JP4482599B2 - 車両の周辺監視装置 - Google Patents
車両の周辺監視装置 Download PDFInfo
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- JP4482599B2 JP4482599B2 JP2008274483A JP2008274483A JP4482599B2 JP 4482599 B2 JP4482599 B2 JP 4482599B2 JP 2008274483 A JP2008274483 A JP 2008274483A JP 2008274483 A JP2008274483 A JP 2008274483A JP 4482599 B2 JP4482599 B2 JP 4482599B2
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- luminance value
- temperature
- outside air
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- captured image
- Prior art date
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- Expired - Fee Related
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- 238000012806 monitoring device Methods 0.000 title claims description 5
- 238000000605 extraction Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 35
- 238000012545 processing Methods 0.000 description 14
- 241001465754 Metazoa Species 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 239000000284 extract Substances 0.000 description 3
- 238000007796 conventional method Methods 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
- B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
- B60R1/24—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view in front of the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
- B60R1/30—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing vision in the non-visible spectrum, e.g. night or infrared vision
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/136—Segmentation; Edge detection involving thresholding
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V40/00—Recognition of biometric, human-related or animal-related patterns in image or video data
- G06V40/10—Human or animal bodies, e.g. vehicle occupants or pedestrians; Body parts, e.g. hands
- G06V40/103—Static body considered as a whole, e.g. static pedestrian or occupant recognition
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
- B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/20—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used
- B60R2300/205—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of display used using a head-up display
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/301—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
- B60R2300/307—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing virtually distinguishing relevant parts of a scene from the background of the scene
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/70—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by an event-triggered choice to display a specific image among a selection of captured images
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
- B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
- B60R2300/8033—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for pedestrian protection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10048—Infrared image
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/20—Special algorithmic details
- G06T2207/20112—Image segmentation details
- G06T2207/20132—Image cropping
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30196—Human being; Person
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
- G06T2207/30261—Obstacle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/04—Recognition of patterns in DNA microarrays
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Traffic Control Systems (AREA)
- Closed-Circuit Television Systems (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
Description
dTmax=SiTF×F(i)max
dTmin=SiTF×F(i)min (1)
Tcmax=Tb+dTmax
Tcmin=Tb+dTmin (2)
Z=Wa×f/(w×pcw) (3)
h=(Ha/pch)×f/Z (4)
2 画像処理ユニット
3 スピーカ
4 ヘッドアップディスプレイ
Claims (2)
- 車両に搭載された赤外線カメラによって得られる撮像画像を用いて車両の周辺を監視する車両周辺監視装置であって、
前記車両の外気温を検出する外気温検出手段と、
前記外気温に基づいて路面温度を推定する路面温度推定手段と、
前記路面温度と前記外気温との温度差に対応する輝度差に基づいて、前記撮像画像の輝度値ヒストグラムにおいて最も度数の高い輝度値を補正することにより、該外気温に対応する輝度値を求める手段と、
前記外気温に対応する輝度値を、前記撮像画像における背景の輝度値に設定する手段と、
前記外気温に基づいて推定された対象物の表面温度と前記外気温との温度差を求める温度差算出手段と、
前記撮像画像における前記背景の輝度値および前記温度差算出手段により算出された前記温度差に対応する輝度差に基づいて、該撮像画像における該対象物の輝度値を算出する対象物輝度値算出手段と、
前記対象物の輝度値を閾値として、前記赤外線カメラによって得られた撮像画像を2値化し、前記対象物を抽出する対象物抽出手段と、
を備える、車両周辺監視装置。 - 前記推定された対象物の表面温度として、上限表面温度および下限表面温度があり、
前記温度差算出手段は、前記推定された上限表面温度と前記外気温との第1の温度差を算出すると共に、前記推定された下限表面温度と前記外気温との第2の温度差を算出し、
前記対象物輝度値算出手段は、前記背景の輝度値および前記算出された第1の温度差に対応する輝度差に基づいて、前記撮像画像における該対象物の上限の輝度値を算出すると共に、前記背景の輝度値および前記算出された第2の温度差に対応する輝度差に基づいて、該撮像画像における該対象物の下限の輝度値を算出し、
前記対象物抽出手段は、前記閾値として、前記上限の輝度値および前記下限の輝度値を用い、前記撮像画像の各輝度値が該下限の輝度値と該上限の輝度値の間にあるかどうかに従って、該撮像画像の2値化を行う、
請求項1に記載の車両周辺監視装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008274483A JP4482599B2 (ja) | 2008-10-24 | 2008-10-24 | 車両の周辺監視装置 |
EP09821755.7A EP2346015B1 (en) | 2008-10-24 | 2009-10-08 | Vehicle periphery monitoring apparatus |
