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21. 发明授权

US08867790B2 Object detection device, object detection method, and program 有权
标题翻译：物体检测装置，物体检测方法和程序
公开(公告)号：US08867790B2
公开(公告)日：2014-10-21
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 , G01B11/00 , G01B11/24 , G06T7/00 , G08G1/16 , G01C21/36
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）。

22. 发明申请

US20140204238A1 FEATURE EXTRACTION APPARATUS, FEATURE EXTRACTION PROGRAM, AND IMAGE PROCESSING APPARATUS 有权
标题翻译：特征提取装置，特征提取程序和图像处理装置
公开(公告)号：US20140204238A1
公开(公告)日：2014-07-24
申请号：US14237729
申请日：2012-07-31
申请人： Yunyun Cao , Hirofumi Nishimura , Sugiri Pranata , Zhi Heng Niu
发明人： Yunyun Cao , Hirofumi Nishimura , Sugiri Pranata , Zhi Heng Niu
IPC分类号： H04N5/232
CPC分类号： H04N5/232 , G06K9/4642 , G06K2009/4666 , H04N21/4728 , H04N2201/33371
摘要： Provided is a feature extraction device including a sub region setting unit (433) which sets a plurality of sub regions with respect to a pixel of interest, and a binary pattern generation unit (434) which generates a local binary pattern indicating pixel value comparison results relative to each sub region with respect to each pixel of interest. The sub region setting unit (433) sets (436) a region constituted by a plurality of pixels including a pixel separated from the pixel of interest as a sub region, and the binary pattern generation unit (434) calculates (437) a representative value for each sub region and generates (439) a local binary pattern indicating whether or not the difference (438) between the representative value and the value of the pixel of interest is equal to or larger than a predetermined threshold value.
摘要翻译：提供了一种特征提取装置，其包括相对于感兴趣像素设置多个子区域的子区域设置单元（433）和生成表示像素值比较结果的局部二进制模式的二进制模式生成单元（434）相对于每个感兴趣的像素的每个子区域。子区域设置单元（433）将由包括从感兴趣像素分离的像素的多个像素构成的区域设置为（436）作为子区域，并且二进制图案生成单元（434）计算（437）代表值并且生成（439）表示代表值和感兴趣像素的值之间的差（438）是否等于或大于预定阈值的局部二进制模式。

23. 发明申请

US20140104393A1 CALIBRATION DEVICE AND CALIBRATION METHOD 有权
标题翻译：校准设备和校准方法
公开(公告)号：US20140104393A1
公开(公告)日：2014-04-17
申请号：US14123946
申请日：2012-05-23
申请人： Masahiro Oho , Hirofumi Nishimura
发明人： Masahiro Oho , Hirofumi Nishimura
IPC分类号： G06T7/00
CPC分类号： G06T7/002 , G06T7/85 , G06T2207/10012 , G06T2207/30236 , H04N13/246
摘要： Provided is a calibration device that can calculate the mounting state of a stereo camera without the placing of a physical marker. In this device, an area setting processor (113) preliminarily sets, for an integrated image in which a road surface image region and a setting-prohibited region are integrated, an arrangement pattern having a plurality of area setting frames, and adjusts the arrangement pattern so that the plurality of area setting frames recede from each other. An extraction processor (114) extracts from distance images a plurality of partial images corresponding to the plurality of area setting frames. A mounting-state calculation unit (104) calculates a mounting-state parameter on the basis of a plurality of partial images, such parameter relating to the mounting state of a stereo camera used to pick up stereo images.
摘要翻译：提供了可以计算立体相机的安装状态而不放置物理标记的校准装置。在该装置中，区域设定处理器（113）对于集成了路面图像区域和设定禁止区域的集成图像，预先设定具有多个区域设定框架的配置图案，并且调整布置图案使得多个区域设置框架彼此后退。提取处理器（114）从距离图像中提取对应于多个区域设置帧的多个部分图像。安装状态计算单元（104）基于多个部分图像来计算安装状态参数，该参数与用于拾取立体图像的立体相机的安装状态有关。

