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1. 发明申请

US20150278578A1 Object Detection Device and Object Detection Method 有权
标题翻译：对象检测设备和对象检测方法
公开(公告)号：US20150278578A1
公开(公告)日：2015-10-01
申请号：US14441419
申请日：2013-10-11
申请人： HITACHI AUTOMOTIVE SYSTEMS, LTD.
发明人： Yuji Otsuka , Hiroto Mitoma , Ryo Ota
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06K9/00201 , G06K9/00369 , G06K9/00805 , G06T7/11 , G06T7/187 , G06T2207/10021 , G06T2207/10028 , G06T2207/30261 , G08G1/166
摘要： To provide an object detection device and an object detection method in which incorrect grouping based on a range image can be prevented, processing is implemented including: generating a range image based on a pair of gray-scaled images (S603); grouping adjacent regions having range data representing close distances in the range image (S604); calculating differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images and dividing the group region into laterally separated sub-regions (S605); and determining whether or not there is a section without vertical edge in either of the left and right areas of each of sub-regions made based on the gray-scaled images and merging sub-regions whose areas including a section without vertical edge are next to each other (S607).
摘要翻译：为了提供可以防止基于范围图像的不正确分组的对象检测装置和对象检测方法，包括：基于一对灰度图像生成范围图像的处理（S603）; 对在范围图像中表示近距离的范围数据进行分组的相邻区域（S604）; 计算在成像对象以下的地平线以下的垂直线的像素的亮度值与灰度图像中的地平面上方的垂直线的像素的亮度值之间的差异，并将该组区域划分成横向分离的子像素（S605）; 并且基于灰度图像确定在每个子区域的左侧区域和右侧区域中是否存在没有垂直边缘的区域，以及合并子区域，其中包括没有垂直边缘的区域的区域在彼此（S607）。

2. 发明授权

US10360436B2 Object detection device 有权
公开(公告)号：US10360436B2
公开(公告)日：2019-07-23
申请号：US15574687
申请日：2016-06-15
申请人： Hitachi Automotive Systems, Ltd.
发明人： Takuma Osato , Masayuki Takemura , Yuji Otsuka , Takeshi Nagasaki
IPC分类号： G06K9/00 , B60R21/00 , G01C3/06 , G06T1/00 , G06T7/00 , G08G1/16 , G06K9/32 , G08G1/04
摘要： Provided is an object detection device capable of reliably recognizing a vehicle. This object detection device detects multiple three-dimensional objects from a left image and a right image captured with a left imaging unit and a right imaging unit (S103), extracts, as combination candidates from among the multiple three-dimensional objects, two three-dimensional objects which exist with an interval to the left/right, and determines whether a sparse parallax region, which is a region having a smaller parallax density than left/right regions, exists in an intermediate region between the two three-dimensional objects extracted as combination candidates. Then, the regions of two three-dimensional objects (for which it has been determined that a sparse parallax region exists in the intermediate region, and which have tentatively been identified as a single three-dimensional object) are extracted respectively from the left and right images and compared to each other, a determination is made regarding whether the perspective is the same, and when it is determined that the perspective is the same, the two three-dimensional objects are determined to be a single three-dimensional object.

3. 发明授权

US09886649B2 Object detection device and vehicle using same 有权
公开(公告)号：US09886649B2
公开(公告)日：2018-02-06
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： B60T7/22 , G08G1/16 , G06K9/62 , G06K9/00 , G06T7/593
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.

4. 发明授权

US10078880B2 Image processing device and image processing system 有权
公开(公告)号：US10078880B2
公开(公告)日：2018-09-18
申请号：US14910902
申请日：2014-05-26
申请人： Hitachi Automotive Systems, Ltd.
发明人： Haruki Matono , Yuji Otsuka , Atsushi Ichige , Yoshiyuki Muto , Takeshi Shima
IPC分类号： H04N15/00 , G06T1/20 , G06F13/24 , H04N13/02 , G06T1/60
CPC分类号： G06T1/20 , G06F13/24 , G06T1/60 , G06T2200/28 , H04N13/239 , H04N13/296
摘要： The present invention provides CPU load reduction and a method of efficient image data transfer. An image processing device, which comprises an image generating unit (203) which further comprises a plurality of processing units which process a plurality of instances of image information and in where the image generating unit (203) transfers accumulated data for each interrupt factor, comprises: data transfer units for each factor (208-212) which accept the interrupts from the image generating unit (203) for each interrupt factor and transfer the data for each interrupt factor, and notifies a CPU (207) of the interrupt when the transfer of the data to be transferred for each interrupt factor is completed; and a communication line (1) which is connected to the image generating unit (203) and the data transfer units for each factor (208-212).