PCT/JP2009/005261 WO2010047055A1 (ja) | 2008-10-24 | 2009-10-08 | 車両の周辺監視装置 |
CN200980142182.3A CN102197418B (zh) | 2008-10-24 | 2009-10-08 | 车辆周围监测装置 |
US13/124,171 US20110234805A1 (en) | 2008-10-24 | 2009-10-08 | Vehicle periphery monitoring apparatus |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008274483A JP4482599B2 (ja) | 2008-10-24 | 2008-10-24 | 車両の周辺監視装置 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2010015136A Division JP5149918B2 (ja) | 2010-01-27 | 2010-01-27 | 車両の周辺監視装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2010102572A JP2010102572A (ja) | 2010-05-06 |
JP4482599B2 true JP4482599B2 (ja) | 2010-06-16 |
Family
ID=42119110
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2008274483A Expired - Fee Related JP4482599B2 (ja) | 2008-10-24 | 2008-10-24 | 車両の周辺監視装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US20110234805A1 (ja) |
EP (1) | EP2346015B1 (ja) |
JP (1) | JP4482599B2 (ja) |
CN (1) | CN102197418B (ja) |
WO (1) | WO2010047055A1 (ja) |
Families Citing this family (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5137981B2 (ja) * | 2010-02-01 | 2013-02-06 | 株式会社ビートソニック | 車載用監視カメラ |
US9105115B2 (en) * | 2010-03-16 | 2015-08-11 | Honeywell International Inc. | Display systems and methods for displaying enhanced vision and synthetic images |
EP2579229B1 (en) * | 2010-06-07 | 2016-06-29 | Honda Motor Co., Ltd. | Apparatus and method for monitoring surroundings of a vehicle |
US20120013742A1 (en) * | 2010-07-16 | 2012-01-19 | Delphi Technologies, Inc. | Vision system and method for displaying a field of view dependent upon detecting an object |
US10046716B2 (en) | 2011-02-10 | 2018-08-14 | Denso Corporation | In-vehicle camera and vehicle control system |
JP6176028B2 (ja) | 2013-09-26 | 2017-08-09 | 株式会社デンソー | 車両制御システム、画像センサ |
US9690997B2 (en) | 2011-06-06 | 2017-06-27 | Denso Corporation | Recognition object detecting apparatus |
JP5370413B2 (ja) | 2011-06-06 | 2013-12-18 | 株式会社デンソー | 認識対象検出装置 |
JP5782870B2 (ja) * | 2011-07-05 | 2015-09-24 | セイコーエプソン株式会社 | 検出装置及び検出方法 |
CN103797528A (zh) * | 2011-09-28 | 2014-05-14 | 本田技研工业株式会社 | 生物体识别装置 |
US10565438B2 (en) * | 2012-03-12 | 2020-02-18 | Honda Motor Co., Ltd. | Vehicle periphery monitor device |
CN104335244A (zh) * | 2012-06-26 | 2015-02-04 | 本田技研工业株式会社 | 对象物识别装置 |
JP6013884B2 (ja) * | 2012-11-08 | 2016-10-25 | 日立オートモティブシステムズ株式会社 | 物体検出装置及び物体検出方法 |
JP6440115B2 (ja) | 2014-03-06 | 2018-12-19 | パナソニックIpマネジメント株式会社 | 表示制御装置、表示制御方法、および表示制御プログラム |
CN107107834A (zh) * | 2014-12-22 | 2017-08-29 | 富士胶片株式会社 | 投影型显示装置、电子设备、驾驶者视觉辨认图像共享方法以及驾驶者视觉辨认图像共享程序 |
CN108909626A (zh) * | 2017-10-16 | 2018-11-30 | 北京兴科迪电子技术研究院 | 一种厢式货车监控*** |
DE102020104182A1 (de) | 2020-02-18 | 2021-08-19 | HELLA GmbH & Co. KGaA | Verfahren zur Bestimmung der Fahrbahntemperatur aus einem Fahrzeug |
JPWO2022185085A1 (ja) * | 2021-03-03 | 2022-09-09 | ||
JP2023062609A (ja) * | 2021-10-21 | 2023-05-08 | パナソニックIpマネジメント株式会社 | 人体領域検知システム、人体領域検知方法およびプログラム |
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JP2003009140A (ja) * | 2001-06-26 | 2003-01-10 | Mitsubishi Motors Corp | 歩行者検出装置 |
JP2003016458A (ja) * | 2001-06-28 | 2003-01-17 | Honda Motor Co Ltd | 対象物抽出装置 |
JP2005128776A (ja) * | 2003-10-23 | 2005-05-19 | Nissan Motor Co Ltd | 閾値設定装置及び閾値設定方法 |
JP2006101384A (ja) * | 2004-09-30 | 2006-04-13 | Nissan Motor Co Ltd | 人物検出装置及び方法 |
JP2007264732A (ja) * | 2006-03-27 | 2007-10-11 | Mazda Motor Corp | 車両用方向者検出装置 |
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2008
- 2008-10-24 JP JP2008274483A patent/JP4482599B2/ja not_active Expired - Fee Related
-
2009
- 2009-10-08 US US13/124,171 patent/US20110234805A1/en not_active Abandoned
- 2009-10-08 CN CN200980142182.3A patent/CN102197418B/zh not_active Expired - Fee Related
- 2009-10-08 EP EP09821755.7A patent/EP2346015B1/en not_active Not-in-force
- 2009-10-08 WO PCT/JP2009/005261 patent/WO2010047055A1/ja active Application Filing
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JP2003009140A (ja) * | 2001-06-26 | 2003-01-10 | Mitsubishi Motors Corp | 歩行者検出装置 |
JP2003016458A (ja) * | 2001-06-28 | 2003-01-17 | Honda Motor Co Ltd | 対象物抽出装置 |
JP2005128776A (ja) * | 2003-10-23 | 2005-05-19 | Nissan Motor Co Ltd | 閾値設定装置及び閾値設定方法 |
JP2006101384A (ja) * | 2004-09-30 | 2006-04-13 | Nissan Motor Co Ltd | 人物検出装置及び方法 |
JP2007264732A (ja) * | 2006-03-27 | 2007-10-11 | Mazda Motor Corp | 車両用方向者検出装置 |
Also Published As
Publication number | Publication date |
---|---|
CN102197418A (zh) | 2011-09-21 |
EP2346015A4 (en) | 2012-04-11 |
WO2010047055A1 (ja) | 2010-04-29 |
CN102197418B (zh) | 2014-08-06 |
JP2010102572A (ja) | 2010-05-06 |
US20110234805A1 (en) | 2011-09-29 |
EP2346015B1 (en) | 2014-06-18 |
EP2346015A1 (en) | 2011-07-20 |
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