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1. 发明授权

US07474765B2 Image recognition apparatus 失效
标题翻译：图像识别装置
公开(公告)号：US07474765B2
公开(公告)日：2009-01-06
申请号：US11554292
申请日：2006-10-30
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
IPC分类号： G06K9/00
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译：图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算可以确定各分割区域L_b，R_b的视差。然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别，并且独立地计算到各个对象的距离。

2. 发明授权

US07158664B2 Image recognition apparatus 有权
标题翻译：图像识别装置
公开(公告)号：US07158664B2
公开(公告)日：2007-01-02
申请号：US10286541
申请日：2002-11-01
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
IPC分类号： G06K9/00 , G06K9/40
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译：图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算可以确定各分割区域L_b，R_b的视差。然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别，并且独立地计算到各个对象的距离。

3. 发明授权

US08144195B2 Vehicle zone monitoring apparatus 有权
标题翻译：车辆区域监控装置
公开(公告)号：US08144195B2
公开(公告)日：2012-03-27
申请号：US12287433
申请日：2008-10-09
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Kouzou Simamura
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Kouzou Simamura
IPC分类号： H04N7/18
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译：从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。

4. 发明申请

US20090046151A1 Vehicle zone monitoring apparatus 有权
标题翻译：车辆区域监控装置
公开(公告)号：US20090046151A1
公开(公告)日：2009-02-19
申请号：US12287433
申请日：2008-10-09
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Kouzou Simamura
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Kouzou Simamura
IPC分类号： H04N7/18 , H04N5/33
CPC分类号： H04N7/18 , G06K9/00805
摘要： A vehicle zone monitoring apparatus that detects physical bodies present in the vicinity of the vehicle from infrared images photographed by infrared cameras provided on the vehicle includes an object extracting device that extracts object images that emit infrared radiation from the infrared image and an artificial structure identifying device that identifies whether or not an object is an artificial structure by comparing an image of a search zone in proximity to the object extracted by the object extraction device, to a reference image of a pre-registered artificial structure which serves as an element that defines an artificial structure, and that identifies the object as an artificial structure if: within the search zone in proximity to the object, a section having a high correlation with the reference image exists; and a distance between the vehicle and the object is equal to a distance between the vehicle and the section having the high correlation with said reference image.
摘要翻译：从设置在车辆上的红外线摄像机拍摄的红外线图像检测出车辆附近的物体的车辆区域监视装置，具备提取从红外线图像发出红外线的物体图像的物体提取装置以及人造结构识别装置通过将与由对象提取装置提取的对象接近的搜索区域的图像与用于定义对象提取装置的元素的预先注册的人造结构的参考图像进行比较来识别对象是否为人造结构人造结构，并且将物体识别为人造结构，如果：在与物体邻近的搜索区域内存在与参考图像高度相关的部分; 并且车辆和物体之间的距离等于车辆与与所述参考图像具有高相关性的部分之间的距离。

5. 发明申请

US20070053584A1 IMAGE RECOGNITION APPARATUS 失效
标题翻译：图像识别装置
公开(公告)号：US20070053584A1
公开(公告)日：2007-03-08
申请号：US11554292
申请日：2006-10-30
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Hiroshi Hattori , Kouzou Simamura , Masahito Watanabe
IPC分类号： G06K9/00
CPC分类号： G06K9/00651 , G06K9/00805 , G06T7/70 , G06T7/97
摘要： An image processing unit determines the size of a circumscribed quadrangle of the target object, and predicts the overlap of the two different objects. If overlap is predicted, the target object is divided into two divided regions L_b and R_b containing the left and right edges of the target object respectively, and by performing a correlation calculation between the left image and the right image captured by a stereo camera for each of the divided regions, the parallaxes of the respective divided regions L_b and R_b can be determined. Then, if the absolute value of the difference between the parallaxes of the respective divided regions L_b and R_b is greater than a predetermined value, a determination is made that different objects are overlapping within the target object, and the target object is divided for recognition, and the distance to the respective objects is calculated independently.
摘要翻译：图像处理单元确定目标对象的外接四边形的大小，并且预测两个不同对象的重叠。如果预测重叠，则将目标对象分别分别包含目标对象的左边缘和右边缘的两个分割区域L_b和R_b，并且通过对于每个对象物体执行由立体相机拍摄的左图像和右图像之间的相关计算可以确定各分割区域L_b，R_b的视差。然后，如果各个分割区域L_b和R_b的视差之间的差的绝对值大于预定值，则确定不同对象在目标对象内重叠，并且目标对象被划分以进行识别，并且独立地计算到各个对象的距离。