5. 发明授权

US09679196B2 Object sensing device 有权
公开(公告)号：US09679196B2
公开(公告)日：2017-06-13
申请号：US14770604
申请日：2014-02-03
申请人： Hitachi Automotive Systems, Ltd.
发明人： Takeshi Shima , Haruki Matono , Shinji Kakegawa , Yuji Otsuka
IPC分类号： G06K9/00 , H04N5/235 , H04N13/02 , H04N7/18 , B60R1/00 , G06T7/593 , G06F7/00 , H04N13/00
CPC分类号： G06K9/00369 , B60R1/00 , B60R2300/30 , B60R2300/60 , B60R2300/804 , G06K9/00684 , G06K9/00791 , G06K9/00805 , G06K9/00993 , G06T7/593 , G06T2207/10021 , G06T2207/20076 , G06T2207/30196 , G06T2207/30252 , G06T2207/30256 , H04N5/2353 , H04N7/188 , H04N13/239 , H04N2013/0092
摘要： In order to provide an object sensing device whereby, among limited computation resources, performance is improved in sensing an object when sense processing a plurality of objects to be sensed, an object sensing device includes image capture units which capture images external to a host vehicle, and a processing device which sense processes objects to be sensed from the images which are captured by the image capture units, said processing device further including: a scene analysis unit which analyzes a travel scene of the host vehicle; a process priority change unit which changes a sensing process priority of the object to be sensed on the basis of the travel scene which is analyzed by the scene analysis unit; and an object to be sensed sensing unit which carries out a sensing of the object to be sensed on the basis of the sensing process priority which is changed by the process priority change unit.

6. 发明授权

US09424462B2 Object detection device and object detection method 有权
标题翻译：物体检测装置和物体检测方法
公开(公告)号：US09424462B2
公开(公告)日：2016-08-23
申请号：US14441419
申请日：2013-10-11
申请人： Hitachi Automotive Systems, Ltd.
发明人： Yuji Otsuka , Hiroto Mitoma , Ryo Ota
IPC分类号： G06K9/00 , G08G1/16 , G06T7/00
CPC分类号： G06K9/00201 , G06K9/00369 , G06K9/00805 , G06T7/11 , G06T7/187 , G06T2207/10021 , G06T2207/10028 , G06T2207/30261 , G08G1/166
摘要： To provide an object detection device and an object detection method in which incorrect grouping based on a range image can be prevented, processing is implemented including: generating a range image based on a pair of gray-scaled images (S603); grouping adjacent regions having range data representing close distances in the range image (S604); calculating differences between the luminance values of pixels in a vertical line below a ground plane above which objects are imaged and the luminance values of pixels in a vertical line above the ground plane in the gray-scaled images and dividing the group region into laterally separated sub-regions (S605); and determining whether or not there is a section without vertical edge in either of the left and right areas of each of sub-regions made based on the gray-scaled images and merging sub-regions whose areas including a section without vertical edge are next to each other (S607).
摘要翻译：为了提供可以防止基于范围图像的不正确分组的对象检测装置和对象检测方法，包括：基于一对灰度图像生成范围图像的处理（S603）; 对在范围图像中表示近距离的范围数据进行分组的相邻区域（S604）; 计算在成像对象以下的地平线以下的垂直线的像素的亮度值与灰度图像中的地平面上方的垂直线的像素的亮度值之间的差异，并将该组区域划分成横向分离的子像素（S605）; 并且基于灰度图像确定在每个子区域的左侧区域和右侧区域中是否存在没有垂直边缘的区域，以及合并子区域，其中包括没有垂直边缘的区域的区域在彼此（S607）。

7. 发明授权

US11308337B2 Image capturing device 有权
公开(公告)号：US11308337B2
公开(公告)日：2022-04-19
申请号：US16970399
申请日：2019-02-04
申请人： Hitachi Automotive Systems, Ltd.
发明人： Maho Horinaga , Naoya Tada , Yuji Otsuka
IPC分类号： H04N7/18 , G06K9/00 , B62D15/02
摘要： An image capturing device that detects a change in lane width for a vehicle without using information on an adjacent lane is mounted in the vehicle and includes a first camera which captures a first image and a control device which recognizes, in the first image, first and second compartment line L1 and L2 that regulate lanes. The control device determines the presence or absence of a change in lane width on the basis of relationships among the widths of the first compartment line L1 at two points PV1, PV2 at which the distances from a vehicle on the first image are different, the widths of the second compartment line L2 at the two points PV1, PV2 on the first image, and the distances between the first compartment line L1 and the second compartment line L2 at the two points PV1, PV2 on the first image.

