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1. 发明授权

US10579884B2 Image processing device and image processing method 有权
公开(公告)号：US10579884B2
公开(公告)日：2020-03-03
申请号：US15155496
申请日：2016-05-16
申请人： FUJITSU TEN LIMITED , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Kouei Kiyo , Kohei Maejima
IPC分类号： G06K9/00 , G08G1/16 , G01S13/931 , G01S15/02 , B60W40/105 , G01S7/62 , G01S7/20 , G01S13/87 , G01S7/10 , G01S15/89 , G01S13/86 , G01S13/89 , G01S15/931 , G01C21/26 , G06T7/20 , G06T11/60 , G01S13/93
摘要： An image processing device according to an aspect of the embodiment includes a display controller and a determining unit. The display controller generates a synthesized image when viewing a perimeter of a vehicle from a virtual viewpoint based on an image from an image capturing device and causes a display unit to display the synthesized image. The determining unit determines, in a case where a screen other than a virtual viewpoint screen including the synthesized image is displayed on the display unit, whether a switching condition to a notification screen for notifying an occupant of presence of an obstacle is satisfied when the obstacle is detected by a detector. The display controller causes the display unit to display the notification screen obtained by superimposing a predetermined notification image on the virtual viewpoint screen, when the determining unit determines that the switching condition is satisfied.

2. 发明授权

US10037595B2 Image processing device and image processing method 有权
公开(公告)号：US10037595B2
公开(公告)日：2018-07-31
申请号：US15170361
申请日：2016-06-01
申请人： FUJITSU TEN LIMITED , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Kouei Kiyo , Satoru Matsuyama , Shinichi Moriyama , Goro Asai , Masato Okuda , Yohei Satomi , Yuka Shidochi
IPC分类号： G06K9/36 , G06T3/40 , H04N7/18 , B60R1/00 , G06T3/00 , H04N5/232 , H04N5/247
CPC分类号： G06T3/4038 , B60R1/00 , B60R2300/105 , B60R2300/303 , B60R2300/602 , G06T3/0068 , H04N5/23293 , H04N5/247 , H04N7/181
摘要： An image processing device according to an embodiment includes a display control unit, a pattern specification unit, and a pattern collating unit. The display control unit generates a composite image that is a surrounding image of a vehicle viewed from a virtual viewpoint, based on images input from in-vehicle cameras, and displays thereof on a display unit. The pattern specification unit specifies an image pattern to be output as the input image among image patterns, for each in-vehicle camera. The pattern collating unit determines whether all image pattern responses from the in-vehicle cameras match with the image pattern. The display control unit displays a certain preparation image on the display unit when the display switching condition to the composite image is satisfied, and displays the composite image thereon instead of the preparation image, when the pattern collating unit determines that all the image pattern responses match with the image pattern.

3. 发明授权

US10882450B2 Vehicle periphery monitoring apparatus 有权
公开(公告)号：US10882450B2
公开(公告)日：2021-01-05
申请号：US15833573
申请日：2017-12-06
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO TEN LIMITED
发明人： Kohei Maejima , Atsutoshi Sakaguchi , Yamato Yorifuji , Masahiro Takahashi , Yukiko Hatakeyama , Kouei Kiyo , Tomoyuki Sato
IPC分类号： B60R1/00 , H04N5/232 , H04N7/18 , H04N13/243
摘要： A vehicle periphery monitoring apparatus includes a camera, an electronic control unit and a display unit configured to display the display image. The ECU is configured to generate a display image of an external environment based on image information from the camera such that the display image includes a first display image from a first predetermined viewpoint from which one of right and left side surfaces of a host vehicle and a rear portion or a front portion of the host vehicle are obliquely seen from above. The ECU is configured to generate and output the display image including the first display image in at least any one of a predetermined first traveling status of the host vehicle, a predetermined periphery status of the area on either side of the host vehicle, and a state in which a turn signal lever is manipulated.

4. 发明授权

US10750093B2 Image processing device and image processing method 有权
公开(公告)号：US10750093B2
公开(公告)日：2020-08-18
申请号：US15826046
申请日：2017-11-29
申请人： DENSO TEN Limited , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Yukiko Hatakeyama , Kouei Kiyo , Tamaki Takeuchi , Rie Habuta , Akinari Motohiro , Tomoyuki Sato , Kohei Maejima , Atsutoshi Sakaguchi , Masahiro Takahashi
IPC分类号： H04N5/00 , H04N5/232 , H04N5/272 , H04N5/222 , G01S13/86 , G01S13/931
摘要： An image processing device according to an embodiment includes an image acquisition unit, an information acquisition unit, a generation unit, and a composition unit. The image acquisition unit acquires a captured image where an image of an environment of a vehicle is captured by an image-capturing device. The information acquisition unit acquires information regarding a detected position of an obstacle that exists in an environment of the vehicle. The generation unit generates a virtual viewpoint image where an environment of the vehicle is viewed from a virtual viewpoint, based on the captured image that is acquired by the image acquisition unit. The composition unit composites a notification image that provides notification of existence of the obstacle at the detected position with the virtual viewpoint image and composites a vehicle image with the virtual viewpoint image.

