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91. 发明授权

US08994824B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08994824B2
公开(公告)日：2015-03-31
申请号：US13515618
申请日：2010-12-16
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： H04N7/18 , B60R1/00 , G06K9/00 , G08G1/16
CPC分类号： H04N7/18 , B60R1/00 , B60R2300/103 , B60R2300/107 , B60R2300/205 , B60R2300/301 , B60R2300/302 , B60R2300/307 , G06K9/00805 , G06K9/00825 , G08G1/16 , G08G1/166
摘要： A vehicle periphery monitoring device is provided with a symmetrical image portion extraction unit (21) which extracts a first image portion (A1) and a second image portion (A2) which are line-symmetrical to each other in the horizontal direction; and expanded region setting unit (22) which sets a first expanded region (B1) containing the first image portion (A1); an expanded search range setting unit (23) which sets an expanded search range (C) which contains the second image portion (A2); and an object class recognition unit (24) which searches in the expanded search range (C) a second expanded region (B2) which has a correlation degree to a mirror reflection image (B1m) of the first expanded region (B1), and recognizes the image containing the first image portion (A1) and the second image portion (A2) as the image of another vehicle if the second expanded region (B2) is detected.
摘要翻译：车辆外围监视装置设置有对称图像部分提取单元（21），其提取在水平方向上彼此线对称的第一图像部分（A1）和第二图像部分（A2）; 和扩展区域设定单元（22），其设置包含第一图像部分（A1）的第一扩展区域（B1）。扩展搜索范围设置单元（23），其设置包含第二图像部分（A2）的扩展搜索范围（C）; 以及对象类识别单元（24），其在扩展搜索范围（C）中搜索与第一扩展区域（B1）的镜像反射图像（B1m）具有相关度的第二扩展区域（B2），并识别如果检测到第二扩展区域（B2），则包含第一图像部分（A1）和第二图像部分（A2）的图像作为另一车辆的图像。

92. 发明授权

US08401715B2 Vehicle periphery monitoring device 有权
标题翻译：车辆周边监控装置
公开(公告)号：US08401715B2
公开(公告)日：2013-03-19
申请号：US13265598
申请日：2010-01-14
申请人： Makoto Aimura , Nobuharu Nagaoka
发明人： Makoto Aimura , Nobuharu Nagaoka
IPC分类号： G05D1/00
CPC分类号： G06K9/00805 , G06T7/593 , G06T2207/10016 , G06T2207/30261 , G08G1/166
摘要： Provided is a vehicle periphery monitoring device having: a first distance calculating unit (25) which calculates a distance between a vehicle (10) and an object, using a parallax gradient of image sections of the same object among a plurality of images captured by infrared cameras (2R, 2L) at different times within a predetermined sampling interval; a vehicular velocity sensor (4) which detects a vehicular velocity of the vehicle (10); and a sampling interval setting unit (23) which sets the sampling interval shorter with the increase of the vehicular velocity of the vehicle (10).
摘要翻译：本发明提供一种车辆周边监视装置，其具有：第一距离计算部（25），其使用由红外线捕获的多个图像中的相同对象的图像部分的视差梯度来计算车辆（10）和物体之间的距离相机（2R，2L）在预定采样间隔内的不同时间; 检测车辆（10）的车速的车速传感器（4）; 以及采样间隔设定单元（23），其随着车辆（10）的车速的增加来设定采样间隔更短。

93. 发明申请

US20120281878A1 TARGET-OBJECT DISTANCE MEASURING DEVICE AND VEHICLE MOUNTED WITH THE DEVICE 有权
标题翻译：目标对象距离测量装置和与装置安装的车辆
公开(公告)号：US20120281878A1
公开(公告)日：2012-11-08
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： G06K9/46
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。

94. 发明申请

US20110234805A1 VEHICLE PERIPHERY MONITORING APPARATUS 审中-公开
标题翻译：车辆周边监控装置
公开(公告)号：US20110234805A1
公开(公告)日：2011-09-29
申请号：US13124171
申请日：2009-10-08
申请人： Kodai Matsuda , Nobuharu Nagaoka , Izumi Takatsudo
发明人： Kodai Matsuda , Nobuharu Nagaoka , Izumi Takatsudo
IPC分类号： H04N5/33
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/205 , B60R2300/301 , B60R2300/307 , B60R2300/70 , B60R2300/8033 , G06K9/00369 , G06K9/00805 , G06K2209/07 , G06T7/11 , G06T7/136 , G06T2207/10048 , G06T2207/20132 , G06T2207/30196 , G06T2207/30261
摘要： Provided is a device for monitoring the surrounding area of a vehicle. The device separates and extracts an object around the vehicle in better precision from the background. The device detects the ambient temperature of the vehicle, and determines a temperature difference between the ambient temperature and an object surface temperature estimated on the basis of the ambient temperature. On the basis of the brightness value of the background of a captured image obtained by an infrared camera and a brightness difference corresponding to the temperature difference, the brightness value of the object is calculated. The captured image is binarized by using the brightness value of the object as a threshold value, and the object is extracted. Since the binary threshold value is set on the basis of the relation between the ambient temperature and the object surface temperature, the object can be separated and extracted in the better precision from the background.
摘要翻译：提供了用于监视车辆的周围区域的装置。该设备从背景中更精确地分离并提取车辆周围的物体。该装置检测车辆的环境温度，并且确定环境温度和基于环境温度估计的物体表面温度之间的温度差。基于由红外线摄像机获得的拍摄图像的背景的亮度值和对应于温度差的亮度差，计算对象的亮度值。通过使用对象的亮度值作为阈值对拍摄图像进行二值化处理，并提取对象。由于根据环境温度和物体表面温度之间的关系来设定二值阈值，所以可以从背景中以更好的精度分离和提取物体。

