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1. 发明授权

US07132933B2 Obstacle detection device and method therefor 有权
标题翻译：障碍物检测装置及其方法
公开(公告)号：US07132933B2
公开(公告)日：2006-11-07
申请号：US11086357
申请日：2005-03-23
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
摘要翻译：提供了一种技术，用于帮助驾驶安全驾驶，实现车辆自动驾驶，或计算道路上过往车辆的数量，或者监控那些过往车辆进行驾驶的技术。使用安装在车辆中或设置在道路上方的多个照相机，即使路面和各个照相机之间的关系由于照相机振动或道路倾斜的变化而不断地在相对位置或姿势上变化，所以位于检测道路上的其他车辆，停放的车辆和道路上的行人，而不会混淆那些与白线，道路标志，油漆，道路污渍和路边物体的阴影的纹理，这些都不会扰乱车辆行驶。障碍物检测装置10由图像输入部11构成，用于从多个摄像装置101接收图像，对应检测部12，用于从接收到的左右图像中找到多对对应点，倾斜度计算部13，用于计算包括对应点的平面的倾斜度;以及结果确定部14，用于当所计算的坡度大于预定值时确定为有障碍物。

2. 发明授权

US07209031B2 Obstacle detecting apparatus and method 有权
标题翻译：障碍物检测装置及方法
公开(公告)号：US07209031B2
公开(公告)日：2007-04-24
申请号：US11384314
申请日：2006-03-21
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus includes an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images, a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images, a feature comparing unit for comparing the feature quantities, and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result. The obstacle detecting apparatus can thus detect an obstacle present on the road by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle.
摘要翻译：障碍物检测装置包括：图像输入单元，用于接收分别从多个摄像装置输入并累积输入图像的图像;特征计算单元，用于计算各个累积图像中的预定特定特征量;特征比较单元用于比较特征量，以及结果判断单元，用于基于比较结果来判断障碍物的存在与否。障碍物检测装置因此可以通过将障碍物与仅对物体隔离而不会阻碍车辆的行驶来检测存在于道路上的障碍物。

3. 发明授权

US07091837B2 Obstacle detecting apparatus and method 有权
标题翻译：障碍物检测装置及方法
公开(公告)号：US07091837B2
公开(公告)日：2006-08-15
申请号：US10387465
申请日：2003-03-14
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： B60Q1/00
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus configured to detect an obstacle present on the road, such as a vehicle running ahead, a parked vehicle, and a pedestrian, by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle, such as the texture like the white line or signs on the road surface, and the guardrail along the roadside.
摘要翻译：障碍物检测装置，被配置为通过将障碍物与不会阻碍车辆驾驶的物体（例如纹理）区分开来来检测诸如前方行驶的车辆，停放的车辆和行人路上存在的障碍物像路面上的白线或标志，路边的护栏。

4. 发明授权

US06906620B2 Obstacle detection device and method therefor 有权
公开(公告)号：US06906620B2
公开(公告)日：2005-06-14
申请号：US10649939
申请日：2003-08-28
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/00 , G08G1/04 , G08G1/16 , H04N7/18
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.

5. 发明申请

US20060182312A1 Obstacle detecting apparatus and method 有权
公开(公告)号：US20060182312A1
公开(公告)日：2006-08-17
申请号：US11384314
申请日：2006-03-21
申请人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
发明人： Hiroaki Nakai , Nobuyuki Takeda , Hiroshi Hattori , Kazunori Onoguchi
IPC分类号： G06K9/00 , B60Q1/00 , H04N7/18
CPC分类号： G06K9/00805 , G06T7/73 , G06T7/77 , G06T7/97
摘要： An obstacle detecting apparatus, comprising: an image input unit for receiving images inputted respectively from a plurality of image pick-up devices and accumulating the input images; a feature calculating unit for calculating predetermined, specific feature quantities in the respective accumulated images; a feature comparing unit for comparing the feature quantities in the respective accumulated images; and a result judging unit for judging the presence or absence of an obstacle on the basis of the comparison result obtained in the feature comparing unit. The obstacle detecting apparatus can thus detect an obstacle present on the road, such as a vehicle running ahead, a parked vehicle, and a pedestrian, by distinguishing the obstacle from a mere object causing no obstruction to driving of the vehicle, such as the texture like the white line or signs on the road surface, and the guardrail along the roadside.