6. 发明申请

US20080212076A1 Apparatus and method for testing infrared camera 有权
标题翻译：红外摄像机测试装置及方法
公开(公告)号：US20080212076A1
公开(公告)日：2008-09-04
申请号：US12082153
申请日：2008-04-09
申请人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
发明人： Masahito Watanabe , Takayuki Tsuji , Hiroshi Hattori , Nobuharu Nagaoka , Izumi Takatsudo , Masakazu Saka
IPC分类号： G01J3/00
CPC分类号： H04N17/002 , H04N5/33 , H04N13/246
摘要： An apparatus for testing infrared cameras includes: a cover plate which has a plurality of holes formed therethrough and arranged in line in a horizontal direction at a regular interval, the cover plate being adapted to emit an amount of infrared light; and an emission source which is disposed in parallel to and behind the cover plate as viewed from infrared cameras to be tested, the emission source being adapted to emit a different amount of infrared light when compared with the cover plate.
摘要翻译：一种用于测试红外摄像机的装置，包括：盖板，其具有穿过其形成的多个孔，并且在水平方向上以规则的间隔排成一列，所述盖板适于发射一定数量的红外光; 以及从被测试的红外摄像机观察时平行于盖板并在盖板后方布置的发射源，与盖板相比，发射源适于发射不同量的红外光。

7. 发明授权

US07141796B2 Vehicle information providing apparatus 有权
标题翻译：车辆信息提供装置
公开(公告)号：US07141796B2
公开(公告)日：2006-11-28
申请号：US10273314
申请日：2002-10-17
申请人： Hiroshi Hattori , Nobuharu Nagaoka , Masahito Watanabe , Takayuki Tsuji
发明人： Hiroshi Hattori , Nobuharu Nagaoka , Masahito Watanabe , Takayuki Tsuji
IPC分类号： G06F17/00
CPC分类号： G06K9/00805 , G06K9/00651 , G06T7/254
摘要： A vehicle information providing apparatus determines and displays the range of presence of a person or other object based on the characteristics of images recorded by infrared cameras. An image processing unit carries out brightness change search processing in the infrared camera image zone represented by a gray scale using a search area wherein the size of a first detected area detected by binarization and correlation operation serves as the reference. In addition, the parallax between the first detected area and the searched area having a change in brightness is compared, a search area having a parallax that differs from that of the first searched area is eliminated, and a search area having a parallax identical to that of the first searched area is provided a highlighted display as an object identical to that of the first detected area.
摘要翻译：车辆信息提供装置基于由红外线摄像机记录的图像的特性来确定和显示人物或其他物体的存在范围。图像处理单元使用搜索区域进行由灰度表示的红外线摄像机图像区域中的亮度变化搜索处理，其中通过二值化和相关操作检测到的第一检测区域的大小用作参考。此外，比较第一检测区域和具有亮度变化的搜索区域之间的视差，消除了具有与第一搜索区域不同的视差的搜索区域，并且具有与之相同的视差的搜索区域提供第一搜索区域作为与第一检测区域相同的对象的突出显示。

8. 发明授权

US06327536B1 Vehicle environment monitoring system 有权
标题翻译：车辆环境监测系统
公开(公告)号：US06327536B1
公开(公告)日：2001-12-04
申请号：US09590980
申请日：2000-06-09
申请人： Takayuki Tsuji , Nobuharu Nagaoka , Masahito Watanabe , Hiroshi Hattori
发明人： Takayuki Tsuji , Nobuharu Nagaoka , Masahito Watanabe , Hiroshi Hattori
IPC分类号： G06F778
CPC分类号： B60R1/00 , B60Q9/008 , B60R11/04 , B60R2300/105 , B60R2300/106 , B60R2300/107 , B60R2300/205 , B60R2300/30 , B60R2300/305 , B60R2300/307 , B60R2300/8053 , B60R2300/8093 , B60T2201/08 , B60T2201/082 , B60T2201/089 , G08G1/166
摘要： A vehicle environment monitoring system for an automotive vehicle is capable of accurately detecting the movement of an object existing in an environment of the vehicle, and determining the possibility of collision between the object and the vehicle, thereby appropriately warning the driver. A relative position of the object to the automotive vehicle is detected from the image obtained by a camera mounted on the vehicle to obtain position data. Positions of the object in a real space are calculated based on a plurality of time series items of the position data detected on the object, and a movement vector of the object is calculated based on the positions in the real space. It is determined based on the movement vector whether or not the object has a high possibility of collision against the automotive vehicle.
摘要翻译：用于机动车辆的车辆环境监测系统能够精确地检测存在于车辆的环境中的物体的移动，并且确定物体与车辆之间的碰撞的可能性，从而适当地警告驾驶员。从安装在车辆上的相机获得的图像中检测物体对机动车辆的相对位置，以获得位置数据。基于在物体上检测到的位置数据的多个时间序列项目来计算物体在真实空间中的位置，并且基于实际空间中的位置来计算物体的运动矢量。基于运动矢量确定物体是否具有与机动车辆碰撞的高可能性。

