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    • 2. 发明授权
    • System and method for detecting obstacle
    • 障碍物检测系统及方法
    • US07421148B2
    • 2008-09-02
    • US11750550
    • 2007-05-18
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • G06K9/36
    • G06K9/00805G01C11/06G01S11/12G06K9/00798G06T7/30G08G1/166G08G1/167
    • A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, and determining a width and a height of the processing region on the basis of a position in the vertical direction on the second image.
    • 一种存储计算机程序的指令的计算机可读存储介质,当计算机执行时,分别执行包括从两个摄像机输入第一图像和第二图像的步​​骤,将第一图像转换为变换图像,获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D,获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的对应处理区域中的图像,基于相似度D和参考平面区域上的相似度P来检测障碍物,并且确定处理区域的宽度和高度 在第二图像上垂直方向的位置的基础。
    • 3. 发明申请
    • Server apparatus
    • 服务器设备
    • US20080101586A1
    • 2008-05-01
    • US11976406
    • 2007-10-24
    • Shigeru FukazawaYasumasa SasakiFumikazu MatsukawaKoji ShimaNobuyuki Takeda
    • Shigeru FukazawaYasumasa SasakiFumikazu MatsukawaKoji ShimaNobuyuki Takeda
    • H04M7/00
    • H04M7/0027
    • According to one embodiment, a server apparatus includes a memory which stores a second management table which associates telephone IDs of external telephone terminals to be connected to the external communication network with user IDs of external data terminals to be connected to the external communication network, and a controller which refers to the first and the second management tables, and executes communication connections among the data terminals to be associated with the telephone IDs of the telephone terminals and the external data terminals to be associated with the telephone IDs of the external telephone terminals based on a reference results of the first and the second management tables, when the call connections are established among the telephone terminals and the external telephone terminals in accordance with connection requests generated from the telephone terminals.
    • 根据一个实施例,服务器装置包括存储第二管理表的存储器,其将要连接到外部通信网络的外部电话终端的电话ID与要连接到外部通信网络的外部数据终端的用户ID相关联, 参考第一和第二管理表的控制器,并且执行要与电话终端的电话ID相关联的数据终端和与外部电话终端的电话ID相关联的外部数据终端的通信连接 根据第一和第二管理表的参考结果,当根据从电话终端产生的连接请求在电话终端和外部电话终端之间建立呼叫连接时。
    • 4. 发明授权
    • System and method for detecting obstacle
    • 障碍物检测系统及方法
    • US07349581B2
    • 2008-03-25
    • US11750565
    • 2007-05-18
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • G06K9/36
    • G06K9/00805G01C11/06G01S11/12G06K9/00798G06T7/30G08G1/166G08G1/167
    • A computer readable storage medium storing instructions of a computer program which when executed by a computer results in performance of steps including inputting a first image and a second image from two cameras, respectively, transforming the first image to a transformed image, obtaining a degree of similarity D indicating similarity between an image in a processing region established in the second image and an image in a corresponding processing region established in the first image, obtaining a degree of similarity P indicating a similarity between an image in the processing region established in the second image and an image in a corresponding processing region established in the transformed image, detecting the obstacle based on of the degree of similarity D and the degree of similarity P on a reference plane region, obtaining a difference K between the degree of similarity D and the degree of similarity P both obtained as being on the reference plane region, judging that the obstacle is at a position where the difference K is large, judging that there is no obstacle when there is no difference K of degree of similarity equal to or greater than a threshold value set beforehand about the vertical directions of all of the images, and detecting that there is the obstacle when there is the difference K of degree of similarity equal to or more than the threshold value in the vertical direction of the image.