8. 发明授权

US10297155B2 Object detector 有权
公开(公告)号：US10297155B2
公开(公告)日：2019-05-21
申请号：US15024937
申请日：2014-06-13
申请人： Hitachi Automotive Systems, Ltd.
发明人： Yuji Otsuka
IPC分类号： H04N7/18 , G08G1/16 , G06K9/00 , H04N5/243 , H04N13/239
摘要： Provided is an object detector capable of suppressing any decrease in accuracy of object detection under a low illuminance environment such as nighttime or in tunnels, whereby suppressing a failure of Adaptive Cruise Control, pre-crash safety systems, and the like. The object detector includes: a distance information calculation unit 105 configured to calculate distance information to an object around a vehicle from an image captured by a plurality of imaging units 102, 103; an extraction unit 106 configured to extract at least an object existing in a long distance region away from the vehicle and having a specific color from among objects in the image based on the distance information; and an output unit 108 configured to output the distance information to the object having been extracted by the extraction unit 106.

9. 发明授权

US09697421B2 Stereoscopic camera apparatus 有权
公开(公告)号：US09697421B2
公开(公告)日：2017-07-04
申请号：US14770670
申请日：2014-01-29
申请人： Hitachi Automotive Systems, Ltd.
发明人： Hiroto Mitoma , Ryo Ota , Yuji Otsuka
IPC分类号： G06K9/00 , B60R1/00 , B60R11/04 , G06T7/593
CPC分类号： G06K9/00369 , B60R1/00 , B60R11/04 , B60R2300/107 , B60R2300/8093 , G06K9/00805 , G06T7/593 , G06T2207/30261
摘要： In order to provide a stereoscopic camera apparatus capable of rapidly and accurately detecting a three-dimensional object even when the three-dimensional object abruptly appears in an angle of view, a stereoscopic camera apparatus 100 includes: three-dimensional object detecting means 105, 106, 107; to-be-covered object detecting means 108 for detecting a to-be-covered object having a known shape; and to-be-covered object covering-detecting means 109 and 110 for detecting whether or not the three-dimensional object detected by the three-dimensional object detecting means covers the to-be-covered object when the to-be-covered object is detected by the to-be-covered object detecting means 108. When it is detected that the three-dimensional object covers the to-be-covered object, the to-be-covered object covering-detecting means 109 and 110 detect the three-dimensional object which covers the to-be-covered object by performing a process for determining whether or not the three-dimensional object is present in a simpler way, as compared to a case where the to-be-covered object covering-detecting means 109 and 110 detect that the three-dimensional object does not cover the to-be-covered object.

10. 发明申请

US20140293055A1 IMAGE PROCESSING APPARATUS 审中-公开
标题翻译：图像处理设备
公开(公告)号：US20140293055A1
公开(公告)日：2014-10-02
申请号：US14353549
申请日：2012-10-24
申请人： Hitachi Automotive Systems, Ltd.
发明人： Yuji Otsuka
IPC分类号： B60R11/04
CPC分类号： B60R11/04 , B60Q1/143 , B60Q2300/41 , B60Q2300/42 , G06K9/00825 , G06T7/136 , G06T7/593 , G06T2207/10021 , G06T2207/10024 , G06T2207/30252 , G08G1/166
摘要： In order to extract, given information from a stereo camera, only the headlights of an oncoming vehicle or the taillights of a preceding vehicle from various light spot at night for the purpose of offering the driver a safer field of view, there are provided: first distance information calculation means which calculates information on a first distance to a detection object candidate from two images obtained by a first imaging element and a second imaging element; second distance information calculation means which calculates information on a second distance to the detection object candidate from the image obtained by the first imaging element; and object detection means which compares the first distance information with the second distance information to detect the object from the detection object candidate on the basis of the result of the comparison.
摘要翻译：为了从立体摄像机提取给定的信息，为了向司机提供更安全的视野，仅提供来自各车辆的迎面而来的车辆的前照灯或前方车辆的尾灯，以提供更安全的视场，第一距离信息计算装置，其从由第一成像元件和第二成像元件获得的两个图像计算关于检测对象候选者的第一距离的信息; 第二距离信息计算装置，从由第一成像元件获得的图像计算关于检测对象候选的第二距离的信息; 以及对象检测装置，其根据比较结果，比较第一距离信息和第二距离信息以从检测对象候选者检测对象。

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