9. 发明授权

US07130448B2 Device for monitoring around a vehicle 有权
标题翻译：用于在车辆周围监控的设备
公开(公告)号：US07130448B2
公开(公告)日：2006-10-31
申请号：US10346517
申请日：2003-01-17
申请人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
发明人： Nobuharu Nagaoka , Takayuki Tsuji , Masahito Watanabe , Hiroshi Hattori , Izumi Takatsudo , Masakazu Saka
IPC分类号： G06K9/00
CPC分类号： G06K9/00362 , G06K9/00805 , G06K2209/23
摘要： A device for monitoring around a vehicle capable of detecting objects present around the vehicle based on an image captured by at least one infrared camera member provided with the vehicle. The device includes a binary object extraction unit which subjects a gray scale image of the image captured by the infrared camera member to a binary thresholding method, and extracts a binary object from the gray scale image; a gray scale object extraction unit which extracts a gray scale object, a range of the gray scale object including the binary object, from the gray scale image based on change in luminance of the gray scale image, and a pedestrian determination unit which sets a search area in an area including the gray scale object, and recognizes a pedestrian in the gray scale image based on a luminance variance in the search area.
摘要翻译：一种用于基于由至少一个设置有车辆的红外线摄像机构件拍摄的图像来监视车辆周围的能够检测车辆周围的物体的装置。该装置包括二进制对象提取单元，其将由红外相机成员捕获的图像的灰度图像进行二进制阈值处理，并从灰度图像中提取二进制对象; 灰度对象提取单元，其基于灰度图像的亮度的变化从灰度图像中提取灰度对象，包括二进制对象的灰度对象的范围，以及设置搜索的行人确定单元区域，并且基于搜索区域中的亮度方差识别灰度图像中的行人。

10. 发明授权

US06658150B2 Image recognition system 失效
标题翻译：图像识别系统
公开(公告)号：US06658150B2
公开(公告)日：2003-12-02
申请号：US09728511
申请日：2000-12-01
申请人： Takayuki Tsuji , Nobuharu Nagaoka , Hiroshi Hattori , Masahito Watanabe
发明人： Takayuki Tsuji , Nobuharu Nagaoka , Hiroshi Hattori , Masahito Watanabe
IPC分类号： G06K968
CPC分类号： G06K9/6203 , G06T7/97 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： An image recognition system recognizes correspondence between object images contained respectively in two images obtained by two infrared ray cameras. One of the two images is set to a reference image and another of the two images to a comparison image. A correlation parameter indicative of a correlation between a reference pattern contained in the reference image and containing an object image and each pattern contained in the comparison image and identical in shape to the reference pattern is calculated by using a luminance value indicative of a luminance of the reference pattern and a luminance value indicative of a luminance of the each pattern contained in the comparison image. Based on the calculated correlation parameter, a pattern having a highest correlation with the reference pattern is extracted from the comparison image as a corresponding pattern which corresponds to the reference pattern. Identity between the object image contained in the reference pattern and the object image contained in the corresponding pattern is determined based on a difference between a contrast value indicative of a contrast of the reference pattern and a contrast value indicative of a contrast of the corresponding pattern.
摘要翻译：图像识别系统识别由两个红外线摄像机获得的两个图像中分别包含的对象图像之间的对应关系。将两个图像中的一个设置为参考图像，将两个图像中的另一个设置为比较图像。通过使用表示参考图像的亮度的亮度值来计算指示包含在参考图像中并包含对象图像的参考图案和包含在比较图像中并且与形状相同的参考图案之间的相关性的相关参数参考图案和指示比较图像中包含的每个图案的亮度的亮度值。基于所计算的相关参数，从比较图像中提取与参考图案具有最高相关性的图案作为对应于参考图案的对应图案。基于指示参考图案的对比度的对比度值和表示对应图案的对比度的对比度值之间的差异来确定包含在参考图案中的对象图像与包含在对应图案中的对象图像之间的身份。

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