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1. 发明申请

US20120269382A1 Object Recognition Device and Object Recognition Method 有权
标题翻译：对象识别装置和对象识别方法
公开(公告)号：US20120269382A1
公开(公告)日：2012-10-25
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译：物体识别装置包括：安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

2. 发明授权

US08818026B2 Object recognition device and object recognition method 有权
标题翻译：物体识别装置和物体识别方法
公开(公告)号：US08818026B2
公开(公告)日：2014-08-26
申请号：US12918042
申请日：2009-04-24
申请人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
发明人： Masahiro Kiyohara , Kota Irie , Naoki Kourogi , Tatsuhiko Monji , Yoshitaka Takahashi , Shoji Muramatsu
IPC分类号： G06K9/00
CPC分类号： G01C21/26 , G06K9/00798 , G06T5/006 , G06T7/254 , G06T2207/30256 , G08G1/09623 , G08G1/165
摘要： An object recognition device includes; an image-capturing unit mounted to a mobile body; an image generation unit that converts images captured by the image-capturing unit at different time points to corresponding synthesized images as seen vertically downwards from above; a detection unit that compares together a plurality of the synthesized images and detects corresponding regions; and a recognition unit that recognizes an object present upon the road surface from a difference between the corresponding regions.
摘要翻译：物体识别装置包括：安装到移动体的图像捕获单元; 图像生成单元，其将从不同时间点的图像拍摄单元拍摄的图像转换成从上方垂直向下观看的对应合成图像; 检测单元，其将多个合成图像进行比较并检测相应的区域; 以及识别单元，从相应区域之间的差异识别路面上存在的物体。

3. 发明申请

US20110074957A1 Apparatus for Vehicle Surroundings Monitorings 有权
标题翻译：车辆环境监测装置
公开(公告)号：US20110074957A1
公开(公告)日：2011-03-31
申请号：US12859020
申请日：2010-08-18
申请人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
发明人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
IPC分类号： H04N7/18
CPC分类号： G06T3/4038 , G06K9/00798 , G06K9/00805 , G06K9/342
摘要： There is provided apparatus for vehicle surroundings monitorings that assists so as to make it possible for a driver to check the periphery of the vehicle with ease. Plural images are obtained by capturing the periphery of the vehicle with mutually differing exposure. A process of image recognition is then performed for a target within the thus obtained images. The images are then compared, and images for which the accuracy of image recognition of the target is favorable are selected from among the images. The selected images are joined and composited to generate a host vehicle periphery composite image. Thus, an image with a wide dynamic range and high visibility is generated, thereby making it easier for the driver to check the periphery of the vehicle.
摘要翻译：提供了用于车辆环境监测的装置，其有助于使驾驶员容易地检查车辆周边。通过以相互不同的曝光捕获车辆的周边来获得多个图像。然后对由此获得的图像中的目标执行图像识别的处理。然后比较图像，从图像中选择目标图像识别的准确性有利的图像。所选择的图像被连接并合成以产生主车辆周边合成图像。因此，产生具有宽动态范围和高可见度的图像，从而使驾驶员更容易地检查车辆的周边。

4. 发明授权

US08289391B2 Apparatus for vehicle surroundings monitoring 有权
标题翻译：车辆环境监测装置
公开(公告)号：US08289391B2
公开(公告)日：2012-10-16
申请号：US12859020
申请日：2010-08-18
申请人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
发明人： Masahiro Kiyohara , Ryo Yumiba , Kota Irie , Tatsuhiko Monji
IPC分类号： H04N9/47
CPC分类号： G06T3/4038 , G06K9/00798 , G06K9/00805 , G06K9/342
摘要： There is provided apparatus for vehicle surroundings monitorings that assists so as to make it possible for a driver to check the periphery of the vehicle with ease. Plural images are obtained by capturing the periphery of the vehicle with mutually differing exposure. A process of image recognition is then performed for a target within the thus obtained images. The images are then compared, and images for which the accuracy of image recognition of the target is favorable are selected from among the images. The selected images are joined and composited to generate a host vehicle periphery composite image. Thus, an image with a wide dynamic range and high visibility is generated, thereby making it easier for the driver to check the periphery of the vehicle.
摘要翻译：提供了用于车辆环境监测的装置，其有助于使驾驶员容易地检查车辆周边。通过以相互不同的曝光捕获车辆的周边来获得多个图像。然后对由此获得的图像中的目标执行图像识别的处理。然后比较图像，从图像中选择目标图像识别的准确性有利的图像。所选择的图像被连接并合成以产生主车辆周边合成图像。因此，产生具有宽动态范围和高可见度的图像，从而使驾驶员更容易地检查车辆的周边。