    • 一种存储计算机程序的指令的计算机可读存储介质,当计算机执行时,分别执行包括从两个摄像机输入第一图像和第二图像的步​​骤,将第一图像转换为变换图像,获得 表示在第二图像中建立的处理区域中的图像与在第一图像中建立的相应处理区域中的图像之间的相似度的相似度D,获得表示在第二图像中建立的处理区域中的图像之间的相似度的相似度P 图像和在变换图像中建立的对应处理区域中的图像,基于相似度D和参考平面区域上的相似度P来检测障碍物,获得相似度D和 获得的相似度P均为参考平面区域, 在差异K大的位置处,当没有相似度等于或大于预先设定的关于所有图像的垂直方向的阈值的相似度K时,没有障碍物,并且检测 当在图像的垂直方向存在等于或大于阈值的相似度的差异K时存在障碍。
    • 5. 发明授权
    • Obstacle detection apparatus and method
    • 障碍物检测装置及方法
    • US07317474B2
    • 2008-01-08
    • US10919285
    • 2004-08-17
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • H04N7/18
    • H04N7/181
    • A plurality of cameras respectively input an image from different camera positions. The plurality of cameras is on a moving object. An image memory stores a plurality of images input by the plurality of cameras. An image transformation unit transforms one image input by a first camera using each of a plurality of transformation parameters each representing a geometrical relationship among a predetermined plane, the first camera, and a second camera, and generates a plurality of transformed images from a view position of the second camera. A matching processing unit compares each of the plurality of transformed images with another image input by the second camera for each area consisting of pixels, and calculates a coincidence degree of each area between each transformed image and another image. An obstacle detection unit detects an obstacle area consisting of areas each having a coincidence degree below a threshold from another image.
    • 多个照相机分别从不同的照相机位置输入图像。 多个相机位于移动物体上。 图像存储器存储由多个摄像机输入的多个图像。 图像变换单元使用每个表示预定平面,第一照相机和第二照相机之间的几何关系的多个变换参数中的每一个变换由第一照相机输入的一个图像,并且从视点位置生成多个变换图像 的第二台相机。 匹配处理单元将每个变换图像与由第二相机输入的每个区域由像素组成的另一图像进行比较,并且计算每个变换图像与另一图像之间的每个区域的一致度。 障碍物检测单元从另一图像检测由各自具有低于阈值的重合度的区域组成的障碍物区域。
    • 6. 发明申请
    • Server apparatus
    • 服务器设备
    • US20070223664A1
    • 2007-09-27
    • US11713616
    • 2007-03-05
    • Fumikazu MatsukawaShigeru FukazawaYasumasa SasakiShinichi KashimotoNobuyuki Takeda
    • Fumikazu MatsukawaShigeru FukazawaYasumasa SasakiShinichi KashimotoNobuyuki Takeda
    • H04M15/06H04M1/56
    • H04M15/06H04M7/0027
    • According to one embodiment, a server apparatus includes a first memory which memorizes group tables respectively showing correspondence relations between groups constituted by dividing the plurality of data terminals and data IDs of data terminals belonging to these groups, a second memory which memorizes band tables respectively showing correspondence relations between combinations of the plurality of groups and bands usable among plurality of data terminals to be communication-connected, and a controller which refers to the group tables and the band tables based on data IDs associated with the phone IDs included in the call information event, when the call information event is received, and executes communication connections among data terminals corresponding to the data IDs based on the reference result to assign bands to the data terminals.
