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1. 发明专利

JP2012257106A Image generating device 有权
标题翻译：图像发生装置
公开(公告)号：JP2012257106A
公开(公告)日：2012-12-27
申请号：JP2011129322
申请日：2011-06-09
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , WATANABE KAZUYA , TAKEDA SEIKO , MIURA KENJI , KADOWAKI ATSUSHI
IPC分类号： H04N7/18 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide an image generating device that enhances visibility between a recognized three-dimensional object and an alternative image synthesized in an area of a three-dimensional image as a pickup image of the three-dimensional object.SOLUTION: An image generating device has an image synthesizing unit for recognizing a three-dimensional object existing in a peripheral area of a vehicle, outputting three-dimensional object attribute information representing the attribute of the three-dimensional object, determining a three-dimensional object image area as an image area of the three-dimensional object in a pickup image on the basis of position information contained in the three-dimensional object attribute information, outputting an alternative image of the three-dimensional object colored with color based on color information contained in the three-dimensional object attribute information on the basis of type information contained in the three-dimensional object attribute information and generating an overhead view image with the alternative image in which the alternative image output from an alternative image output unit is synthesized at the position of the three-dimensional object image area.
摘要翻译：要解决的问题：提供一种图像产生装置，其增强识别的三维物体与在三维图像的区域中合成的替代图像之间的可视性，作为三维物体的拾取图像。解决方案：图像产生装置具有用于识别存在于车辆的周边区域中的三维物体的图像合成单元，输出表示三维物体的属性的三维物体属性信息，确定三维物体基于包含在三维对象属性信息中的位置信息，作为拾取图像中的三维对象的图像区域的三维对象图像区域，输出基于颜色的颜色着色的三维对象的替代图像基于三维对象属性信息中包含的类型信息，生成包含在三维对象属性信息中的颜色信息，并且生成具有从备选图像输出单元输出的备选图像的替代图像的俯瞰视图图像在三维物体图像区域的位置。版权所有（C）2013，JPO＆INPIT

2. 发明专利

JP2013024712A Method and system for calibrating multiple camera 审中-公开
标题翻译：用于校准多个摄像机的方法和系统
公开(公告)号：JP2013024712A
公开(公告)日：2013-02-04
申请号：JP2011159343
申请日：2011-07-20
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： TAKEDA SEIKO , YAMAMOTO KINJI
IPC分类号： G01B11/00 , G01B11/26 , H04N5/225 , H04N5/232 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a calibration technology of a plurality of cameras for reducing locational requirements and arithmetic load requirements in camera calibration as much as possible to be easily integrated into a vehicle assembly line.SOLUTION: A vehicle is positioned at a predetermined position of a first calibration place, a reference photographed image with a first camera is acquired, reference image coordinates which are positions of a reference calibration index group in the reference photographed image on the image are calculated, and a first calibration function representing relation between world coordinates of the reference calibration index group and the reference image coordinate is calculated. The vehicle is transferred to a second calibration place, first image coordinates are calculated from a first photographed image with the first camera, second image coordinates are calculated from a second photographed image with a second camera, and vehicle posture deviation is calculated by using the first image coordinates, the first calibration function and the world coordinates of the first calibration index group. A second calibration function representing relation between the second image coordinates and world coordinates of the second calibration index group is calculated on the basis of the vehicle posture deviation, the second image coordinates and the world coordinates of the second calibration index group.
摘要翻译：要解决的问题：提供多个照相机的校准技术，以尽可能地减少相机校准中的位置要求和算术负载要求，以容易地集成到车辆组装线中。解决方案：车辆位于第一校准位置的预定位置，获取具有第一照相机的参考拍摄图像，作为参考拍摄图像中的参考校准索引组的位置的参考图像坐标并且计算表示参考校准索引组的世界坐标与参考图像坐标之间的关系的第一校准函数。将车辆转移到第二校准位置，利用第一照相机从第一拍摄图像计算第一图像坐标，利用第二照相机从第二拍摄图像计算第二图像坐标，并且通过使用第一照相机计算车辆姿态偏差图像坐标，第一校准函数和第一校准索引组的世界坐标。基于第二校准索引组的车辆姿态偏差，第二图像坐标和世界坐标来计算表示第二图像坐标与第二校准索引组的世界坐标之间的关系的第二校准函数。版权所有（C）2013，JPO＆INPIT