6. 发明申请

US20050169530A1 Obstacle detection device and method therefor 有权
标题翻译：障碍物检测装置及其方法
公开(公告)号：US20050169530A1
公开(公告)日：2005-08-04
申请号：US11086357
申请日：2005-03-23
申请人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
发明人： Hiroaki Nakai , Hiroshi Hattori , Nobuyuki Takeda , Kazunori Onoguchi
IPC分类号： B60R21/00 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/00 , G08G1/04 , G08G1/16 , H04N7/18 , G06K9/46
CPC分类号： G06K9/00805 , G06K9/00651 , G06K9/00664 , G06K9/00798 , G06T7/593 , G06T7/70 , G06T7/74 , G06T2207/10021 , G06T2207/30261 , G08G1/165 , G08G1/166
摘要： Provided is a technology for helping safe driving and realizing automatic driving of vehicles, or for counting the number of passing vehicles on the road or monitoring those passing vehicles for their driving. Using a plurality of cameras mounted in a vehicle or provided above a road, even if the relationship between the road plane and the respective cameras constantly changes in relative position or posture due to camera vibration or a change in road tilt, any obstacles located on the road such as other vehicles ahead, parked vehicles, and pedestrians on the road are detected without confusing those with textures including white lines, road signs, paint, road stains, and shadows of roadside objects, all of which do not disturb vehicle driving. An obstacle detection device 10 is structured by an image input section 11 for receiving images from a plurality of image pick-up devices 101, a correspondence detection section 12 for finding a plurality of pairs of corresponding points from the received right and left images, the slope degree calculation section 13 for calculating a slope degree of a plane including the corresponding points, and a result determination section 14 for determining as there being an obstacle when the calculated slope degree is larger than a predetermined value.
摘要翻译：提供了一种技术，用于帮助驾驶安全驾驶，实现车辆自动驾驶，或计算道路上过往车辆的数量，或者监控那些过往的车辆进行驾驶。使用安装在车辆中或设置在道路上方的多个照相机，即使路面和各个照相机之间的关系由于照相机振动或道路倾斜的变化而不断地在相对位置或姿势上变化，所以位于检测道路上的其他车辆，停放的车辆和道路上的行人，而不会混淆那些与白线，道路标志，油漆，道路污渍和路边物体的阴影的纹理，这些都不会扰乱车辆行驶。障碍物检测装置10由图像输入部11构成，用于从多个摄像装置101接收图像，对应检测部12，用于从接收到的左右图像中找到多对对应点，倾斜度计算部13，用于计算包括对应点的平面的倾斜度;以及结果确定部14，用于当所计算的坡度大于预定值时确定为有障碍物。

7. 发明授权

US6067164A Method and apparatus for automatic adjustment of electron optics system and astigmatism correction in electron optics device 失效
标题翻译：电子光学装置自动调整方法及装置及散光校正
公开(公告)号：US6067164A
公开(公告)日：2000-05-23
申请号：US928662
申请日：1997-09-12
申请人： Kazunori Onoguchi , Hiroaki Nakai
发明人： Kazunori Onoguchi , Hiroaki Nakai
IPC分类号： G01Q20/04 , G01Q30/04 , H01J37/26 , H01J37/28 , G01B11/00 , G01N23/00
CPC分类号： H01J37/265 , H01J37/28 , H01J2237/1501 , H01J2237/216
摘要： A scheme for realizing the automatic adjustment of the electron optics system in an electron optics device such as scanning electron microscope, in which a prescribed number of images sequentially obtained by the electron optics device at sequentially adjusted focal points are stored; a moving amount of a sample image in the stored images is calculated; whether an adjustment of the electron optics system of the electron optics device is necessary or not is judged according to the calculated moving amount of the sample image; and the electron optics system of the electron optics device is adjusted according to the moving amount of the sample image when it is judged that the adjustment of the electron optics system of the electron optics device is necessary. A scheme for realizing the astigmatism correction in a charged particle beam optical system of an electron optics device such as scanning electron microscope is also disclosed.
摘要翻译：一种用于实现电子光学装置如扫描电子显微镜中的电子光学系统的自动调整的方案，其中存储依次由电子光学装置在顺序调节的焦点上顺序获得的规定数量的图像; 计算所存储的图像中的样本图像的移动量; 根据计算出的样本图像的移动量判断电子光学装置的电子光学系统的调整是否需要; 并且当判断需要电子光学器件的电子光学系统的调整时，根据样品图像的移动量来调整电子光学器件的电子光学系统。还公开了一种用于在诸如扫描电子显微镜的电子光学器件的带电粒子束光学系统中实现像散校正的方案。

