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1. 发明授权

US07994936B2 Traffic environment recognition method and system for carrying out the same 有权
标题翻译：交通环境识别方法和系统进行相同
公开(公告)号：US07994936B2
公开(公告)日：2011-08-09
申请号：US11752494
申请日：2007-05-23
申请人： Hiroshi Takenaga , Shoji Muramatsu , Yuji Otsuka
发明人： Hiroshi Takenaga , Shoji Muramatsu , Yuji Otsuka
IPC分类号： G08G1/095
CPC分类号： B60W30/16 , B60W2550/20 , G01S11/12 , G01S13/726 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G08G1/167
摘要： A traffic environment recognition system includes units for image-processing and information-merging, a radar unit. A network is connected to the image-processing unit. The radar, information-merging, and a vehicle control unit control the traveling operation of the vehicle. The image-processing unit recognizes headway distance, the azimuth, relative speed and width of a preceding vehicle, and the lane position of the host vehicle. The radar unit recognizes headway distance, the azimuth and relative speed of the preceding vehicle. The information-merging unit receives recognition results provided by the image-processing unit. The radar unit through the network, merges and identifies those results. When the recognition results provided by the image-processing unit and the radar unit relate to the same vehicle, output information is produced by the information-merging unit to identify the vehicles as one and the same vehicle and sends the output information through the network to the vehicle control unit.
摘要翻译：交通环境识别系统包括用于图像处理和信息合并的单元，雷达单元。网络连接到图像处理单元。雷达，信息合并和车辆控制单元控制车辆的行驶操作。图像处理单元识别前方车辆的前进距离，方位角，相对速度和宽度以及主车辆的车道位置。雷达单元识别前进车辆的前进距离，方位角和相对速度。信息合并单元接收由图像处理单元提供的识别结果。雷达单元通过网络合并并识别出这些结果。当由图像处理单元和雷达单元提供的识别结果与相同的车辆相关时，信息合并单元产生输出信息，以将车辆识别为同一车辆，并通过网络将输出信息发送到车辆控制单元。

2. 发明授权

US07224290B2 Traffic environment recognition method and system for carrying out the same 有权
标题翻译：交通环境识别方法和系统进行相同
公开(公告)号：US07224290B2
公开(公告)日：2007-05-29
申请号：US10224605
申请日：2002-08-21
申请人： Hiroshi Takenaga , Shoji Muramatsu , Yuji Otsuka
发明人： Hiroshi Takenaga , Shoji Muramatsu , Yuji Otsuka
IPC分类号： G08G1/095
CPC分类号： B60W30/16 , B60W2550/20 , G01S11/12 , G01S13/726 , G01S13/931 , G01S2013/9321 , G01S2013/9325 , G01S2013/9346 , G01S2013/935 , G01S2013/9357 , G08G1/167
摘要： A traffic environment recognition system includes an image-processing unit, an information-merging unit, a radar unit, and a network connected to the image-processing unit, the radar unit, the information-merging unit and a vehicle control unit capable of controlling the traveling operation of a host vehicle. The image-processing unit recognizes headway distance, the azimuth, relative speed and width of the preceding vehicle, and the position of the host vehicle in a lane. The radar unit recognizes headway distance, the azimuth and relative speed of the preceding vehicle. The information-merging unit receives recognition results provided by the image-processing unit and the radar unit through the network, merges the recognition results, identifies recognition objects relating to the recognition results. When a vehicle relating to the recognition results provided by the image-processing unit and a vehicle relating to the recognition results provided by the radar unit are one and the same vehicle, the information-merging unit produces output information by adding a sensor information indicating that the vehicles are one and the same vehicle to the recognition results, and sends the output information through the network to the vehicle control unit.
摘要翻译：交通环境识别系统包括图像处理单元，信息合并单元，雷达单元和连接到图像处理单元的网络，雷达单元，信息合并单元和能够控制的车辆控制单元主机车辆的行驶操作。图像处理单元识别前方车辆的前进距离，方位角，相对速度和宽度以及主车辆在车道中的位置。雷达单元识别前进车辆的前进距离，方位角和相对速度。信息合并单元通过网络接收由图像处理单元和雷达单元提供的识别结果，合并识别结果，识别与识别结果相关的识别对象。当与由图像处理单元提供的识别结果相关的车辆和与雷达单元提供的识别结果相关的车辆是同一车辆时，信息合并单元通过添加表示该信息的传感器信息来产生输出信息车辆是识别结果的同一车辆，并通过网络将输出信息发送到车辆控制单元。

3. 发明授权

US07110613B2 Image processing apparatus and image pickup device 有权
公开(公告)号：US07110613B2
公开(公告)日：2006-09-19
申请号：US10101052
申请日：2002-03-20
申请人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
发明人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G06K9/36
CPC分类号： G06T1/60 , G06T7/70
摘要： Information of light from a subject is converted into information of the electric charges to generate image data for one screen in an image pickup device, the image data is outputted to an image processing LSI, only the image data belonging to a plurality of areas is selected by a processing amount reduction unit, the selected image data is transferred to a RAM in a single chop by a data transfer unit, and the processing of recognizing a white line is executed by a CPU on the basis of the image data stored in the RAM.

