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1. 发明授权

US10787126B2 Mounting angle detection device for in-vehicle camera, mounting angle calibration device, and mounting angle detection method 有权
公开(公告)号：US10787126B2
公开(公告)日：2020-09-29
申请号：US16088627
申请日：2017-03-31
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： H04N7/18 , B60R1/00 , H04N5/232 , G06T1/00 , H04N5/225 , B60R21/00 , B60Q9/00 , B60R11/04 , H04N17/00
摘要： A mounting angle detection device converts, into a bird's-eye view image, an image captured of the ground on which a target marking having two straight line parts parallel to each other and equal in width is marked, and searches for a mounting angle at which the two straight line parts in the bird's-eye view image are parallel to each other and equal in width. Even with a vehicle including an in-vehicle camera on the front or back, the mounting angle detection device detects an actual mounting angle of the camera and calibrates the mounting angle of the camera. The mounting angle detection device detects the mounting angle using, as the target marking, even a parking space that lacks a transverse line crossing the two straight line parts parallel to each other and equal in width, and calibrates the mounting angle to a correct mounting angle of the camera.

2. 发明申请

US20180144207A1 PEDESTRIAN DETECTION DEVICE AND PEDESTRIAN DETECTION METHOD 审中-公开
公开(公告)号：US20180144207A1
公开(公告)日：2018-05-24
申请号：US15327607
申请日：2015-06-29
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： G06K9/32 , G06K9/00 , G06K9/68 , G08G1/16 , G01S13/86 , G01S13/93 , G01S15/87 , G01S15/93
CPC分类号： G06K9/3241 , G01S13/723 , G01S13/862 , G01S13/867 , G01S13/931 , G01S15/025 , G01S15/66 , G01S15/87 , G01S15/93 , G01S15/931 , G01S2013/9364 , G01S2013/9375 , G01S2013/9389 , G06K9/00362 , G06K9/00791 , G06K9/6255 , G06K9/6807 , G08G1/166 , H04N7/183
摘要： A pedestrian detection device on a vehicle having a vehicular camera and a sonar or a radar includes: an identification dictionary storage unit that stores multiple identification dictionaries of shape features of a pedestrian; a detection result accumulation unit that searches the captured image for one feature to detect the pedestrian, and accumulates a detection result for each identification dictionary; a pedestrian position accumulation unit that detects the pedestrian using the sonar or the radar, and accumulates a pedestrian position; an identification dictionary selection unit that selects a detection identification dictionary having the detection result consistent with the pedestrian position; and a pedestrian detection unit that searches the captured image for one feature described in the detection identification dictionary, and detects the pedestrian.

3. 发明申请

US20130184939A1 COLLISION SAFETY CONTROL APPARATUS AND METHOD FOR VEHICLE 有权
标题翻译：碰撞安全控制装置和车辆方法
公开(公告)号：US20130184939A1
公开(公告)日：2013-07-18
申请号：US13737185
申请日：2013-01-09
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： B60R21/0136
CPC分类号： B60R21/0136 , B60R21/015 , B60R21/01538 , B60R2021/0102
摘要： A vehicular collision safety control apparatus is disclosed. The apparatus includes an image acquirer for acquiring an image of a face of an occupant of the vehicle, a face position acquirer for acquiring a position of the face in a three-dimensional space based on the image, a distance calculator for calculating a distance between the acquired position of the face and a reference position located in front of the face, an airbag activator for increasing airbag pressure to a predetermined pressure in response to impact detection, and a setting device for setting a waiting time from the impact detection to start of airbag inflation, so that as the calculated distance is smaller, a pressure-reach time for the airbag pressure to reach the predetermined pressure is smaller.
摘要翻译：公开了一种车辆碰撞安全控制装置。该装置包括用于获取车辆的乘员的脸部的图像的图像获取器，用于基于该图像获取三维空间中的脸部的位置的面部位置获取器，用于计算在三维空间中的脸部的位置的距离计算器，所述面部的获取位置和位于所述面部前方的基准位置，用于响应于冲击检测而将气囊压力增加到预定压力的气囊启动器，以及用于设定从所述冲击检测到开始的等待时间的设定装置气囊膨胀，使得随着计算出的距离越小，气囊压力达到预定压力的压力到达时间越小。