3. 发明专利

JP2012257107A Image generating device 有权
标题翻译：图像发生装置
公开(公告)号：JP2012257107A
公开(公告)日：2012-12-27
申请号：JP2011129323
申请日：2011-06-09
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , TAKEDA SEIKO
IPC分类号： H04N7/18 , G06T1/00 , G08G1/16
摘要： PROBLEM TO BE SOLVED: To provide an image generating device that can enhance the visibility between a recognized three-dimensional object and an alternative image synthesized in an area of a three-dimensional object image as a pickup image of the three-dimensional object.SOLUTION: An image generating device outputs as a display image an overhead view generated by conducting projective transformation on a pickup image obtained by an in-vehicle mounted camera for imaging a peripheral area of a vehicle with respect to an upper virtual viewpoint. The image generating device recognizes a three-dimensional object existing in the peripheral area, outputs three-dimensional object attribute information representing the attribute of the three-dimensional object, determines a three-dimensional object image area as an image area of the three-dimensional object in the pickup image on the basis of position information contained in the three-dimensional object attribute information, outputs an alternative image of the three-dimensional object whose attitude is specified on the basis of type information and attitude information contained in the three-dimensional object attribute information, and generates an overhead view image having the alternative image in which the output alternative image is synthesized at the position of the three-dimensional object image area.
摘要翻译：要解决的问题：提供一种图像生成装置，其可以增强识别的三维物体与在三维物体图像的区域中合成的替代图像之间的可视性，作为三维物体的拾取图像目的。解决方案：图像生成装置通过对由车载摄像机获得的摄像图像进行投影变换而生成的俯视图作为显示图像，用于对车辆的周边区域进行摄像，以相对于上部虚拟视点成像。图像生成装置识别存在于周边区域中的三维对象，输出表示三维对象的属性的三维对象属性信息，将三维对象图像区域确定为三维对象图像的图像区域基于包含在三维对象属性信息中的位置信息，拾取图像中的对象，输出基于三维对象属性信息中包含的类型信息和姿态信息指定姿态的三维对象的替代图像对象属性信息，并且生成具有其中输出替代图像在三维对象图像区域的位置被合成的替代图像的俯视图像。版权所有（C）2013，JPO＆INPIT

4. 发明专利

JP2013115738A Vehicle periphery imaging apparatus and method of processing vehicle peripheral image 有权
标题翻译：车辆外围成像装置及车辆外围图像处理方法
公开(公告)号：JP2013115738A
公开(公告)日：2013-06-10
申请号：JP2011262498
申请日：2011-11-30
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , TAKEDA SEIKO , WATANABE KAZUYA
IPC分类号： H04N7/18 , B60R1/00 , B60R21/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a vehicle periphery imaging technique that can detect an obstacle in the vehicle periphery with high accuracy.SOLUTION: A first camera to image a scene in the periphery of a vehicle and a second camera to image an imaging range partially overlapped with an imaging range of the first camera are mounted on the vehicle. One of the first camera and the second camera is used as a main camera and the other is used as a sub camera. An image taken by the main camera is used as a main taken image, and an image taken by the sub camera is used as a sub taken image. A viewpoint conversion section 13 creates a viewpoint-converted image obtained by allowing the sub taken image to be viewpoint-converted into an image taken from a viewpoint position of the main camera. An image difference section 14 creates a difference image between the main taken image and the viewpoint-converted image as comparison information.
摘要翻译：要解决的问题：提供一种能够高精度地检测车辆周边的障碍物的车辆周边摄像技术。解决方案：将车辆周围的场景成像的第一相机和第二相机成像与第一相机的成像范围部分重叠的成像范围，以安装在车辆上。第一台相机和第二台相机之一用作主相机，另一台则用作副相机。将主摄像机拍摄的图像用作主拍摄图像，并且将由副照相机拍摄的图像用作副拍摄图像。视点转换部分13创建通过将副拍摄图像被视点转换为从主摄像机的视点位置拍摄的图像而获得的视点转换图像。图像差分部分14创建主拍摄图像和视点转换图像之间的差分图像作为比较信息。版权所有（C）2013，JPO＆INPIT