5. 发明申请

US20110025848A1 In-Vehicle Image Display Device 有权
标题翻译：车载图像显示装置
公开(公告)号：US20110025848A1
公开(公告)日：2011-02-03
申请号：US12844439
申请日：2010-07-27
申请人： Ryo YUMIBA , Masahiro Kiyohara , Tatsuhiko Monji , Kota Irie
发明人： Ryo YUMIBA , Masahiro Kiyohara , Tatsuhiko Monji , Kota Irie
IPC分类号： H04N7/18
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/306 , B60R2300/605 , B60R2300/607 , B60R2300/70 , B60R2300/806 , B62D15/029
摘要： Provided is an in-vehicle image display device capable of providing, from among images of the peripheral area of a vehicle that can change in accordance with the driving state, an image of a part needed by the driver at an appropriate timing so that the driver can recognize the positional relationship between the vehicle and the peripheral area of the vehicle. Images captured with in-vehicle cameras are acquired, and a vehicle periphery image is generated from such images. Then, a collision-warned part of the vehicle that has a possibility of hitting a nearby object is selected based on the vehicle driving state, and the acquired image is processed to generate an enlarged image of the peripheral area of the collision-warned part of the vehicle selected by the collision-warned part selection part. Then, a composite display image, in which the positions of the enlarged image and the vehicle periphery image are displayed in a correlated manner, is generated and displayed.
摘要翻译：本发明提供一种车载图像显示装置，其能够在适当的定时从驾驶员能够根据驾驶状态变化的周边区域的图像中提供驾驶员所需的部位的图像，使得驾驶员可以识别车辆与车辆的周边区域之间的位置关系。摄像机拍摄的图像被获取，并且从这些图像生成车辆周边图像。然后，基于车辆行驶状态来选择具有撞击附近物体的可能性的车辆的碰撞警告部分，并且处理所获取的图像以产生碰撞警告部分的周边区域的放大图像由碰撞警告部分选择部分选择的车辆。然后，生成并显示以相关方式显示放大图像和车辆周边图像的位置的复合显示图像。

6. 发明授权

US08204276B2 In-vehicle apparatus for recognizing running environment of vehicle 有权
标题翻译：用于识别车辆运行环境的车载装置
公开(公告)号：US08204276B2
公开(公告)日：2012-06-19
申请号：US12018649
申请日：2008-01-23
申请人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
发明人： Mirai Higuchi , Yuji Otsuka , Takeshi Shima , Kimiyoshi Machii , Shoji Muramatsu , Kota Irie , Tatsuhiko Monji
IPC分类号： G06K9/00
CPC分类号： G08G1/16 , G06K9/00791 , G06K9/00798 , G08G1/166 , G08G1/167
摘要： An in-vehicle running-environment recognition apparatus including an input unit for inputting an image signal from in-vehicle imaging devices for photographing external environment of a vehicle, an image processing unit for detecting a first image area by processing the image signal, the first image area having a factor which prevents recognition of the external environment, an image determination unit for determining a second image area based on at least any one of size of the first image area, position thereof, and set-up positions of the in-vehicle imaging devices having the first image area, an environment recognition processing being performed in the second image area, the first image area being detected by the image processing unit, and an environment recognition unit for recognizing the external environment of the vehicle based on the second image area.
摘要翻译：一种车载行驶环境识别装置，包括：输入单元，用于输入来自用于拍摄车辆的外部环境的车载成像装置的图像信号;图像处理单元，用于通过处理图像信号来检测第一图像区域;第一图像区域具有防止识别外部环境的因素;图像确定单元，用于基于车辆的第一图像区域，其位置和设置位置中的至少一个尺寸来确定第二图像区域具有第一图像区域的成像设备，在第二图像区域中执行的环境识别处理，由图像处理单元检测到的第一图像区域，以及用于基于第二图像识别车辆的外部环境的环境识别单元区。