95. 发明申请

US20110199197A1 SYSTEM FOR MONITORING THE AREA AROUND A VEHICLE 有权
标题翻译：用于监测车辆区域的系统
公开(公告)号：US20110199197A1
公开(公告)日：2011-08-18
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： G08B23/00 , G06K9/46
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。

96. 发明申请

US20110170748A1 VEHICLE PERIPHERY MONITORING DEVICE 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110170748A1
公开(公告)日：2011-07-14
申请号：US13119324
申请日：2009-07-10
申请人： Makoto Aimura , Nobuharu Nagaoka , Kodai Matsuda
发明人： Makoto Aimura , Nobuharu Nagaoka , Kodai Matsuda
IPC分类号： G06K9/00
CPC分类号： G01C3/085 , G06K9/00805 , G06T7/593 , G06T7/70 , G06T2207/10021 , G06T2207/30252
摘要： A vehicle periphery monitoring device includes: a parallax calculating unit which extracts a first image section that contains a target object in real space from a first image imaged by a first imaging unit at a predetermined time and extracts a second image section correlated to the first image section from a second image imaged by a second imaging unit at the predetermined time, and then calculates the parallax between the first image section and the second image section; a parallax gradient calculating unit for calculating a parallax gradient based on a time series calculation of the parallax of the identical target object in real space by the parallax calculating unit; and a first distance calculating unit for calculating the distance from the vehicle to the target object on the basis of the parallax gradient and the velocity of the vehicle.
摘要翻译：车辆外围监视装置包括：视差计算单元，其在预定时间内从由第一成像单元成像的第一图像中提取包含实际空间中的目标对象的第一图像部分，并提取与第一图像相关的第二图像部分在由所述预定时间由第二成像单元成像的第二图像的部分，然后计算所述第一图像部分和所述第二图像部分之间的视差; 视差梯度计算单元，用于通过视差计算单元基于实际空间中的相同目标对象的视差的时间序列计算来计算视差梯度; 以及第一距离计算单元，用于基于视差梯度和车辆的速度来计算从车辆到目标物体的距离。

97. 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。

98. 发明申请

US20110032358A1 VEHICLE PERIPHERY MONITORING APPARATUS 有权
标题翻译：车辆周边监控装置
公开(公告)号：US20110032358A1
公开(公告)日：2011-02-10
申请号：US12988551
申请日：2009-01-08
申请人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Makoto Aimura , Hideki Hashimoto
IPC分类号： H04N7/18
CPC分类号： G08G1/166 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/30261
摘要： Provided is an apparatus capable of, even when an object is moving, measuring the position of the object at a high accuracy. According to a vehicle periphery monitoring apparatus (10), an enlargement factor relevant to when the degree of correlation between an enlarged local region (EB(γi)) obtained by enlarging a local region (B(k−1)) at a previous time (k−1) and a local region (B(k)) at a time (k) later than the previous time (k−1) becomes the maximum is calculated as a change rate (Rate(k)) of the size of the local region (B(k)). Based on the change rage (Rate(k)), it is possible to measure the distance (Z(k)) from a vehicle (1) to the object or the position (P(k)) 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。根据车辆周边监视装置（10），与通过放大前一时刻的局部区域（B（k-1））而获得的放大局部区域（EB（γi））之间的相关程度相关的放大因子（k-1）和时间（k）之间的时间（k-1）和局部区域（B（k））变为最大值，作为变化率（速率（k））被计算为局部区域（B（k））。基于变化幅度（速率（k）），即使在高速精度时也可以以高精度测量从车辆1到物体或位置（P（k））的距离（Z（k））物体正在移动。

99. 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。

100. 发明授权

US07489805B2 Vehicle surroundings monitoring apparatus 失效
标题翻译：车辆周边监控装置
公开(公告)号：US07489805B2
公开(公告)日：2009-02-10
申请号：US11287750
申请日：2005-11-28
申请人： Nobuharu Nagaoka , Masakazu Saka , Hideki Hashimoto
发明人： Nobuharu Nagaoka , Masakazu Saka , Hideki Hashimoto
IPC分类号： G06K9/00 , B60Q1/00
CPC分类号： B60Q1/525 , B60Q5/006 , B60Q9/008 , G01S11/12 , G06K9/00805 , G08G1/166
摘要： A vehicle surroundings monitoring apparatus that extracts a body present in the surroundings of a vehicle as an object, based on an image captured by an infrared imaging device including a binarized object extraction device that extracts a binarized object from image data obtained by binarizing a gray scale image of the image, an obstacle determination device that determines whether or not another body being an obstacle is present between the infrared imaging device and the binarized object, a height calculation device that calculates a height dimension of the binarized object based on the height dimension of the obstacle on the gray scale image when it is determined that an obstacle is present in a determination result of the obstacle determination device and an object type determination device that determines a type of the object based on the height dimension of the binarized object.
摘要翻译：一种车辆周边监视装置，其基于由包括二值化对象提取装置的红外成像装置拍摄的图像，提取作为对象的车辆周围的身体，所述二值化对象提取装置从通过二值化灰度级获得的图像数据中提取二值化对象图像的图像，确定在红外成像装置和二值化对象之间是否存在作为障碍物的另一身体的障碍物确定装置，基于高度尺寸计算二值化对象的高度尺寸的高度计算装置确定在障碍物确定装置的确定结果中存在障碍物的灰度图像上的障碍物和基于二值化对象的高度尺寸确定对象的类型的对象类型确定装置。

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