24. 发明申请

US20130335259A1 OBJECT DETECTION DEVICE AND OBJECT DETECTION METHOD 有权
标题翻译：对象检测装置和对象检测方法
公开(公告)号：US20130335259A1
公开(公告)日：2013-12-19
申请号：US13816810
申请日：2012-03-02
申请人： Makoto Yasugi , Hirofumi Nishimura
发明人： Makoto Yasugi , Hirofumi Nishimura
IPC分类号： G01S13/86
CPC分类号： G01S13/867 , G01S7/292 , G01S7/295 , G01S7/41 , G01S7/414 , G01S13/04 , G01S13/52 , G01S13/56 , G01S13/86 , G01V8/10 , G06K9/00214 , G06K9/00785 , G06K9/3241 , G06K9/6293 , G08G1/04 , G08G1/052
摘要： Disclosed is an object detection device capable of improving object detection accuracy by preventing erroneous combination detection. In this device, a detection object region correction unit (103) corrects a detection object region set by a detection object region set unit (102) on the basis of moving speed map information associated with a coordinate group in a reference image plane and the detected moving speed on each coordinate, which is detected by a radar. Thus, the detection object region can be amended by the use of the moving speed map information even when the detection object region is obtained as a result of erroneous combination. As a result, the object detection accuracy can be improved.
摘要翻译：公开了一种能够通过防止错误组合检测来提高对象检测精度的物体检测装置。在该装置中，检测对象区域校正单元（103）根据检测对象区域设定单元（102）设定的检测对象区域，基于与基准像面中的坐标群相关的移动速度映射信息，检测出每个坐标上的移动速度，由雷达检测。因此，即使通过错误组合的结果获得检测对象区域，也可以通过使用移动速度图信息来修正检测对象区域。结果，可以提高对象检测精度。

25. 发明申请

US20130163870A1 FEATURE EXTRACTION UNIT, FEATURE EXTRACTION METHOD, FEATURE EXTRACTION PROGRAM, AND IMAGE PROCESSING DEVICE 有权
标题翻译：特征提取单元，特征提取方法，特征提取程序和图像处理装置
公开(公告)号：US20130163870A1
公开(公告)日：2013-06-27
申请号：US13819508
申请日：2012-01-13
申请人： Yunyun Cao , Hirofumi Nishimura , Sugiri Pranata , Zhiheng Niu
发明人： Yunyun Cao , Hirofumi Nishimura , Sugiri Pranata , Zhiheng Niu
IPC分类号： G06K9/46
CPC分类号： G06K9/4642 , G06K9/00281 , G06K9/56 , G06K2009/4666
摘要： Provided is a feature extraction device whereby it is possible, while using local binary patterns, to extract image features with which object detection which is robust against disparities in a photographic environment is possible. A feature extraction unit (440) comprises: a binary pattern generation unit (443) which generates, for each of all pixels or partial pixels in an image, local binary patterns which denote, by bit values, whether the difference in pixel values between the pixel and the surrounding adjacent pixels is greater than or equal to a threshold value; a weighting generation unit (444) which determines, for each generated local binary pattern, a weighting according to the pixel value difference; and a histogram generation unit (445) which applies the determined weightings to the corresponding local binary patterns and generates a histogram which denotes the distribution of the local binary patterns which are generated from the image.
摘要翻译：提供了一种特征提取装置，由此可以在使用局部二进制图案的同时提取图像特征，通过该图像特征可以抵抗在摄影环境中的不均匀性而鲁棒的对象检测。特征提取单元（440）包括：二进制图案生成单元（443），其针对图像中的所有像素或部分像素中的每一个生成局部二进制图案，其通过比特值来表示所述像素值像素和周围的相邻像素大于或等于阈值; 对于每个生成的局部二进制图案，根据像素值差来确定加权的加权生成单元（444）以及直方图生成单元（445），其将所确定的权重应用于对应的本地二进制模式，并生成表示从图像生成的局部二进制模式的分布的直方图。