4. 发明申请

US20070003148A1 Image processing apparatus and image pickup device 审中-公开
标题翻译：图像处理装置和图像拾取装置
公开(公告)号：US20070003148A1
公开(公告)日：2007-01-04
申请号：US11500977
申请日：2006-08-09
申请人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
发明人： Shoji Muramatsu , Yuji Otsuka , Yoshiki Kobayashi , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G06K9/36
CPC分类号： G06T1/60 , G06T7/70
摘要： Information of light from a subject is converted into information of the electric charges to generate image data for one screen in an image pickup device, the image data is outputted to an image processing LSI, only the image data belonging to a plurality of areas is selected by a processing amount reduction unit, the selected image data is transferred to a RAM in a single chop by a data transfer unit, and the processing of recognizing a white line is executed by a CPU on the basis of the image data stored in the RAM.
摘要翻译：将来自被摄体的光的信息转换成电荷的信息，以生成图像拾取装置中的一个屏幕的图像数据，将图像数据输出到图像处理LSI，仅选择属于多个区域的图像数据通过处理量减少单元，所选择的图像数据由数据传送单元以单个切片传送到RAM，并且基于存储在RAM中的图像数据由CPU执行识别白线的处理。

5. 发明授权

US07899213B2 Image processing system and vehicle control system 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US07899213B2
公开(公告)日：2011-03-01
申请号：US12176744
申请日：2008-07-21
申请人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： H04N7/00 , G06K9/00
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译：一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域，第二次曝光确定第二个区域成为第二个三维物体。

6. 发明授权

US07208723B2 Image processing system which processes an image captured by an imaging device through a lens having a focus which is adjusted to a point beyond the glass 有权
标题翻译：图像处理系统，其通过具有被调整到超过玻璃点的焦点的透镜来处理由成像装置拍摄的图像
公开(公告)号：US07208723B2
公开(公告)日：2007-04-24
申请号：US10916444
申请日：2004-08-12
申请人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
发明人： Hiroshi Takenaga , Yuji Otsuka , Shoji Muramatsu , Tatsuhiko Monji , Ken Ohsumi , Isao Furusawa , Masaaki Fukuhara , Hiroyuki Kasuya
IPC分类号： G02B6/26 , G01F23/00
CPC分类号： B60S1/0844 , B60S1/0818 , B60S1/0822 , B60S1/0833 , B60S1/0896 , G06K9/00791
摘要： An image processing system that detects foreign matter on a glass window of a vehicle and objects in front of the vehicle. The system includes an image processor, a first lamp, and a second lamp. On/off control of the first and second lamps is controlled by the image processor. Light from the first lamp is reflected from the outer sauce of the glass when raindrops are present on the outside of the glass. Light from the second lamp is reflected from the inner surface of the glass when moisture is present on the inside of the glass. Any reflected light goes through a lens and an optical filter with prescribed optical characteristics to an image device. The lens is focused to a point beyond the window so that the image processor an also detect objects in front of the vehicle.
摘要翻译：一种图像处理系统，其检测车辆的玻璃窗上的异物和车辆前方的物体。该系统包括图像处理器，第一灯和第二灯。第一和第二灯的开/关控制由图像处理器控制。当玻璃外面存在雨滴时，来自第一灯的光从玻璃的外部酱汁反射出来。当玻璃内部存在湿气时，来自第二灯的光从玻璃的内表面反射出来。任何反射的光通过具有规定的光学特性的透镜和具有光学特性的滤光器到图像装置。透镜被聚焦到超出窗口的点上，使得图像处理器还可以检测车辆前方的物体。

7. 发明申请

US20050036660A1 Image processing system and vehicle control system 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US20050036660A1
公开(公告)日：2005-02-17
申请号：US10915603
申请日：2004-08-11
申请人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： B60R21/00 , B60Q1/08 , B60Q1/14 , B60Q1/52 , B60R1/00 , G06K9/00 , G06T1/00 , G06T7/00 , G08G1/16 , G01C21/26
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译：本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。