7. 发明授权

US08212878B2 Calibration apparatus of on-vehicle camera, program, and car navigation system 有权
标题翻译：车载相机，程序和汽车导航系统的校准装置
公开(公告)号：US08212878B2
公开(公告)日：2012-07-03
申请号：US11769986
申请日：2007-06-28
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Tatsuhiko Monji , Kota Irie
IPC分类号： H04N5/225
CPC分类号： G06T7/80 , G06T2207/30252
摘要： An on-vehicle camera calibration apparatus includes: an on-vehicle camera; a camera parameter calculation unit configured to calculate camera parameters from a characteristic amount of a road surface sign photographed by the on-vehicle camera and recognized by an image processing and to output the camera parameters, wherein the camera parameters include an installation height and installation angle of the on-vehicle camera in photographing; and a camera parameter calibration unit configured to perform optical axis calibration control of the on-vehicle camera by the camera parameters output from the camera parameter calculation unit.
摘要翻译：车载摄像机校准装置包括：车载摄像机; 摄像机参数计算单元，被配置为根据由车载摄像机拍摄并通过图像处理识别的路面符号的特征量来计算摄像机参数并输出摄像机参数，其中摄像机参数包括安装高度和安装角度的车载摄像头; 以及相机参数校准单元，被配置为通过从相机参数计算单元输出的相机参数来执行车载摄像机的光轴校准控制。

8. 发明授权

US08421863B2 In-vehicle image display device 有权
标题翻译：车载图像显示装置
公开(公告)号：US08421863B2
公开(公告)日：2013-04-16
申请号：US12844439
申请日：2010-07-27
申请人： Ryo Yumiba , Masahiro Kiyohara , Tatsuhiko Monji , Kota Irie
发明人： Ryo Yumiba , Masahiro Kiyohara , Tatsuhiko Monji , Kota Irie
IPC分类号： H04N7/18 , H04N7/00
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/302 , B60R2300/303 , B60R2300/305 , B60R2300/306 , B60R2300/605 , B60R2300/607 , B60R2300/70 , B60R2300/806 , B62D15/029
摘要： Provided is an in-vehicle image display device capable of providing, from among images of the peripheral area of a vehicle that can change in accordance with the driving state, an image of a part needed by the driver at an appropriate timing so that the driver can recognize the positional relationship between the vehicle and the peripheral area of the vehicle. Images captured with in-vehicle cameras are acquired, and a vehicle periphery image is generated from such images. Then, a collision-warned part of the vehicle that has a possibility of hitting a nearby object is selected based on the vehicle driving state, and the acquired image is processed to generate an enlarged image of the peripheral area of the collision-warned part of the vehicle selected by the collision-warned part selection part. Then, a composite display image, in which the positions of the enlarged image and the vehicle periphery image are displayed in a correlated manner, is generated and displayed.
摘要翻译：本发明提供一种车载图像显示装置，其能够在适当的定时从驾驶员能够根据驾驶状态变化的周边区域的图像中提供驾驶员所需要的部件的图像，使得驾驶员可以识别车辆与车辆的周边区域之间的位置关系。摄像机拍摄的图像被获取，并且从这些图像生成车辆周边图像。然后，基于车辆行驶状态来选择具有撞击附近物体的可能性的车辆的碰撞警告部分，并且处理所获取的图像以产生碰撞警告部分的周边区域的放大图像由碰撞警告部分选择部分选择的车辆。然后，生成并显示以相关方式显示放大图像和车辆周边图像的位置的复合显示图像。