5. 发明授权

US10343603B2 Image processing device and image processing method 有权
公开(公告)号：US10343603B2
公开(公告)日：2019-07-09
申请号：US15838560
申请日：2017-12-12
申请人： DENSO TEN Limited , TOYOTA JIDOSHA KABUSHIKI KAISHA
发明人： Yukiko Hatakeyama , Kouei Kiyo , Tamaki Takeuchi , Rie Habuta , Akinari Motohiro , Tomoyuki Sato , Kohei Maejima , Atsutoshi Sakaguchi , Masahiro Takahashi
IPC分类号： B60Q9/00 , B60R1/00
摘要： An image processing device according to an embodiment includes an image acquisition unit, an information acquisition unit, a generation unit, a composition unit, a determination unit, and a display control unit. The image acquisition unit acquires a captured image where an image of an environment of a vehicle is captured by an image-capturing device. The information acquisition unit acquires positional information regarding a detected position of an obstacle that exists in an environment of the vehicle. The generation unit generates a virtual viewpoint image where an environment of the vehicle is viewed from a virtual viewpoint, based on the captured image. The composition unit composites a notification image that provides notification of existence of the obstacle at the detected position with the virtual viewpoint image. The display control unit controls a display format of the notification image that is composited with the virtual viewpoint image, based on the positional information.

6. 发明授权

US11458957B2 Vehicle surrounding display apparatus 有权
公开(公告)号：US11458957B2
公开(公告)日：2022-10-04
申请号：US16025297
申请日：2018-07-02
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , DENSO TEN Limited
发明人： Yamato Yorifuji , Kohei Maejima , Takuya Itoh , Eriko Yamazaki , Kouei Kiyo , Yukiko Hatakeyama
IPC分类号： B60W30/06 , H04N5/262 , B60W50/14 , G06F3/147 , B60R1/00 , B60K35/00 , B62D15/02
摘要： A vehicle surrounding display apparatus comprises a display control means for displaying images, each of which corresponding to each of a plurality of display modes on a display screen. The display control means, when at a first mode, generates a first bird's-eye view image of a vehicle and a first surrounding region thereof seen from a bird's-eye view to display this image in a first display area with a fixed size on the display screen and generates a first another image to display this image in a second display area with a fixed size on the display screen, and when at a second mode, generates a second bird's-eye view image of a vehicle and a second surrounding region thereof wider than the first surrounding region to display this image in the first display area and generates a second another image to display this image in the second display area.

7. 发明授权

US09493120B2 Image generator 有权
标题翻译：图像生成器
公开(公告)号：US09493120B2
公开(公告)日：2016-11-15
申请号：US13914016
申请日：2013-06-10
申请人： FUJITSU TEN LIMITED
发明人： Kouei Kiyo , Masahiro Yamada , Yasuyoshi Sawada , Takumi Hayashida
IPC分类号： G09G5/12 , B60R1/00 , G06T11/60 , H04N7/18 , G06T15/20
CPC分类号： B60R1/002 , B60R1/00 , B60R2300/303 , G06T11/60 , G06T15/205 , H04N7/181
摘要： An image acquisition part acquires a plurality of shot images captured by a plurality of cameras disposed on a vehicle, each of the plurality of shot images showing a periphery of the vehicle. An image composer projects data of the plurality of shot images onto a virtual projection surface corresponding to the periphery of the vehicle, and generates a composite image showing the periphery of the vehicle viewed from a virtual viewpoint, using the data projected onto the virtual projection surface. The image composer uses, as the virtual projection surface, a special virtual projection surface that includes a curved area having an upward convex curve. The curved area includes an area where a distance from a location of the vehicle is relatively short and a slope is relatively high, and another area where the distance from the location of the vehicle is relatively long and the slope is relatively low.
摘要翻译：图像获取部分获取由布置在车辆上的多个摄像机拍摄的多个拍摄图像，所述多个拍摄图像中的每一个显示车辆的周边。图像构图器将多个拍摄图像的数据投影到与车辆周边相对应的虚拟投影面上，并且使用投影到虚拟投影面上的数据，从虚拟视点生成表示车辆周边的合成图像。作为虚拟投影面的图像构图器使用包含具有向上凸曲线的弯曲区域的特殊虚拟投影面。弯曲区域包括距离车辆的位置的距离相对较短并且坡度相对较高的区域，并且距离车辆位置的距离相对较长并且斜率相对较低的区域。

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