元（102）和滤波器单元（103）之前的阶段，并且形成稀疏目标图像和变薄的 - 通过稀疏目标图像和参考图像来输出参考图像。滤波器单元（103）执行使用基于相位相关匹配的反相滤波器的滤波。

7. 发明授权

US08744131B2 Pedestrian-crossing marking detecting method and pedestrian-crossing marking detecting device 有权
标题翻译：行人过路标记检测方法和行人交叉标记检测装置
公开(公告)号：US08744131B2
公开(公告)日：2014-06-03
申请号：US13392148
申请日：2010-09-22
申请人： Takuya Nanri , Hirofumi Nishimura
发明人： Takuya Nanri , Hirofumi Nishimura
IPC分类号： G06K9/00
CPC分类号： G01C21/3697 , G06K9/00791 , G06K9/00798
摘要： Provided are a pedestrian-crossing marking detecting method and a pedestrian-crossing marking detecting device, wherein the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within a picked up image, even when detection of the intensity edges of painted sections is difficult. In the pedestrian-crossing mark detecting device (100), a road-surface distance of a predetermined range is calculated with respect to image data picked up from the periphery of the vehicle including the road, using camera installation information or a stereo camera's distance information, and the period of the pedestrian crossing markings is calculated on the basis of the road-surface distance of the predetermined range, and furthermore, a power of frequency is calculated using an even function and odd function of a square wave of the period as the basis function. In such a way, the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within the captured image, even with pedestrian crossing markings where the paint has faded.
摘要翻译：提供了一种行人交叉标记检测方法和行人交叉标记检测装置，即使在被检测部分的强度边缘的检测时也可以从拍摄图像内准确地检测行人交叉标记的存在及其位置很难在行人十字标记检测装置（100）中，使用照相机安装信息或立体照相机的距离信息，计算从包括道路的车辆的周围拾取的图像数据的预定范围的路面距离，并且基于预定范围的路面距离来计算行人过路标记的周期，此外，使用该周期的方波的偶数函数和奇数函数来计算频率的功率，作为基函数。以这样的方式，即使在涂料已经褪色的行人交叉标记的情况下，也可以从拍摄图像内准确地检测行人交叉标记的存在及其位置。

8. 发明申请

US20130129148A1 OBJECT DETECTION DEVICE, OBJECT DETECTION METHOD, AND PROGRAM 有权
标题翻译：对象检测装置，对象检测方法和程序
公开(公告)号：US20130129148A1
公开(公告)日：2013-05-23
申请号：US13813832
申请日：2011-08-03
申请人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
发明人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G01B11/00 , G01B11/24 , G01C21/3602 , G06K9/00805 , G06T7/11 , G06T7/174 , G06T2207/10012 , G06T2207/30261 , G08G1/166
摘要： An object detection device that can accurately identify an object candidate in captured stereo images as an object or a road surface. The object detection device (100) have a disparity map generator (120) that generates a disparity map based on the stereo images; a road surface estimator (130) that estimates a road surface based on the disparity map; an object candidate location extractor (140) that extracts an object candidate region above the road surface, based on the disparity map and the road surface; an object identifying region extractor (150) that extracts an object identifying region including a region around the object candidate region; a geometric feature extractor (160) that extracts a geometric feature of the object candidate based on the object identifying region; and an object identifying unit (170) that identifies whether the object candidate is an object or a road surface based on the geometric feature.
摘要翻译：能够将作为对象或路面的拍摄立体图像中的候选对象精确地识别的物体检测装置。物体检测装置（100）具有基于立体图像生成视差图的视差图生成器（120）基于视差图来估计路面的路面估计器（130）; 基于视差图和路面，提取路面上方的对象候补区域的对象候选位置提取器（140）; 对象识别区域提取器（150），其提取包括所述对象候选区域周围的区域的对象识别区域; 基于对象识别区域提取对象候选的几何特征的几何特征提取器（160）; 以及基于几何特征来识别对象候选是对象还是路面的对象识别单元（170）。