5. 发明专利

JP2012147149A Image generating apparatus 审中-公开
标题翻译：图像发生装置
公开(公告)号：JP2012147149A
公开(公告)日：2012-08-02
申请号：JP2011002778
申请日：2011-01-11
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , TAKEDA SEIKO , KUBOYAMA TAKESHI
IPC分类号： H04N7/18 , B60R1/00
CPC分类号： B60R1/00 , B60R2300/607 , G06K9/00805 , G06T5/006 , G06T15/20
摘要： PROBLEM TO BE SOLVED: To generate a bird's-eye view image in which a solid object present on a road surface can be recognized with sufficient distance sense from a photographed image of an on-vehicle camera.SOLUTION: An image generating apparatus includes: a peripheral bird's-eye view image generating section generating a peripheral bird's-eye view image from a photographed image by using first projective transformation; a solid object detecting section detecting a solid object present in a visual field of an on-vehicle camera and outputting solid object information including a position of the solid object; a solid object extracting section extracting a solid object image being an image region on which the solid object is projected from the photographed image based on the solid object information; a solid object bird's-eye view image generating section generating a solid object bird's-eye view image from the solid object image by using second projective transformation for reducing distortion of the solid object in the peripheral bird's-eye view image; and an image composite section for compositing the solid object bird's-eye view image on the peripheral bird's-eye view image based on the solid object information.
摘要翻译：要解决的问题：产生可以从车载摄像机的拍摄图像中以足够的距离感觉来识别存在于路面上的实体的鸟瞰图图像。解决方案：一种图像生成装置，包括：周边鸟瞰图图像生成部，其通过使用第一投影变换从拍摄图像生成周边鸟瞰图图像; 检测存在于车载摄像机的视场中的固体物体并输出包括固体物体的位置的固体物体信息的固体物体检测部分; 固体物体提取部，基于所述固体物体信息，从拍摄图像中提取作为投影有所述固体的图像区域的固体物体图像; 固体物体鸟瞰图图像生成部，其通过使用第二投影变换来生成来自固体物体图像的固体物体鸟瞰图图像，以减少周边鸟瞰图图像中的固体物体的变形; 以及图像合成部，用于基于固体物体信息，将实心鸟瞰图图像合成在周边鸟瞰图图像上。版权所有（C）2012，JPO＆INPIT

6. 发明专利

JP2010276429A Device and method for detecting calibration target, and program for device for detecting calibration target 有权
标题翻译：用于检测校准目标的装置和方法，以及用于检测校准目标的装置的程序
公开(公告)号：JP2010276429A
公开(公告)日：2010-12-09
申请号：JP2009128206
申请日：2009-05-27
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： TAKEDA SEIKO , WATANABE KAZUYA , ASANO TADASHI , DONISHI YUKIKO , YAMAMOTO KINJI
IPC分类号： G01C3/00 , B60R1/00
CPC分类号： H04N17/002 , G06K9/00791 , G06T7/80 , G06T2207/20068 , G06T2207/30204 , G06T2207/30252 , H04N5/2351 , H04N5/2353
摘要： PROBLEM TO BE SOLVED: To provide a device for detecting a calibration target which can be attained at low cost without increasing a storage capacity. SOLUTION: The device 200 for detecting the calibration target includes a photometric area setting part 22 which sets a lengthwise photometric area, a detecting part 21 which detects photometric information on the photometric area, a profile forming part 23 wherein the lengthwise photometric area one prescribed direction of which keeps lengthwise is scanned along the other direction intersecting the one direction perpendicularly so as to form a first profile showing a change in the photometric information in the other direction, while the lengthwise photometric area the other direction of which keeps lengthwise is scanned along the one direction so as to form a second profile showing a change in the photometric information in the one direction, and a position calculating part 30 which calculates the position of the calibration target to be used for calibration of an on-vehicle camera 20 contained in a picked-up image acquired by the on-vehicle camera 20, or the position of a prescribed region of the calibration target, based on feature points of the first and second profiles. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于检测可以在不增加存储容量的情况下以低成本实现的校准目标的装置。解决方案：用于检测校准目标的装置200包括设置纵向测光区域的测光区域设定部分22，检测测光区域上的测光信息的检测部分21，其中纵向测光区域沿垂直方向保持一个规定方向沿垂直于该一个方向相交的另一个方向被扫描，以形成另一个方向上的测光信息变化的第一轮廓，而另一个方向的纵向光度区域保持纵向是沿一个方向扫描，以形成一个显示一个方向的测光信息变化的第二轮廓;以及位置计算部30，其计算用于车载照相机20的校准的校准目标的位置包含在由车载摄像机20获取的拾取图像中，或处方的位置基于第一和第二简档的特征点的校准目标的ed区域。版权所有（C）2011，JPO＆INPIT