8. 发明授权

US07512252B2 Image processing system and vehicle control system 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US07512252B2
公开(公告)日：2009-03-31
申请号：US10915603
申请日：2004-08-11
申请人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji Otsuka , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： G06K9/00 , G01C21/00
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： The invention provides an image processing system capable of precisely locating the positions of the light spots covering near headlights through far tail lamps by using one camera. The invention, discriminating the headlights and tail lamps from noise lights such as a traffic light, streetlight, and vending machine, enhances the vehicle detection performance at night. The system includes an image input means that inputs images in front of a vehicle, an image analysis means that analyzes the images inputted by the image input means. The image input means has a means of photographing more than two images with different exposures. The image analysis means analyzes the images photographed by the image input means to transform them into the position information of the vehicles traveling in front.
摘要翻译：本发明提供一种图像处理系统，其能够通过使用一个照相机精确地定位通过远尾灯覆盖的头灯附近的光斑的位置。本发明能够将前照灯和尾灯与交通信号灯，路灯，自动售货机等噪音灯区分开来，能够提高夜间车辆的检测性能。该系统包括输入车辆前方的图像的图像输入装置，分析由图像输入装置输入的图像的图像分析装置。图像输入装置具有拍摄具有不同曝光的多于两个图像的装置。图像分析装置分析由图像输入装置拍摄的图像，以将它们变换成前方行驶的车辆的位置信息。

9. 发明申请

US20080278577A1 IMAGE PROCESSING SYSTEM AND VEHICLE CONTROL SYSTEM 有权
标题翻译：图像处理系统和车辆控制系统
公开(公告)号：US20080278577A1
公开(公告)日：2008-11-13
申请号：US12176744
申请日：2008-07-21
申请人： Yuji OTSUKA , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
发明人： Yuji OTSUKA , Hiroshi Takenaga , Shoji Muramatsu , Tatsuhiko Monji , Isao Furusawa
IPC分类号： H04N7/18
CPC分类号： B60Q1/1423 , B60Q9/008 , B60Q2300/054 , B60Q2300/3321 , B60Q2300/41 , B60Q2300/42 , G01M11/068 , G06K9/00825 , G06T7/73 , G06T2207/30248 , H04N5/2355
摘要： An image processing system including an imaging unit mounted on a subject vehicle, and an image analysis unit that acquires images photographed by the imaging unit. The image analysis unit acquires plural images with different exposures that the imaging unit photographed, detects light spots emitted from the other vehicles from the plural images with different exposures, and detects positions of the other vehicles. The plural images are an image photographed with a first exposure, and an image photographed with a second exposure greater than the first exposure. The image analysis unit extracts a first area containing a first color component from the image photographed with the first exposure to determine the first area to be a first three-dimensional object, and extracts a second area containing a second color component from the image photographed with the second exposure to determine the second area to be a second three-dimensional object.
摘要翻译：一种图像处理系统，包括安装在主体车辆上的成像单元和图像分析单元，其获取由所述成像单元拍摄的图像。图像分析单元获取拍摄成像单元的不同曝光的多个图像，从具有不同曝光的多个图像中检测从其他车辆发出的光点，并且检测其他车辆的位置。多个图像是利用第一曝光拍摄的图像，并且以比第一曝光大的第二曝光拍摄的图像。图像分析单元从用第一曝光拍摄的图像中提取包含第一颜色分量的第一区域，以确定第一区域为第一三维物体，并且从拍摄的图像中提取包含第二颜色分量的第二区域，第二次曝光确定第二个区域成为第二个三维物体。

10. 发明授权

US07295682B2 Lane recognition system 有权
标题翻译：车道识别系统
公开(公告)号：US07295682B2
公开(公告)日：2007-11-13
申请号：US10271944
申请日：2002-10-17
申请人： Yuji Otsuka , Shoji Muramatsu , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monjii
发明人： Yuji Otsuka , Shoji Muramatsu , Hiroshi Takenaga , Jiro Takezaki , Tatsuhiko Monjii
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , B60T2201/08 , B60T2201/089 , G05D1/0246 , G05D2201/0213 , G06K9/00798 , G06K9/4604 , G06K9/6814
摘要： A driving lane recognition system which can improve the lane recognition accuracy by stably detecting the various kinds of lane markers is disclosed. An image processing means 6 for image-processing a road image taken by a camera 5 has a plurality of different kinds of image processing algorithms 9 to 11. A driving lane is detected by selecting an image processing algorithm suitable for the driving lane out of the plurality of different kinds of image processing algorithms 9 to 11 corresponding to a road on which a vehicle is running.
摘要翻译：公开了能够通过稳定地检测各种车道标记来提高车道识别精度的驾驶车道识别系统。用于图像处理由照相机5拍摄的道路图像的图像处理装置6具有多种不同种类的图像处理算法9至11。通过选择适合于与车辆行驶的道路相对应的多种不同种类的图像处理算法9至11中的行驶车道的图像处理算法来检测行驶车道。

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