9. 发明申请

US20110234761A1 THREE-DIMENSIONAL OBJECT EMERGENCE DETECTION DEVICE 审中-公开
标题翻译：三维物体紧急检测装置
公开(公告)号：US20110234761A1
公开(公告)日：2011-09-29
申请号：US13133215
申请日：2009-12-07
申请人： Ryo Yumiba , Masahiro Kiyohara , Kota Irie , Tatsuhiko Monji
发明人： Ryo Yumiba , Masahiro Kiyohara , Kota Irie , Tatsuhiko Monji
IPC分类号： H04N13/02
CPC分类号： G06T3/0062 , B60R1/00 , B60R2300/605 , B60R2300/607 , B60R2300/8093 , G08G1/165 , G08G1/166
摘要： Provided is a three-dimensional object emergence detecting device capable of detecting the emergence of a three-dimensional object rapidly and correctly at low costs.Based on a bird's-eye view image 30 taken by a camera 21 mounted in a vehicle 20, the three-dimensional object emergence detecting device detects the emergence of a three-dimensional object 22 in the vicinity of the vehicle. From the bird's-eye view image 30, the three-dimensional object emergence detecting device extracts orthogonal-direction characteristic components 46 and 47, which are on the bird's-eye view image 30 and has directions 36 and 37 orthogonal to a view direction 33 of the camera 21, and based on amounts of the extracted orthogonal-direction characteristic components 46 and 47, detects the emergence of the three-dimensional object 22. This prevents from erroneously detecting incidental changes in the image, such as sway of sunshine or movement of a shadow, as the emergence of the three-dimensional object.
摘要翻译：提供了能够以低成本快速且正确地检测三维物体的出现的三维物体出射检测装置。基于安装在车辆20中的照相机21拍摄的鸟瞰图30，三维物体出射检测装置检测车辆附近的三维物体22的出现。从鸟瞰图30中，三维物体出射检测装置提取在鸟瞰图像30上的正交方向特征成分46和47，并且具有与视野方向33正交的方向36,37 照相机21，并且基于所提取的正交方向特征分量46和47的量来检测三维物体22的出现。这防止了错误地检测图像中的偶然变化，例如阳光的摇摆或运动一个阴影，作为三维物体的出现。

10. 发明授权

US07957559B2 Apparatus and system for recognizing environment surrounding vehicle 有权
标题翻译：用于识别车辆周围环境的装置和系统
公开(公告)号：US07957559B2
公开(公告)日：2011-06-07
申请号：US11777585
申请日：2007-07-13
申请人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
发明人： Takeshi Shima , Shoji Muramatsu , Yuji Otsuka , Kimiyoshi Machii , Mirai Higuchi , Tatsuhiko Monji , Kota Irie
IPC分类号： G06K9/00
CPC分类号： G06K9/00798
摘要： In conventional systems using an onboard camera disposed rearward of a vehicle for recognizing an object surrounding the vehicle, the object is recognized by the camera disposed rearward of the vehicle. In the image recognized by the camera, a road surface marking taken by the camera appears at a lower end of a screen of the image, which makes it difficult to predict a specific position in the screen from which the road surface marking appears. Further, an angle of depression of the camera is large, and it is a short period of time to acquire the object. Therefore, it is difficult to improve a recognition rate and to reduce false recognition. Results of recognition (type, position, angle, recognition time) made by a camera disposed forward of the vehicle, are used to predict a specific timing and a specific position of a field of view of a camera disposed rearward of the vehicle, at which the object appears. Parameters of recognition logic of the rearwardly disposed camera and processing timing are then optimally adjusted. Further, luminance information of the image from the forwardly disposed camera is used to predict possible changes to be made in luminance of the field of view of the rearwardly disposed camera. Gain and exposure time of the rearwardly disposed camera are then adjusted.
摘要翻译：在使用设置在车辆后方的车载照相机以识别车辆周围的物体的常规系统中，物体被设置在车辆后方的照相机识别。在由相机识别的图像中，由相机拍摄的路面标记出现在图像的屏幕的下端，这使得难以预测出现路面标记的屏幕中的特定位置。此外，相机的下压角度大，获取物体的时间短。因此，难以提高识别率并减少错误识别。使用布置在车辆前方的相机进行的识别（类型，位置，角度，识别时间）的结果用于预测设置在车辆后方的相机的视场的具体定时和特定位置，该对象出现。然后，最佳地调整后置摄像机的识别逻辑和处理定时的参数。此外，来自前方照相机的图像的亮度信息用于预测在向后设置的相机的视场的亮度可能发生的变化。然后调整向后放置的相机的增益和曝光时间。

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