JP4914365B2 - 見通し距離測定装置 - Google Patents
見通し距離測定装置 Download PDFInfo
- Publication number
- JP4914365B2 JP4914365B2 JP2007537350A JP2007537350A JP4914365B2 JP 4914365 B2 JP4914365 B2 JP 4914365B2 JP 2007537350 A JP2007537350 A JP 2007537350A JP 2007537350 A JP2007537350 A JP 2007537350A JP 4914365 B2 JP4914365 B2 JP 4914365B2
- Authority
- JP
- Japan
- Prior art keywords
- distance
- pixel
- image
- landscape
- contrast
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005259 measurement Methods 0.000 title description 4
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 2
- 230000006870 function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 241000276498 Pollachius virens Species 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000001149 cognitive effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 230000011218 segmentation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
- G01N21/47—Scattering, i.e. diffuse reflection
- G01N21/49—Scattering, i.e. diffuse reflection within a body or fluid
- G01N21/53—Scattering, i.e. diffuse reflection within a body or fluid within a flowing fluid, e.g. smoke
- G01N21/538—Scattering, i.e. diffuse reflection within a body or fluid within a flowing fluid, e.g. smoke for determining atmospheric attenuation and visibility
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Remote Sensing (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Electromagnetism (AREA)
- General Health & Medical Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Pathology (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Radar Systems Or Details Thereof (AREA)
- Image Processing (AREA)
Description
C=(Lmax−Lmin)/(Lmax+Lmin)
で定義される。
この式において、Lmaxは明るい方の物体の輝度を表し、Lminは暗い方の物体の輝度を表す。
C=(Lmax−Lmin)/Lmin
のような他の式も用いられる。
・明視距離が判定されるべき風景画像を撮像するカメラと、
・前記風景画像を格納する手段と、
・前記風景画像内の各画素を、前記カメラと当該画素に対応する前記風景内の点との間の距離を表す情報に関連付けることによって、距離マップを得る手段と、
・前記風景画像の画素の少なくとも幾つかの隣接画素に関連したコントラストが、少なくとも幾つかの隣接画素に関連した所定値よりも大きいか否かを検出する画像処理手段と、
・最大距離に対応する画素から始めて、コントラストが前記所定値よりも大きいというコントラスト条件を満たす最初の画素が見つかるまで、前記風景画像の複数の画素に前記コントラスト検出処理を繰り返して行う手段と、
・前記距離マップから、明視距離である距離情報を前記画素に関連付ける手段と、を備えることを特徴とする。
Claims (6)
- 明視距離が判定されるべき風景画像を撮像するカメラと、
前記風景画像を格納する手段と、
前記風景画像内の各画素を、前記カメラと当該画素に対応する前記風景内の点との間の距離を表す情報に関連付けることによって、距離マップを得る手段と、
前記風景画像の画素の少なくとも幾つかの隣接画素に関連したコントラストが、所定値よりも大きいか否かを検出する画像処理手段と、
最大距離に対応する画素から始めて、コントラストが前記所定値よりも大きいというコントラスト条件を満たす最初の画素が見つかるまで、前記風景画像の複数の画素に前記コントラスト検出処理を繰り返して行う手段と、
前記距離マップから、明視距離である距離情報を前記画素に関連付ける手段と、を備えることを特徴とする風景内の明視距離判定装置。 - 前記距離マップを得る手段が、
立体視効果を得るために、同じ風景の別角度からの第2の画像を撮像するのに適した他のカメラと、
第1の画像内の各画素の距離を表す情報を演繹(deduce)するために、前記2つの画像の複数画素を処理する手段とを備えていることを特徴とする請求項1に記載の明視距離判定装置。 - 前記距離マップを得る手段が、前記画像の各画素を距離を表す情報に関連付けるために、前記風景をスキャニングするために適した遠隔計測器手段を備えていることを特徴とする請求項1に記載の明視距離判定装置。
- 前記所定値が、2%から5%の範囲にあるコントラストに対応していることを特徴とする請求項1〜3のいずれか1項に記載の明視距離判定装置。
- 車輌に取り付けられていることを特徴とする請求項1〜4のいずれか1項に記載の明視距離判定装置。
- 少なくとも道路を含む風景内で距離情報を判定するための、請求項1〜5のいずれか1項に記載の明視距離判定装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0411061A FR2876826B1 (fr) | 2004-10-19 | 2004-10-19 | Dispositif de mesure de distance de visibilite |
FR0411061 | 2004-10-19 | ||
PCT/FR2005/050867 WO2006043003A1 (fr) | 2004-10-19 | 2005-10-19 | Dispositif de mesure de distance de visibilite |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2008517292A JP2008517292A (ja) | 2008-05-22 |
JP4914365B2 true JP4914365B2 (ja) | 2012-04-11 |
Family
ID=34951174
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007537350A Active JP4914365B2 (ja) | 2004-10-19 | 2005-10-19 | 見通し距離測定装置 |
Country Status (10)
Country | Link |
---|---|
US (1) | US7873188B2 (ja) |
EP (1) | EP1802960B1 (ja) |
JP (1) | JP4914365B2 (ja) |
CN (1) | CN101044390B (ja) |
AT (1) | ATE515689T1 (ja) |
ES (1) | ES2369483T3 (ja) |
FR (1) | FR2876826B1 (ja) |
PL (1) | PL1802960T3 (ja) |
