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1. 发明申请

US20160314364A1 Vehicle-Mounted Recognition Device 有权
标题翻译：车载识别装置
公开(公告)号：US20160314364A1
公开(公告)日：2016-10-27
申请号：US15102746
申请日：2015-01-07
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Hideaki KIDO , Takeshi NAGASAKI , Shinji KAKEGAWA
IPC分类号： G06K9/00 , H04N13/02 , H04N13/00
CPC分类号： G06K9/00805 , G01C3/06 , H04N7/18 , H04N13/128 , H04N13/239 , H04N2013/0081
摘要： An objective of the present invention is to obtain a vehicle-mounted recognition device capable of recognizing an object to be recognized in a shorter processing time than previously possible. This vehicle-mounted recognition device recognizes an object to be recognized from any image of a pair of images captured simultaneously by a pair of image capture units, said vehicle-mounted recognition device comprising: a disparity measurement unit which measures disparity using the pair of images; an object information estimation unit which estimates the present location of the object from a previous location of the object; a concealment determination unit which determines whether the object is concealed in at least one of the pair of images on the basis of the result of the measurement by the disparity measurement unit and the result of the estimation by the object information estimation unit; an image selection unit which selects the image in which the object can be recognized from among the pair of images on the basis of the result of the determination by the concealment determination unit; and an object recognition unit which recognizes the object using the selected image.
摘要翻译：本发明的目的是获得能够在比以前更短的处理时间识别要识别的对象的车载识别装置。该车载识别装置通过一对图像拍摄单元同时捕获的一对图像的任何图像来识别要识别的对象，所述车载识别装置包括：视差测量单元，其使用该对图像来测量视差 ; 对象信息估计单元，从对象的先前位置估计对象的当前位置; 隐藏确定单元，其基于视差测量单元的测量结果和对象信息估计单元的估计结果来确定对象是否被隐藏在该对图像中的至少一个中; 图像选择单元，其基于所述隐藏确定单元的确定结果，从所述一对图像中选择可以识别所述对象的图像; 以及使用所选择的图像识别对象的对象识别单元。

2. 发明申请

US20190156129A1 Traveling Road Boundary Estimation Apparatus and Traveling Assistance System Using Same 审中-公开
公开(公告)号：US20190156129A1
公开(公告)日：2019-05-23
申请号：US16301782
申请日：2017-07-12
申请人： Hitachi Automotive Systems, Ltd.
发明人： Shinji KAKEGAWA , Takeshi NAGASAKI
IPC分类号： G06K9/00 , G06T7/70 , G01C21/32
摘要： The present invention provides a traveling road boundary estimation apparatus that is capable of estimating the position and shape of a traveling road boundary highly reliably, and a traveling assistance system. The present invention has: a boundary feature map generation unit that generates, on the basis of an image acquired from an external sensor, a boundary feature map for storing a feature amount regarding the presence of a traveling road boundary, for each grid of the image or an image generated by converting the image into an image of another visual point; a boundary candidate setting unit that sets, as boundary candidates, a plurality of paths continuous in a depth direction from a coming-within-sight detection start-end position to a given detection tail end position, the positions both falling within a preset sensor view angle; a boundary likelihood evaluation unit that calculates, for each of the boundary candidates, a boundary likelihood evaluation value obtained by adding the feature amount of a relevant boundary feature map and a continuity evaluation value for the depth-direction together; and a traveling road boundary determination unit that determines a traveling road boundary by comparing the boundary likelihood evaluation values of the boundary candidates calculated by the boundary likelihood evaluation unit.