7. 发明专利

JP2013110712A Image generating apparatus for vehicle periphery monitoring 有权
标题翻译：用于车辆周边监测的图像生成装置
公开(公告)号：JP2013110712A
公开(公告)日：2013-06-06
申请号：JP2011256530
申请日：2011-11-24
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： TAKEDA SEIKO , WATANABE KAZUYA
IPC分类号： H04N7/18 , B60R1/00 , B60R21/00
CPC分类号： G06K9/00791 , B60R1/00 , B60R2300/105 , B60R2300/304 , G06T3/0062 , G06T5/006 , G06T2207/30252 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide an image generating apparatus capable of generating a monitor display image suitable for vehicle periphery monitoring, even if an image is captured using a wide-angle lens such as a fisheye lens.SOLUTION: The image generating apparatus for vehicle periphery monitoring includes an image input section 51 to which the image of vehicle periphery captured by means of an on-vehicle camera 1 with a wide-angle lens is input, a correction intensity setting section 55 setting the intensity of distortion correction amount of pixel unit for correcting the lens distortion of a wide-lens in the longitudinal direction, individually for the capturing image region sectioned vertically by a distortion correction baseline extending in the lateral direction of the captured image, a distortion correction execution section 54 executing distortion correction for the captured image on the basis of the distortion correction intensity set by the correction intensity setting section 55, and a monitor display image output section 58 outputting a monitor display image from the captured image corrected by the distortion correction execution section 54.
摘要翻译：要解决的问题：即使使用诸如鱼眼镜头的广角镜头捕获图像，也可以提供能够生成适用于车辆周边监视的监视器显示图像的图像生成装置。解决方案：车辆周边监视用图像生成装置包括图像输入部51，通过输入具有广角镜头的车载照相机1拍摄的车辆周边图像，校正强度设定部 55设定用于校正广角镜头在纵向方向上的镜头失真的像素单元的失真校正量的强度，分别对于在拍摄图像的横向方向上延伸的失真校正基线垂直分割的拍摄图像区域，失真校正执行部分54基于由校正强度设置部分55设置的失真校正强度来执行针对捕获图像的失真校正;以及监视器显示图像输出部分58，从由失真校正的捕获图像中输出监视器显示图像修正执行部分54.
版权所有：（C）2013，JPO＆INPIT

8. 发明专利

JP2013074423A Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：JP2013074423A
公开(公告)日：2013-04-22
申请号：JP2011211289
申请日：2011-09-27
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： WAKABAYASHI HARUKI , SATO KOSUKE , YAMAMOTO KINJI , TAKEDA SEIKO
IPC分类号： H04N7/18 , G06T1/00 , G08G1/04 , G08G1/16
CPC分类号： H04N13/0207 , G06T3/00 , G06T3/005 , G08G1/168 , H04N7/18
摘要： PROBLEM TO BE SOLVED: To provide a vehicle periphery monitoring device that generates not only a normal bird's-eye image, but also bird's-eye images matching respective purposes of display when even partial enlarged bird's-eye images are displayed on a monitor.SOLUTION: The vehicle periphery monitoring device includes a first bird's-eye image generation section which generates a first bird's-eye image, on the basis of a photographed image acquired by an on-vehicle camera module as a source image, through two-dimensional plane projection conversion; a second bird's-eye image generation section which generates a second bird's-eye image, on the basis of the photographed image, through three-dimensional plane projection conversion; and a display image generation section which generates a first display image for monitor display from the first bird's-eye image, and also generates a second display image for monitor display having a larger display magnification than the first display image from a predetermined area of the second bird's-eye image corresponding to a predetermined area of the first display image.
摘要翻译：要解决的问题：提供一种车辆外围监视装置，其不仅产生正常鸟瞰图像，而且还在监视器上显示偶数部分放大的鸟瞰图像时，同时产生与各种显示目的匹配的鸟瞰图像。车辆周边监视装置包括：第一鸟瞰图像生成部，其基于作为源图像的车载摄像机模块获取的拍摄图像，生成第一鸟瞰图像，通过两个平面投影转换; 第二鸟瞰图像生成部，其通过三维平面投影变换，基于拍摄图像生成第二鸟瞰图像; 以及显示图像生成部，其从第一鸟瞰图像生成用于监视显示的第一显示图像，并且还从第二鸟瞰图像的预定区域生成具有比第一显示图像更大的显示倍率的用于监视显示的第二显示图像对应于第一显示图像的预定区域的鸟瞰图像。版权所有（C）2013，JPO＆INPIT