SI (1) | SI1802960T1 (ja) |
WO (1) | WO2006043003A1 (ja) |
Families Citing this family (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2902556B1 (fr) | 2006-06-15 | 2008-08-15 | Valeo Vision Sa | Procede de determination d'une distance de visibilite pour un conducteur d'un vehicule. |
FR2922506B1 (fr) | 2007-10-18 | 2010-03-19 | Renault Sas | Procedes de mesure de la distance de visibilite d'un conducteur de vehicule automobile et de calcul d'une consigne de vitesse du vehicule, et systemes pour leur mise en oeuvre |
MX2011011865A (es) * | 2009-05-09 | 2012-02-29 | Vital Art And Science Inc | Sistema de evaluacion y rastreo de discriminacion visual de forma. |
US9659237B2 (en) | 2012-10-05 | 2017-05-23 | Micro Usa, Inc. | Imaging through aerosol obscurants |
CN103149603B (zh) * | 2013-03-07 | 2015-07-01 | 安徽皖通科技股份有限公司 | 一种基于视频的道路气象检测方法 |
US9805058B2 (en) * | 2014-06-01 | 2017-10-31 | Microsoft Technology Licensing, Llc | Visibility of a point of interest based on environmental conditions |
US10380451B2 (en) | 2014-11-06 | 2019-08-13 | Gentex Corporation | System and method for visibility range detection |
IL260822B (en) | 2018-07-26 | 2019-12-31 | Ophir Yoav | Method and system for a dynamic collision awareness envelope for a vehicle |
US11656090B2 (en) * | 2018-10-08 | 2023-05-23 | Here Global B.V. | Method and system for generating navigation data for a geographical location |
FR3096640B1 (fr) * | 2019-05-28 | 2023-04-14 | Continental Automotive | Procédé et dispositif de détermination de distance de visibilité pour l’aide au dépassement |
JP7476016B2 (ja) | 2020-07-21 | 2024-04-30 | 株式会社日立製作所 | 視程評価装置、視程評価システム及び視程評価方法 |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08219784A (ja) * | 1995-02-20 | 1996-08-30 | Hokkaido Kaihatsukyoku Kaihatsu Doboku Kenkyusho | 視程計測方法 |
JPH112519A (ja) * | 1996-07-17 | 1999-01-06 | Fuji Electric Co Ltd | 距離測定装置 |
US6208938B1 (en) * | 1997-09-19 | 2001-03-27 | Cambridge Management Advanced Systems Corporation | Apparatus and method for monitoring and reporting weather conditions |
US6362773B1 (en) * | 1999-06-24 | 2002-03-26 | Robert Bosch Gmbh | Method for determining range of vision |
JP2002163792A (ja) * | 2000-11-27 | 2002-06-07 | Natl Inst For Land & Infrastructure Management Mlit | 障害物衝突防止支援システム |
JP2003178311A (ja) * | 2002-10-25 | 2003-06-27 | Mitsubishi Electric Corp | リアルタイム表情追跡装置 |
US20030197867A1 (en) * | 1999-03-12 | 2003-10-23 | Kwon Taek Mu | Video camera-based visibility measurement system |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5195144A (en) * | 1988-11-15 | 1993-03-16 | Thomson-Csf | Process for estimating the distance between a stationary object and a moving vehicle and device for using this process |
DE59509929D1 (de) * | 1994-07-06 | 2002-01-24 | Volkswagen Ag | Verfahren zur Ermittlung der Sichtweite, insbesondere für die Bewegung eines Kraftfahrzeuges |
FR2847367B1 (fr) * | 2002-11-19 | 2005-01-14 | Valeo Vision | Procede et dispositif de determination de la distance de visibilite du conducteur d'un vehicule |
US7321669B2 (en) * | 2003-07-10 | 2008-01-22 | Sarnoff Corporation | Method and apparatus for refining target position and size estimates using image and depth data |
DE10332119B3 (de) * | 2003-07-16 | 2004-12-09 | Siemens Audiologische Technik Gmbh | Aktive Störgeräuschunterdrückung bei einem im Ohr tragbaren Hörhilfegerät oder einem Hörhilfegerät mit im Ohr tragbarer Otoplastik |
-
2004
- 2004-10-19 FR FR0411061A patent/FR2876826B1/fr not_active Expired - Fee Related
-
2005
- 2005-10-19 ES ES05815854T patent/ES2369483T3/es active Active
- 2005-10-19 AT AT05815854T patent/ATE515689T1/de not_active IP Right Cessation
- 2005-10-19 CN CN2005800358646A patent/CN101044390B/zh active Active
- 2005-10-19 US US11/665,535 patent/US7873188B2/en active Active