9. 发明申请

US20110199462A1 PARALLAX CALCULATION METHOD AND PARALLAX CALCULATION DEVICE 有权
标题翻译： PARALLAX计算方法和PARALLAX计算装置
公开(公告)号：US20110199462A1
公开(公告)日：2011-08-18
申请号：US13125108
申请日：2010-09-02
申请人： Takuya Nanri , Hirofumi Nishimura
发明人： Takuya Nanri , Hirofumi Nishimura
IPC分类号： H04N13/02
CPC分类号： H04N13/20 , G01S11/12 , G06T7/593 , G06T2207/30261 , G08G1/16 , G08G1/165 , G08G1/168
摘要： Disclosed is a stereo camera that implements ranging of an object that includes consecutive similar patterns. In stereo matching using the stereo camera, if a plurality of corresponding point candidates are present in an SAD or suchlike evaluation value distribution for a target point, an evaluation value map is generated by superimposing an evaluation value distribution of a target point for which a plurality of corresponding points are determined to be present and an evaluation value distribution of each other target point present in a peripheral area of that target point. By this means, the shape of an object is represented in real space around a target point for which a plurality of corresponding points are determined to be present, and it is possible to calculate the true distance of a railing or the like that extends in a straight line by extracting a line segment with the strongest linearity in the evaluation value map.
摘要翻译：公开了一种立体相机，其实现包括连续相似图案的对象的范围。在使用立体相机的立体匹配中，如果在SAD中存在多个相应的点候选或者对于目标点的类似的评估值分布，则通过叠加多个对象点的目标点的评估值分布来生成评估值映射，确定相应点的存在，并且存在于该目标点的周边区域中的每个其他目标点的评估值分布。通过这种方式，物体的形状在确定存在多个对应点的目标点周围的实际空间中表示，并且可以计算在一个或多个对象中延伸的栏杆等的真实距离通过在评估值图中提取最强线性的线段，直线。

10. 发明授权

US09275463B2 Stereo image processing device and stereo image processing method 有权
标题翻译：立体图像处理装置和立体图像处理方法
公开(公告)号：US09275463B2
公开(公告)日：2016-03-01
申请号：US14126176
申请日：2012-06-08
申请人： Takuya Nanri , Hirofumi Nishimura , Junko Ueda , Koji Arata
发明人： Takuya Nanri , Hirofumi Nishimura , Junko Ueda , Koji Arata
IPC分类号： G06K9/00 , G06T7/00 , G01C3/08 , G06T5/00 , G06T5/20
CPC分类号： G06T7/0075 , G01C3/085 , G06T5/002 , G06T5/006 , G06T5/20 , G06T7/593 , G06T2207/10012 , G06T2207/20024 , G06T2207/20182 , G06T2207/20228 , G06T2207/30261
摘要： Provided is a stereo image processing device, with which it is possible to compute disparity with high precision even for an object of a small image region size in a baseline length direction. With this device, an image matching unit (102) acquires a correspondence point of a reference image for a target point of a target image. An image cropping unit (201) extracts first two-dimensional pixel data including the target point from the target image, and extracts second two-dimensional pixel data including the correspondence point from the reference image. An image reconfiguration unit (202) reconfigures the respective first two-dimensional pixel data and second two-dimensional pixel data into first one-dimensional pixel data and second one-dimensional pixel data. A peak position detection unit (104) computes disparity based on the correlation between the first one-dimensional pixel data and the second one-dimensional pixel data.
摘要翻译：提供了一种立体图像处理装置，即使对于基线长度方向上的小图像区域尺寸的对象，也可以高精度地计算视差。利用该装置，图像匹配单元（102）获取目标图像的目标点的参考图像的对应点。图像裁剪单元（201）从目标图像中提取包括目标点的第一二维像素数据，并从参考图像中提取包括对应点的第二二维像素数据。图像重新配置单元将相应的第一二维像素数据和第二二维像素数据重新配置为第一一维像素数据和第二一维像素数据。峰值位置检测单元（104）基于第一一维像素数据和第二一维像素数据之间的相关性来计算视差。

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