    • 根据一个实施例,服务器装置包括:第一存储器,分别存储分组表示通过分割多个数据终端构成的组与属于这些组的数据终端的数据ID之间的对应关系的组表;存储分别表示 基于通信连接的多个数据终端之间可以使用的多个组和频带的组合之间的对应关系,以及基于与呼叫信息中包含的电话号码相关联的数据ID参考组表和频带表的控制器 事件,当接收到呼叫信息事件时,并且基于参考结果执行与数据ID相对应的数据终端之间的通信连接,以将频带分配给数据终端。
    • 7. 发明授权
    • System and method for detecting obstacle
    • 障碍物检测系统及方法
    • US07242817B2
    • 2007-07-10
    • US11223977
    • 2005-09-13
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • Nobuyuki TakedaHiroshi HattoriKazunori Onoguchi
    • G06K9/64
    • G06K9/00805G01C11/06G01S11/12G06K9/00798G06T7/30G08G1/166G08G1/167
    • A system for realizing support of safety driving or automatic driving is provided, in which a vehicle-mounted stereo camera is used to detect obstacles on a road surface such as vehicles going ahead and pedestrians with a high accuracy even in a situation in which a reflected image of an obstacle or a surrounding structure is appeared under a wet road condition in rainy weather. The system includes an image capture section 12 capturing images from two cameras, an image transforming section 14 transforming a first camera's image by image transform T that transforms any given pixel in a road surface region in the first camera's image to a corresponding pixel in a second camera's image, a lane detecting section 16 detecting a traffic lane on a road on the basis of characteristics of the image obtained from the second camera, a similarity calculating section 18 sequentially establishing processing regions, each having a base formed by one of image lines in a region within a lane, for carrying out inter-image arithmetic operations between the first camera's image and the second camera's image and between the second camera's image and the transformed image on the assumption that an obstacle stands from a contact line on a road surface as an image line, and obtaining respective degrees of similarity between the first camera's image and the second camera's image and between the second camera's image and the transformed image, and an obstacle judging section 20 detecting the object from a difference between the two kinds of degrees of similarity on the road region sequentially obtained by the similarity calculating section 18.
    • 提供一种用于实现安全驾驶或自动驾驶的支持的系统,其中使用车载立体摄像机,即使在反射的情况下也可以高精度地检测诸如前方的车辆等路面上的障碍物和行人 障碍物或周围结构的图像在雨天的湿路况下出现。 该系统包括从两个摄像机拍摄图像的图像捕获部分12,图像变换部分14,通过将第一相机图像中的路面区域中的任何给定像素转换成第二相机像素的图像变换T来变换第一相机的图像 相机图像,车道检测部分16,基于从第二相机获得的图像的特性来检测道路上的行车道;相似度计算部分18,顺序地建立处理区域,每个处理区域具有由图像行之一形成的基座 在车道内的区域,用于在第一相机的图像和第二相机的图像之间以及在第二相机的图像与变换的图像之间进行图像间算术运算,假设障碍物从路面上的接触线站立,作为 并且获得第一相机的图像和第二相机的图像之间的相似度的相似度,以及b 第二相机的图像和变换图像之间的障碍物判别部分20以及由相似度计算部分18顺序地获得的道路区域上的两种相似度之差的差异来检测对象。
    • 9. 发明授权
    • Parallel computer with improved access to adjacent processor and memory elements
    • 并行计算机,具有改进对相邻处理器和存储器元件的访问
    • US06968442B2
    • 2005-11-22
    • US10173629
    • 2002-06-19
    • Kenichi MaedaNobuyuki TakedaYasukazu Okamoto
    • Kenichi MaedaNobuyuki TakedaYasukazu Okamoto
    • G06F15/173G06F15/80G06T1/20G06T1/60G06F15/76
    • G06T1/60
    • A parallel computer of this invention includes a plurality of memory elements and a plurality of processing elements and each of the processing elements is connected to logically adjacent memory elements. For example, the processing element which corresponds to a logical position (i, j) is connected to the memory elements which correspond to a plurality of logical positions (i, j), (i, j+1), (i+1, j) and (i+1, j+1). It is preferable if each of the memory elements can be accessed from the exterior. According to this invention, efficient memory access can be made and the parallel processing can be performed at high speed without increasing the hardware amount and making the control operation complicated. Further, the operation speed of the image processing can be enhanced by constructing an image memory by use of a plurality of memory elements and causing the processing element to effect the image processing in a distributed and cooperative manner.
    • 本发明的并行计算机包括多个存储器元件和多个处理元件,并且每个处理元件连接到逻辑上相邻的存储元件。 例如,对应于逻辑位置(i,j)的处理元件连接到与多个逻辑位置(i,j),(i,j + 1),(i + 1, j)和(i + 1,j + 1)。 优选地,可以从外部访问每个存储元件。 根据本发明,可以进行有效的存储器访问,并且可以高速执行并行处理,而不增加硬件量并使控制操作变得复杂。 此外,可以通过使用多个存储元件构造图像存储器并且使处理元件以分布和协作的方式实现图像处理,来增强图像处理的操作速度。