4. 发明授权

US11024174B2 Parking space detection apparatus 有权
公开(公告)号：US11024174B2
公开(公告)日：2021-06-01
申请号：US16678249
申请日：2019-11-08
申请人： DENSO CORPORATION
发明人： Hikmet Cetin , Shusaku Shigemura , Mitsuyasu Matsuura
IPC分类号： B60R1/00 , G08G1/14 , B62D15/02 , G01S15/931 , G06K9/00 , G08G1/16
摘要： A parking space detection apparatus detects a parking space of an own vehicle and includes: a vehicle determination section that determines whether an other vehicle is present on at least one of two sides of a parking space, based on search information acquired from an in-vehicle search section that searches for the parking space; a width calculation section that, it is determined that the other vehicle is present on at least one of the two sides of the parking space, calculate a width of the parking space on an entrance side and a width of the parking space on an inner side based on the search information; and a parking determination section that determines whether the own vehicle is able to park in the parking space based on the widths of the parking space on the entrance side and on the inner side and size of the own vehicle.

5. 发明授权

US09691142B2 Image generating device, image generating method, and non-transitory computer-readable storage medium 有权
公开(公告)号：US09691142B2
公开(公告)日：2017-06-27
申请号：US14902938
申请日：2014-06-23
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： G06K9/36 , G06T5/50 , B60R1/00 , G06T3/40 , B60R11/04 , G06T5/00 , G06T5/40 , G06T11/60 , H04N5/247 , H04N7/18
CPC分类号： G06T5/50 , B60R1/00 , B60R11/04 , B60R2300/303 , B60R2300/607 , G06T3/4038 , G06T5/006 , G06T5/40 , G06T11/60 , G06T2207/30252 , H04N5/247 , H04N7/18
摘要： An image generating device that generates a composite image based on partial images cut out from captured images having photographic subject regions partially overlapping with each other, includes: a correction device that corrects each target partial image by setting one of first and second adjacent partial images as a reference partial image; a generation device that generates first and second conversion tables for approximating a concentration characteristic of each target partial image in overlapping first and second common regions to the first and second adjacent partial images, respectively; and a mixture conversion device that converts a concentration of each target partial image to make an influence of the first conversion table larger as a position of a pixel is closer to the first adjacent partial image, and to make the influence of the second conversion table larger as the position of the pixel is closer to the second adjacent partial image.

6. 发明申请

US20160347251A1 IMAGE ANALYSIS APPARATUS AND IMAGE ANALYSIS METHOD 审中-公开
标题翻译：图像分析装置和图像分析方法
公开(公告)号：US20160347251A1
公开(公告)日：2016-12-01
申请号：US15116362
申请日：2015-01-16
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： B60R1/00
CPC分类号： B60R1/00 , B60R2300/402 , G06K9/00805
摘要： An image analysis apparatus is applied to an on-vehicle camera that captures an image of a predetermined monitoring region oriented in a predetermined direction referenced to a vehicle, to analyze an image captured by the on-vehicle camera. The image analysis apparatus includes (i) a storage section that stores a feature quantity of a monitoring region image obtained when an image of the monitoring region is captured by the on-vehicle camera, (ii) an extraction section that acquires an image captured by the on-vehicle camera and extracts a feature quantity of the image captured by the on-vehicle camera, and (iii) a notification section that compares the feature quantity of the image captured by the on-vehicle camera against the feature quantity of the monitoring region image to perform determination whether the on-vehicle camera is mounted in an abnormal position, and notifies a result of the determination.
摘要翻译：图像分析装置被应用于车载摄像机，其拍摄以与车辆相关的预定方向为中心的预定监视区域的图像，以分析由车载摄像机拍摄的图像。图像分析装置包括：（i）存储部，其存储当车载摄像机拍摄监视区域的图像时获得的监视区域图像的特征量;（ii）提取部，其获取由提取车载摄像机拍摄的图像的特征量，以及（iii）将车载摄像机拍摄的图像的特征量与监视的特征量进行比较的通知部，区域图像，以执行车载摄像机是否安装在异常位置，并通知确定结果。