3. 发明申请

US20180321030A1 IMAGE PROCESSING DEVICE 审中-公开
公开(公告)号：US20180321030A1
公开(公告)日：2018-11-08
申请号：US15500127
申请日：2015-08-17
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Hideaki KIDO , Haruki MATONO , Takeshi NAGASAKI , Shinji KAKEGAWA
IPC分类号： G01C3/08 , G06T7/73 , G06T7/593 , G06T7/246 , G06K9/00
CPC分类号： G01C3/085 , G01C3/00 , G06K9/00791 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10012 , G06T2207/30252 , H04N13/239
摘要： Provided is an image processing device capable of maintaining recognition accuracy for distance, and the like, while meeting conflicting demands such as suppressing the response delay from image input from a camera to calculation result output, enhancing recognition accuracy, reducing calculation load (enhancing processing efficiency), and enhancing response speed. The time of the starting of the processing (S105) of a first distance calculation unit (105) for calculating the relative distance to an object on the basis of current position information determined on the basis of a left or right image and past position information for the object is set to an earlier time than the ending of the processing (S107) of an object detection unit (107) for determining current position information for an object on the basis of parallax information obtained from the left and right images and detecting the object.

4. 发明申请

US20170300764A1 Travel Route Recognition Device, and Travel Assistance System Using Same 审中-公开
公开(公告)号：US20170300764A1
公开(公告)日：2017-10-19
申请号：US15518108
申请日：2015-12-16
申请人： Hitachi Automotive Systems, Ltd.
发明人： Shinji KAKEGAWA , Takashi TSUTSUI , Haruki MATONO , Masayuki TAKEMURA , Takeshi SHIMA
IPC分类号： G06K9/00 , G06K9/20 , G01C21/36
CPC分类号： G06K9/00798 , G01C21/3602 , G06K9/209 , G06K9/6288 , G06T1/00 , G06T7/60
摘要： Provided are a travel route recognition device and a travel assistance system using the same, which are capable of precisely recognizing the positions of white lines and road boundaries even if, for example, there is a decrease in the accuracy of the detection of both white lines and road boundaries on the travel route. The direction of the travel route is estimated on the basis of the direction of a linear site included in an image obtained by imaging units, and the direction of the boundaries of a surface region included in a distance image comprising three-dimensional distance information generated on the basis of the images obtained by the imaging units or on the basis of distance information detected by the distance detection unit.

5. 发明申请

US20160253575A1 Object Detection Device and Vehicle Using Same 有权
标题翻译：对象检测装置和车辆使用相同
公开(公告)号：US20160253575A1
公开(公告)日：2016-09-01
申请号：US15026713
申请日：2014-09-29
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Shinji KAKEGAWA , Haruki MATONO , Yuji OTSUKA
IPC分类号： G06K9/62 , B60T7/22 , G06K9/00 , G08G1/16
CPC分类号： G06K9/6212 , B60T7/22 , G06K9/00208 , G06K9/00791 , G06K9/00798 , G06K9/00805 , G06T7/593 , G06T2207/30256 , G08G1/165 , G08G1/166
摘要： Provided is an object detection device that makes it possible to more accurately detect a road surface even when an area that is not the road surface occupies the majority of an image and the gradient of the road surface is large, and to detect an obstacle on a road surface with greater accuracy than in the prior art. The object detection device includes: a parallax calculation unit that generates a parallax image on the basis of a plurality of images; a parallax gradient calculation unit that, for each pixel in the parallax image, calculates a parallax gradient for each pixel on the basis of the parallax of a predetermined pixel and a pixel that is adjacent to the predetermined pixel; a detection candidate determination unit that determines whether a detection candidate is present on the basis of the parallax gradient of each pixel; a voting unit that carries out a histogram vote using each of the pixels that are determined to be detection candidates and generates a histogram frequency for each of the pixels when the detection candidate is determined to be present; and an object detection unit that detects presence of an object and a position of the object on the basis of the histogram frequency.
摘要翻译：提供一种物体检测装置，即使在不是路面的区域占据图像的大部分且路面的坡度大的情况下也能够更准确地检测路面，并且能够检测路面上的障碍物路面比现有技术更精确。物体检测装置包括：视差计算单元，其基于多个图像生成视差图像; 视差梯度计算单元，对于所述视差图像中的每个像素，基于所述预定像素的视差和与所述预定像素相邻的像素计算每个像素的视差梯度; 检测候选确定单元，其基于每个像素的视差梯度来确定是否存在检测候选; 投票单元，其使用确定为检测候选的每个像素执行直方图投票，并且当检测候选被确定为存在时，生成每个像素的直方图频率; 以及对象检测单元，其基于直方图频率来检测对象的存在和对象的位置。

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