8. 发明申请

US20130189080A1 ROTARY COMPRESSOR 审中-公开
标题翻译：旋转式压缩机
公开(公告)号：US20130189080A1
公开(公告)日：2013-07-25
申请号：US13824694
申请日：2011-09-26
申请人： Hiroaki Nakai , Shingo Oyagi , Hirofumi Yoshida , Tsuyoshi Karino , Daisuke Funakoshi , Ryuichi Ohno , Noboru Iida
发明人： Hiroaki Nakai , Shingo Oyagi , Hirofumi Yoshida , Tsuyoshi Karino , Daisuke Funakoshi , Ryuichi Ohno , Noboru Iida
IPC分类号： F04D17/00
CPC分类号： F04D17/00 , F04C18/0207 , F04C18/0292 , F04C18/356 , F04C29/042 , F04C2210/26 , F04C2210/263
摘要： A refrigerant being low in both ODP and GWP and containing at least hydrofluoroolefin having a double bond of carbon is used. By providing a first compression-chamber oil feed path for feeding refrigerating machine oil to a compression chamber 15 after the refrigerant has been enclosed therein, effects on the global environment can be suppressed and moreover temperature increases of the refrigerant due to re-expansion heating and feeding of high-temperature refrigerating machine oil can be suppressed, i.e., decomposition of the refrigerant can be inhibited.
摘要翻译：使用ODP和GWP都低的制冷剂，并且至少含有具有碳双键的氢氟烯烃。通过在制冷剂被封闭之后，通过设置用于将制冷机油供给到压缩室15的第一压缩室供油路径，可以抑制对全球环境的影响，而且由于再膨胀加热引起的制冷剂的温度上升，可以抑制高温冷冻机油的供给，即可以抑制制冷剂的分解。

9. 发明申请

US20130058552A1 RADIATION DETECTION DATA PROCESSING APPARATUS AND METHOD 有权
标题翻译：辐射检测数据处理装置及方法
公开(公告)号：US20130058552A1
公开(公告)日：2013-03-07
申请号：US13595228
申请日：2012-08-27
申请人： Naoto DATE , Shinichiro Koto , Hiroaki Nakai
发明人： Naoto DATE , Shinichiro Koto , Hiroaki Nakai
IPC分类号： G06K9/00
CPC分类号： G06K9/00 , A61B6/032 , A61B6/5205 , A61B6/56
摘要： According to one embodiment, a radiation detection data processing apparatus includes a data acquisition unit and a data processing unit. The data acquisition unit acquires a radiation detection data from a detector detecting radiation. The data processing unit generates a compressed data to be used for reconstruction of a tomographic image, compression distortion in the compressed data is nearly uniform independently of a signal value from the radiation detection data.
摘要翻译：根据一个实施例，辐射检测数据处理装置包括数据获取单元和数据处理单元。数据获取单元从检测器检测辐射获取辐射检测数据。数据处理单元生成用于重建断层图像的压缩数据，压缩数据中的压缩失真独立于来自辐射检测数据的信号值几乎是均匀的。

10. 发明授权

US07877334B2 Recognizing apparatus and recognizing method 失效
标题翻译：识别装置和识别方法
公开(公告)号：US07877334B2
公开(公告)日：2011-01-25
申请号：US11896900
申请日：2007-09-06
申请人： Takumi Kobayashi , Hiroaki Nakai
发明人： Takumi Kobayashi , Hiroaki Nakai
IPC分类号： G06F15/18
CPC分类号： G06K9/6256 , G06K9/6287
摘要： A recognizing apparatus includes a training vector input unit configured to enter training vectors for training, a weak classifier generator configured to obtain weak classifiers based on the value of an element of a dimension common to the training vectors using a learning method, a classifier integrator configured to obtain non-linear mappings for each dimension of the training vectors by combining the weak classifiers, a test vector input unit configured to input a test vector to be classified, a non-linear transformer configured to a transformed vector by transforming the values of the elements of the test vector using the respective non-linear mappings, and a score calculator configured to obtain a classification score by summing the value of the respective elements of the transformed vector and recognize the test vector using the classification score.
摘要翻译：识别装置包括被配置为输入用于训练的训练向量的训练矢量输入单元，被配置为基于使用学习方法对训练矢量共有的维度的元素的值来获得弱分类器的弱分类器生成器，分类器积分器通过组合弱分类器来获得训练向量的每个维度的非线性映射，被配置为输入要分类的测试向量的测试向量输入单元，通过将所分配的值转换成变换矢量的非线性变换器使用各自的非线性映射的测试矢量的元素，以及分数计算器，被配置为通过将变换矢量的各个元素的值相加来获得分类分数，并使用分类分数来识别测试向量。

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