26. 发明申请

US20130148855A1 POSITIONING INFORMATION FORMING DEVICE, DETECTION DEVICE, AND POSITIONING INFORMATION FORMING METHOD 有权
标题翻译：定位信息形成装置，检测装置和定位信息形成方法
公开(公告)号：US20130148855A1
公开(公告)日：2013-06-13
申请号：US13817488
申请日：2012-01-11
申请人： Makoto Yasugi , Hirofumi Nishimura
发明人： Makoto Yasugi , Hirofumi Nishimura
IPC分类号： G06K9/32
CPC分类号： G06K9/3241 , G01C3/18 , G01S13/58 , G01S13/867 , G01S13/89 , G01S13/931 , G03B35/08 , G06T5/002 , G06T7/70 , G06T2207/10021 , G06T2207/10028 , G06T2207/20221 , G06T2207/30261
摘要： Provided is a positioning information forming device which improves object detection accuracy. This device comprises a synthesis unit (103) which synthesizes camera distance map information and radar distance map information and generates “synthesized map information”. This synthesized map information is used for object detection processing by a detection device (200). In this way it is possible to improve object detection accuracy by being able to detect objects based on information in which the camera distance map information and radar distance map information have been synthesized. In other words, by synthesizing the camera distance map information and radar distance map information, it is possible to remove unnecessary noise due to reflection from the ground and walls, etc. and therefore set object detection thresholds to low values. It is therefore possible to detect even objects the detection of which was judged to be impossible in the past.
摘要翻译：提供了一种提高对象检测精度的定位信息形成装置。该装置包括合成相机距离图信息和雷达距离图信息的合成单元（103），并生成“合成地图信息”。该合成地图信息被检测装置（200）用于物体检测处理。以这种方式，可以通过能够基于其中合成了相机距离图信息和雷达距离图信息的信息来检测对象来提高对象检测精度。换句话说，通过合成摄像机距离图信息和雷达距离图信息，可以消除由于地面和墙壁等的反射引起的不必要的噪声，从而将物体检测阈值设定为低值。因此，可以检测到过去被认为是不可能的检测的偶数物体。

27. 发明申请

US20120148104A1 PEDESTRIAN-CROSSING MARKING DETECTING METHOD AND PEDESTRIAN-CROSSING MARKING DETECTING DEVICE 有权
标题翻译：跨界线标记检测方法和跨越标记检测装置
公开(公告)号：US20120148104A1
公开(公告)日：2012-06-14
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。

28. 发明授权

US08085140B2 Travel information providing device 有权
标题翻译：旅游信息提供装置
公开(公告)号：US08085140B2
公开(公告)日：2011-12-27
申请号：US12439766
申请日：2007-09-04
申请人： Makoto Mochizuki , Hirofumi Nishimura , Hiroyuki Kubotani , Hisashi Kurokawa
发明人： Makoto Mochizuki , Hirofumi Nishimura , Hiroyuki Kubotani , Hisashi Kurokawa
IPC分类号： B60Q1/00
CPC分类号： B60W40/02 , B60W30/08 , B60W40/08 , G08G1/166
摘要： A traveling information providing device is provided in which a surrounding information corrector acquires surrounding information on the condition surrounding a vehicle equipped with the device. An object extractor extracts a safety confirmation object the safety of which must be confirmed by a driver from the surrounding information acquired by the surrounding information collector. A line-of-sight detector detects a line-of-sight direction of the driver. A visibility calculator receives the extracted safety confirmation object and the line-of-sight direction of the driver and calculates visibility in consideration of the driver's peripheral vision with respect to the safety confirmation object according to the distance or the angle from the driver's line-of-sight direction to the object. An information presenter presents safety confirmation to the driver depending on the calculated visibility.
摘要翻译：提供一种旅行信息提供装置，其中周围信息校正器获取关于装备有该装置的车辆周围的状况的周围信息。对象提取器提取安全确认对象，其安全性必须由驾驶员从周围信息收集器获取的周围信息中确认。视线检测器检测驾驶员的视线方向。可见度计算器接收所提取的安全确认对象和驾驶员的视线方向，并且根据与驾驶员的线路的距离或角度相对于安全确认对象考虑驾驶员的周边视觉来计算可视性向对象的方向。信息发布者根据计算的可见性向驾驶员呈现安全确认。