- 2005-10-19 JP JP2007537350A patent/JP4914365B2/ja active Active
- 2005-10-19 EP EP05815854A patent/EP1802960B1/fr active Active
- 2005-10-19 WO PCT/FR2005/050867 patent/WO2006043003A1/fr active Application Filing
- 2005-10-19 PL PL05815854T patent/PL1802960T3/pl unknown
- 2005-10-19 SI SI200531380T patent/SI1802960T1/sl unknown
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH08219784A (ja) * | 1995-02-20 | 1996-08-30 | Hokkaido Kaihatsukyoku Kaihatsu Doboku Kenkyusho | 視程計測方法 |
JPH112519A (ja) * | 1996-07-17 | 1999-01-06 | Fuji Electric Co Ltd | 距離測定装置 |
US6208938B1 (en) * | 1997-09-19 | 2001-03-27 | Cambridge Management Advanced Systems Corporation | Apparatus and method for monitoring and reporting weather conditions |
US20030197867A1 (en) * | 1999-03-12 | 2003-10-23 | Kwon Taek Mu | Video camera-based visibility measurement system |
US6362773B1 (en) * | 1999-06-24 | 2002-03-26 | Robert Bosch Gmbh | Method for determining range of vision |
JP2002163792A (ja) * | 2000-11-27 | 2002-06-07 | Natl Inst For Land & Infrastructure Management Mlit | 障害物衝突防止支援システム |
JP2003178311A (ja) * | 2002-10-25 | 2003-06-27 | Mitsubishi Electric Corp | リアルタイム表情追跡装置 |
Also Published As
Publication number | Publication date |
---|---|
CN101044390A (zh) | 2007-09-26 |
JP2008517292A (ja) | 2008-05-22 |
FR2876826A1 (fr) | 2006-04-21 |
EP1802960B1 (fr) | 2011-07-06 |
US7873188B2 (en) | 2011-01-18 |
CN101044390B (zh) | 2011-06-01 |
FR2876826B1 (fr) | 2007-03-02 |
EP1802960A1 (fr) | 2007-07-04 |
WO2006043003A1 (fr) | 2006-04-27 |
US20080137911A1 (en) | 2008-06-12 |
ES2369483T3 (es) | 2011-12-01 |
SI1802960T1 (sl) | 2012-01-31 |
ATE515689T1 (de) | 2011-07-15 |
PL1802960T3 (pl) | 2012-05-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP4914365B2 (ja) | 見通し距離測定装置 | |
US10304228B2 (en) | Vehicular display apparatus and vehicular display method | |
JP5339124B2 (ja) | 車載カメラの校正装置 | |
JP5341789B2 (ja) | パラメータ取得装置、パラメータ取得システム、パラメータ取得方法、及び、プログラム | |
US10560686B2 (en) | Photographing device and method for obtaining depth information | |
US20080181591A1 (en) | Camera posture estimation device, vehicle, and camera posture estimation method | |
KR102653816B1 (ko) | 이미지에서 가상의 기다란 거리 마커로 자동차의 주위환경 영역을 나타내는 방법, 컴퓨터 프로그램 제품 및 디스플레이 시스템 | |
JP2800530B2 (ja) | 車間距離検出装置 | |
JP2007181129A (ja) | 車載用移動体検出装置 | |
JP2536986B2 (ja) | 車間距離検出装置 | |
JP4677847B2 (ja) | 車両用周囲監視装置及び車両周囲監視方法 | |
JP5208790B2 (ja) | 画像処理装置、画像処理方法ならびにプログラム | |
JP2019188855A (ja) | 車両用視認装置 | |
JPH0552562A (ja) | 先行車追尾用車間距離検出装置 | |
JP5338786B2 (ja) | 車両用表示装置 | |
JP6855254B2 (ja) | 画像処理装置、画像処理システム、及び、画像処理方法 | |
JP2009062020A (ja) | 周囲車両表示装置 | |
JP4715604B2 (ja) | 周辺画像表示装置 | |
WO2020234912A1 (ja) | 携帯装置、位置表示方法、及び位置表示プログラム | |
EP2272730A1 (en) | Method and apparatus for displaying distance data in a parking distance control system | |
US20220113260A1 (en) | Image processing apparatus | |
JP2827682B2 (ja) | 車間距離検出装置 | |
KR20180026418A (ko) | 헤드업 디스플레이의 좌표 매칭 장치 및 그 방법 | |
JP2011107952A (ja) | 車両周辺監視装置 | |
CN111902845B (zh) | 用图像中虚拟的、拉长距离标记来表示机动车辆的环境区域的方法、计算机程序产品以及显示*** |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20081014 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110809 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20111109 |
|
A602 | Written permission of extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A602 Effective date: 20111116 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20111118 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20111227 |
|
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20120120 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 4914365 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20150127 Year of fee payment: 3 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |