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51. 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。

52. 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。

53. 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。

54. 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）。

55. 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。

56. 发明申请

US20090037007A1 GUIDANCE REPORT DEVICE, GUIDANCE REPORT INTEGRATED CIRCUIT, GUIDANCE REPORT METHOD, AND GUIDANCE REPORT PROGRAM 审中-公开
标题翻译：指导报告手册，指导意见集成电路，指导报告方法和指导性报告方案
公开(公告)号：US20090037007A1
公开(公告)日：2009-02-05
申请号：US11995889
申请日：2006-07-26
申请人： Hirofumi Nishimura
发明人： Hirofumi Nishimura
IPC分类号： G06F17/00
CPC分类号： G01C21/3629 , G06F3/165 , G10L13/00
摘要： A guidance issuing device has a guidance sound storage unit for storing a guidance sound set every guidance, a sound volume setting unit for setting the volume of the guidance sound, a sound volume storage unit for storing the volume set by the sound volume setting unit, and an output unit for outputting the guidance sound at the set volume level corresponding to the guidance sound of the sound volume storage unit.
摘要翻译：引导发生装置具有：引导声存储部，其存储每次引导设定的引导声，设定引导声音的音量的音量设定部;存储由音量设定部设定的音量的音量存储部，以及输出单元，用于输出与音量存储单元的引导声音相对应的设定音量电平的引导声音。

57. 发明授权

US06513320B1 Control system for a direct injection-spark ignition engine 失效
标题翻译：直喷式火花点火发动机的控制系统
公开(公告)号：US06513320B1
公开(公告)日：2003-02-04
申请号：US09199448
申请日：1998-11-25
申请人： Hirofumi Nishimura , Youichi Kuji
发明人： Hirofumi Nishimura , Youichi Kuji
IPC分类号： F02D4140
CPC分类号： F02D41/402 , F01N3/0842 , F02D35/0092 , F02D41/0057 , F02D41/0235 , F02D2041/389 , F02D2200/0804 , Y02T10/148 , Y02T10/44
摘要： An engine control system for a direct injection-spark ignition type of engine which is equipped with a fuel injector for spraying fuel directly into a combustion chamber and an exhaust system having a lean NOx conversion catalyst for lowering an emission level of nitrogen oxides (NOx) in exhaust gas at an air-fuel ratio of &lgr;>1 controls divides a given amount of fuel into two parts which are intermittently delivered through early and late split injection respectively in a intake stroke and controls a fuel injector such that a midpoint between points at which the early and late split injection are timed respectively to start is before a midpoint of a intake stroke while the engine is in a lean fuel charge zone.
摘要翻译：一种用于直喷式火花点火式发动机的发动机控制系统，其配备有用于将燃料直接喷射到燃烧室中的燃料喷射器和具有用于降低氮氧化物（NOx）的排放水平的贫NOx转化催化剂的排气系统，在空气燃料比为lambd> 1的排气中，将给定量的燃料分成两部分，这两部分在进气冲程中分别通过早期和后期分离喷射间歇地输送，并控制燃料喷射器，使得在早期和晚期分离喷射分别定时启动在进气冲程的中点之前，而发动机处于贫燃料装料区域。