7. 发明授权

US09390337B2 Alertness level detection apparatus and alertness level detection method 有权
标题翻译：警戒等级检测装置和警戒级别检测方法
公开(公告)号：US09390337B2
公开(公告)日：2016-07-12
申请号：US14763802
申请日：2014-01-16
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： G06K9/00 , A61B5/18
CPC分类号： G06K9/00845 , A61B5/18 , G06K9/00221
摘要： An alertness level detection apparatus, which is equipped to a vehicle and detecting alertness level of a driver, includes a stimulus information acquirer detecting stimulus applied to driver's visual sensation within driver's visual field under a state in which the driver watches in travel direction of the vehicle and acquiring stimulus information related to occurrence time and occurrence position of the stimulus within the driver's visual field, a face image generator generating a face image of the driver, a line-of-sight position detector detecting line-of-sight position of the driver by analyzing the face image, a moving time duration detector detecting moving time duration taken for the driver to move the line of sight to the occurrence position of the stimulus immediately after the occurrence time of the stimulus, and an alertness level determiner determining the alertness level of the driver based on the moving time duration.
摘要翻译：警报级别检测装置，其被配备到车辆并且检测驾驶员的警觉性水平，包括刺激信息获取器，其在驾驶员在车辆行驶方向上观看的状态下检测应用于驾驶员的视野内的驾驶员的视觉感觉的刺激并且获取与驾驶员的视野内的刺激的发生时间和发生位置相关的刺激信息，产生驾驶员的面部图像的面部图像生成器，检测驾驶员的视线位置的视线位置检测器通过分析面部图像，移动持续时间检测器检测在刺激的发生时间之后立即将驾驶员将视线移动到刺激的发生位置的移动持续时间，以及确定警报水平的警觉水平确定器基于移动持续时间的驾驶员。

8. 发明授权

US10354160B2 Pedestrian detection device and pedestrian detection method 有权
公开(公告)号：US10354160B2
公开(公告)日：2019-07-16
申请号：US15327607
申请日：2015-06-29
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： G06K9/00 , G06K9/32 , G01S15/93 , G01S15/87 , G01S13/86 , G01S13/93 , G06K9/68 , G08G1/16 , G06K9/62 , H04N7/18 , G01S15/02 , G01S13/72 , G01S15/66
摘要： A pedestrian detection device on a vehicle having a vehicular camera and a sonar or a radar includes: an identification dictionary storage unit that stores multiple identification dictionaries of shape features of a pedestrian; a detection result accumulation unit that searches the captured image for one feature to detect the pedestrian, and accumulates a detection result for each identification dictionary; a pedestrian position accumulation unit that detects the pedestrian using the sonar or the radar, and accumulates a pedestrian position; an identification dictionary selection unit that selects a detection identification dictionary having the detection result consistent with the pedestrian position; and a pedestrian detection unit that searches the captured image for one feature described in the detection identification dictionary, and detects the pedestrian.

9. 发明授权

US10192106B2 Moving object detection apparatus and moving object detection method 有权
公开(公告)号：US10192106B2
公开(公告)日：2019-01-29
申请号：US15111141
申请日：2015-01-09
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： H04N7/18 , G06T7/20 , G06T7/00 , G06K9/00 , G08G1/16 , B60R1/00 , G06T7/73 , G06T7/62 , G06K9/62 , G06K9/32
摘要： A moving object detection apparatus that analyzes a photographic image captured by an onboard camera and detects a moving object is provided. The moving object detection apparatus includes an imaging portion that captures the photographic image at a predetermined time interval; a peripheral region detection portion that detects a first moving object of a size smaller than a predetermined size and a second moving object of a size larger than the predetermined size as the moving object in a peripheral region; and a central region detection portion that detects the first moving object as the moving object in a central region. The central region detection portion detects the first moving object and the second moving object as the moving object when the second moving object has been detected in the peripheral region at a previous time.

10. 发明申请

US20170158134A1 IMAGE DISPLAY DEVICE AND IMAGE DISPLAY METHOD 审中-公开
公开(公告)号：US20170158134A1
公开(公告)日：2017-06-08
申请号：US15320498
申请日：2015-06-23
申请人： DENSO CORPORATION
发明人： Shusaku Shigemura
IPC分类号： B60R1/00 , G06K9/78 , H04N5/445 , G06K9/00 , H04N5/232 , H04N7/18
CPC分类号： B60R1/002 , B60R1/00 , B60R2300/105 , B60R2300/607 , B60R2300/70 , B60R2300/8033 , B60R2300/8066 , B60R2300/8093 , G06K9/00805 , G06K9/78 , G06T3/00 , G09G2380/10 , H04N5/23238 , H04N5/23293 , H04N5/44504 , H04N7/181
摘要： An image display device for displaying an image showing surrounding of a vehicle in a bird's eye view style is provided. The image display device includes a bird's eye view image generation section that generates, based on an image captured by an on-vehicle camera, a bird's eye view image showing the surrounding of the vehicle in the bird's eye view style, a vehicle image combination section that combines a vehicle image showing the vehicle with the bird's eye view image by placing the vehicle image at a position of the vehicle in the bird's eye view image, and an image output section that, from the bird's eye view image with which the vehicle image is combined, cuts out a predetermined scope in accordance with the shift position of the vehicle, and outputs the cut-out image to the display screen.

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