29. 发明授权

US06345499B1 Catalyst light-off method and device for direct injection engine 有权
标题翻译：催化剂灭火方法和直喷式发动机装置
公开(公告)号：US06345499B1
公开(公告)日：2002-02-12
申请号：US09509605
申请日：2000-03-30
申请人： Hirofumi Nishimura , Youichi Kuji , Seiko Kono , Hiroyuki Yamashita , Keiji Araki
发明人： Hirofumi Nishimura , Youichi Kuji , Seiko Kono , Hiroyuki Yamashita , Keiji Araki
IPC分类号： F01N300
CPC分类号： F02D41/3023 , F02B2075/125 , F02D37/02 , F02D41/024 , F02D41/3836 , F02D41/402 , F02D2041/389 , F02P5/1506 , Y02T10/123 , Y02T10/26 , Y02T10/44 , Y02T10/46
摘要： A catalyst light-off device for a direct injection engine comprises a temperature state identifier (31) for judging the temperature state of a catalyst (22) for converting exhaust gases, a fuel injection controller (33) for controlling fuel injection from an injector (11), and an ignition timing controller (35). When the catalyst is in its unheated state in which its temperature is lower than its activation temperature, the fuel injection controller (33) causes the injector (11) to make split injection during a period from an intake stroke to an ignition point including a later injection cycle which produces a mixture having local unevenness and an earlier injection cycle which produces a uniform and lean mixture, and the ignition timing controller (35) retards the ignition point.
摘要翻译：用于直接喷射发动机的催化剂灭火装置包括用于判断用于转换废气的催化剂（22）的温度状态的温度状态标识符（31），用于控制来自喷射器的燃料喷射的燃料喷射控制器（33） 11）和点火正时控制器（35）。当催化剂处于其温度低于其活化温度的未加热状态时，燃料喷射控制器（33）使得喷射器（11）在从进气冲程到包括稍后的进气冲程的点火期间内进行分液喷射其产生具有局部不均匀性和较早的注射循环的混合物，其产生均匀和贫的混合物，并且点火正时控制器（35）延迟点火点。

30. 发明授权

US06318074B1 Control device for direct injection engine 失效
标题翻译：直喷式发动机控制装置
公开(公告)号：US06318074B1
公开(公告)日：2001-11-20
申请号：US09382662
申请日：1999-08-25
申请人： Hirofumi Nishimura , Youichi Kuji , Seiko Kono , Hiroyuki Yamashita , Keiji Araki
发明人： Hirofumi Nishimura , Youichi Kuji , Seiko Kono , Hiroyuki Yamashita , Keiji Araki
IPC分类号： F01N300
CPC分类号： F02P5/1506 , F02B2075/125 , F02D41/024 , F02D41/068 , F02D41/1401 , F02D41/3023 , F02D41/402 , F02D2041/389 , F02F2001/241 , Y02T10/123 , Y02T10/26 , Y02T10/44 , Y02T10/46
摘要： A control device for a direct injection engine includes an identifier for judging whether a catalyst is in its unheated state in which its temperature is lower than its activation temperature, an engine temperature state detector for sensing the temperature state of the engine, and a fuel injection controller for controlling fuel injection from the injector. The fuel injection controller controls an injector in such a way that it makes at least two-step split injection including an earlier injection cycle performed during an intake stroke and a later injection cycle performed in a middle portion of a compression stroke or later when the catalyst is in its unheated state, and the later injection cycle is retarded when the catalyst is still in its unheated state but the engine temperature has become higher than a specified temperature compared to a case where the temperature of the engine is equal to or lower than the specified temperature.
摘要翻译：用于直接喷射发动机的控制装置包括用于判断催化剂是否处于其温度低于其活化温度的未加热状态的标识符，用于感测发动机的温度状态的发动机温度状态检测器和燃料喷射用于控制来自喷射器的燃料喷射的控制器。燃料喷射控制器以这样的方式控制喷射器，使得其进行至少两步分离喷射，包括在进气冲程期间执行的较早的喷射循环和在压缩冲程的中间部分执行的稍后的喷射循环，或者当催化剂处于其未加热状态，并且当催化剂仍然处于其未加热状态但是发动机温度已经变得高于特定温度时与发动机的温度等于或低于特定温度的情况相比较晚的喷射循环被延迟指定温度。

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