58. 发明授权

US06434929B1 Control apparatus 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：US06434929B1
公开(公告)日：2002-08-20
申请号：US09487311
申请日：2000-01-19
申请人： Hirofumi Nishimura , Youichi Kuji
发明人： Hirofumi Nishimura , Youichi Kuji
IPC分类号： F02M2506
CPC分类号： F02M45/02 , F01N3/0842 , F01N2430/06 , F01N2610/03 , F02B2075/125 , F02D21/08 , F02D41/0275 , F02D41/1475 , F02D41/3023 , F02D41/3064 , F02D41/402 , F02D2041/389 , Y02T10/123 , Y02T10/44
摘要： In a direct injection engine including an injector (22) for directly injecting fuel into a combustion chamber (15) and a lean NOx catalyst (36), an ECU (50) changes the air-fuel ratio from that higher than the stoichiometric air-fuel ratio to that substantially equal to or lower than the stoichiometric air-fuel ratio. When the air-fuel ratio has changed from a air-fuel ratio higher than the stoichiometric air-fuel ratio to an air-fuel ratio substantially equal to or lower than the stoichiometric air-fuel ratio, the ECU controls to divisionally execute fuel injection from the injector (22) in at least two injections, i.e., leading injection that starts within the intake stroke period and trailing injection that starts within the compression stroke period.
摘要翻译：在包括用于将燃料直接喷射到燃烧室（15）和贫NOx催化剂（36）中的喷射器（22）的直喷式发动机中，ECU（50）将空燃比从高于理论空燃比燃料比大致等于或低于理论空燃比。当空燃比从高于理论空燃比的空燃比改变为基本上等于或低于理论空燃比的空燃比时，ECU控制以分开执行燃料喷射喷射器（22）在至少两次喷射中，即在进气冲程期间内开始的前进喷射以及在压缩冲程期间内开始的尾喷射。

59. 发明授权

US06234139B1 Control system for an engine 失效
标题翻译：发动机控制系统
公开(公告)号：US06234139B1
公开(公告)日：2001-05-22
申请号：US09252788
申请日：1999-02-19
申请人： Junichi Taga , Michihiro Imada , Masayuki Kuroki , Masayuki Tetsuno , Kiyotaka Mamiya , Hirofumi Nishimura
发明人： Junichi Taga , Michihiro Imada , Masayuki Kuroki , Masayuki Tetsuno , Kiyotaka Mamiya , Hirofumi Nishimura
IPC分类号： F02B1700
CPC分类号： F02D41/3064 , F02D41/0002 , F02D41/3029 , F02D2041/0015 , Y02T10/42
摘要： An engine control system for an engine equipped with a swirl control valve which is operative in operation modes different in fuel injection form according to engine operating conditions judges based on a change in an engine operating condition whether a mode shift to one operation mode to another is demanded and controls the swirl control valve so as to attain a target opening for the one engine operation mode while keeping a specific mode shift waiting until the swirl valve opening reaches a limit value permissible in one engine operation mode into which the specific mode shift is made when the swirl control valve is judged to be out of the limit value.
摘要翻译：一种具有涡轮控制阀的发动机控制系统，该发动机控制系统根据发动机工作条件在燃料喷射形式不同的操作模式下工作，基于发动机运行状态的变化来判断模式向一个操作模式的转换是否为要求并控制旋流控制阀，以便在保持特定模式换档的同时等待直到涡旋阀开度达到一个发动机运转模式允许的限制值为止，达到一个发动机运转模式的目标开度当涡流控制阀被判定为超出极限值时。

60. 发明授权

US06212879B1 Fuel combustion control system for engine 失效
标题翻译：发动机燃油燃烧控制系统
公开(公告)号：US06212879B1
公开(公告)日：2001-04-10
申请号：US09130037
申请日：1998-08-04
申请人： Hirofumi Nishimura , Junichi Taga , Takahisa Ishihara , Eiji Nishimura
发明人： Hirofumi Nishimura , Junichi Taga , Takahisa Ishihara , Eiji Nishimura
IPC分类号： F01N300
CPC分类号： F02D41/0255 , F02P5/1506 , Y02T10/26 , Y02T10/46
摘要： A fuel combustion control system for an internal combustion engine having an exhaust gas purifying catalyst installed in an exhaust line therein advances an ignition timing to try to stabilize combustion when a fluctuation of engine speed is larger than a limit speed on stable combustion and further retards an ignition timing to accelerate a rise in catalyst temperature together with securing combustion stability while the engine is still cold or when a fluctuation of engine speed is smaller than the limit speed on stable combustion.
摘要翻译：用于内燃机的燃料燃烧控制系统，其具有安装在排气管线中的排气净化催化剂，当发动机转速波动大于稳定燃烧时的极限转速时，提前点燃正时以试图稳定燃烧，并进一步延迟点火正时以加速催化剂温度的上升，同时在发动机冷还是发动机转速波动小于稳定燃烧时的极限转速时确保燃烧稳定性。

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