9. 发明专利

JP2013115739A Inter-image difference device and inter-image difference method 有权
标题翻译：内部图像差异装置和图像内差分法
公开(公告)号：JP2013115739A
公开(公告)日：2013-06-10
申请号：JP2011262499
申请日：2011-11-30
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , TAKEDA SEIKO , WATANABE KAZUYA
IPC分类号： H04N7/18 , B60R21/00 , G06T1/00
CPC分类号： B62D1/28 , G07C5/008 , H04L69/22 , H04W4/046 , H04W56/00
摘要： PROBLEM TO BE SOLVED: To provide a robust inter-image difference technology hard to receive an effect of a disturbance.SOLUTION: An inter-image difference device includes: a gradient direction calculation unit 14a for calculating gradient directions of pixel values at pixel positions of respective pixels constituting an image; a histogram generation unit 14b for setting the respective pixels as target pixels and setting histogram calculation regions around the target pixels, to generate a frequency distribution of the gradient directions at the pixel positions of the pixels included in the histogram calculation regions as a histogram at the pixel positions of the target pixels; a pixel difference unit 14c for calculating differential values between a histogram at pixel positions of difference target pixels of a first image and a histogram at pixel positions of comparison target pixels of a second image, as pixel differential values between the difference target pixels and the comparison target pixels; and an image difference unit 14 for setting pixel values at the pixel positions of the difference target pixels on the basis of the pixel differential values, to generate a difference image.
摘要翻译：要解决的问题：提供一种强大的图像间差分技术难以获得干扰的影响。图像间差分装置包括：梯度方向计算单元14a，用于计算构成图像的各个像素的像素位置处的像素值的梯度方向; 直方图生成单元14b，用于将各个像素设置为目标像素，并在目标像素周围设置直方图计算区域，以生成直方图计算区域中包括的像素的像素位置处的梯度方向的频率分布，作为直方图目标像素的像素位置; 像素差分单元14c，用于计算第一图像的差目标像素的像素位置处的直方图与第二图像的比较对象像素的像素位置处的直方图之间的差分值，作为差目标像素与比较之间的像素差值目标像素; 以及图像差分单元14，用于基于像素差分值来设置不同目标像素的像素位置处的像素值，以生成差分图像。版权所有（C）2013，JPO＆INPIT

10. 发明专利

JP2013026801A Vehicle periphery monitoring system 有权
标题翻译：车辆周边监测系统
公开(公告)号：JP2013026801A
公开(公告)日：2013-02-04
申请号：JP2011159344
申请日：2011-07-20
申请人： Aisin Seiki Co Ltd , アイシン精機株式会社
发明人： YAMAMOTO KINJI , TAKEDA SEIKO , MIURA KENJI
IPC分类号： H04N7/18 , B60R1/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To improve visibility of a driver for an object appearing in a duplicate region of overhead view image segments in a vehicle periphery overhead view image composed of respective captured images.SOLUTION: A vehicle periphery monitoring system generates a fusion duplicate image by fusing a duplicate region of overhead view image segments by using a preset fusion function. The fusion function calculates a fusion ratio of a pixel component of one captured image to a pixel component of the other captured image in the duplicate region on the basis of: an angle around a reference point as an intersection point between an imaging field limit line of the one captured image and an imaging field limit line of the other captured image, which are to be overlapped with each other; a first parameter as a distance from the imaging field limit line of the one captured image and a second parameter as a distance from the imaging field limit line of the other captured image; or a dispersion degree from an imaging point of the one captured image and an imaging point of the other captured image.
摘要翻译：要解决的问题：提高驾驶员在由相应的拍摄图像构成的车辆周边俯视图像中的俯视图像段的重复区域中出现的物体的可视性。解决方案：车辆周边监控系统通过使用预设的融合功能来融合俯视图像片段的重复区域来产生融合复制图像。融合函数基于以下参考点计算一个拍摄图像的像素分量与另一拍摄图像的像素分量的融合比：基准点周围的角度作为成像场界限线一个拍摄图像和另一个拍摄图像的成像场界限线彼此重叠; 作为与所述一个拍摄图像的成像场界限线的距离的第一参数和作为与所述其他拍摄图像的成像场界线的距离的第二参数; 或者从一个拍摄图像的成像点和另一个拍摄图像的成像点的分散度。版权所有（C）2013，JPO＆INPIT

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