Denso Ten Limited

Hiroaki Sano

Tetsuo Yamamoto

Yasutaka Okada

Jun Kanetake

Tomoki Shidori

Atsushi Yoshihara

Ryo Yoshimura

Hiroki Morinaga

Akihiko Shiotani

An image processing device includes: a detection unit which detects a target object based on edge information acquired from image data; and a judging unit which judges whether a certain region in the image data is an improper region that is not suitable for detection of the target object based on an edge pattern of edge information in the certain region and a feature pattern indicating a feature of the target object, and the detection unit detects the target object excluding a region that has been judged to be the improper region by the judging unit.

Image processing device and image processing method

An image processing device includes: a first generation unit which generates first target parking frame information based on an image taken by a first shooting unit that is provided at a side position of a vehicle; a second generation unit which generates second target parking frame information based on an image taken by a second shooting unit that is provided at a front or rear position of the vehicle; and a determination unit which determines a stop position in a parking frame by generating third target parking frame information to serve as a stop target based on the first target parking frame information generated by the first generation unit and the second target parking frame information generated by the second generation unit.

Image processing device and method that determine a stop position in a parking frame using images from two cameras

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle; an exclusion determination unit configured to determine whether there is a parking-unavailable area in which parking of the vehicle is not permitted; and a parking space detection unit configured to detect the parking space based on the delimiting line candidate. In a case where plural parallel lines that are adjacent to the delimiting line candidate and that have a predetermined angle to the delimiting line candidate is detected, the exclusion determination unit regards an area in which the plural parallel lines are provided as the parking-unavailable area, and prohibits the parking space detection unit from detecting the parking space across the delimiting line candidate adjacent to the parking-unavailable area.

An image processing device includes: an extraction unit which extracts, from image data taken by shooting a neighborhood of a vehicle, edge points that are to be used for detecting partition lines of a parking frame and whose edge intensity values are larger than an edge threshold value; and a correction unit which corrects the edge threshold value based on a density of the edge points extracted by the extraction unit.

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and an exclusion determination unit configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from the candidate of the delimiting line. In a case where a plurality of the delimiting line candidates is detected within a predetermined range in the image data, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from the candidate of the delimiting line by comparing edge strength of the plurality of delimiting line candidates.

Image processing device and image processing method detecting vehicle parking space

An image processing device includes: a detection unit which detects partition line candidates that are candidates for a partition line for partitioning a parking frame, based on edge lines that are detected based on luminance of each pixel of image data taken by shooting a neighborhood of a vehicle; and a generation unit which generates an integrated partition line candidate by integrating the partition line candidates detected by the detection unit, according to a prescribed integration condition.

An image processing device includes: an extraction unit which extracts edge lines based on image data taken by an imaging device by shooting a neighborhood of a vehicle; a selection unit which selects, as a pair of edge lines, edge lines that satisfy a prescribed condition from the extracted edge lines; an exclusion unit which, in a case where a non-paint-out region exists between the pair of edge lines, excludes quasi-edge lines that form the non-paint-out region from the pair of edge lines; and a detection unit which detects a partition line that partitions a parking frame based on the pair of edge lines from which the quasi-edge lines are excluded.

An image processing device includes: an extraction unit which extracts a horizontal edge line in which edge points are arranged consecutively in a horizontal direction from an image taken that contains an image of a parking frame; a detection unit which detects a three-dimensional indication body to serve as a stop position indication body in the parking frame based on the horizontal edge line extracted by the extraction unit; and a determining unit which, in a case where a plurality of the horizontal edge lines are arranged in a vertical direction in an image of the three-dimensional indication body detected by the detection unit, determines the stop position regarding one of the plurality of the horizontal edge lines other than a highest horizontal edge line in the vertical direction as corresponding to a top end line of the three-dimensional indication body.

An image processing device includes: a setting unit configured to set an area, as a first area, in which at least one delimiting line for delimiting a parking space is detected in a first image of plural images continuously captured while moving; and a prediction unit configured to predict, based on the first area, a second area in which the at least one delimiting line is to be detected in at least one second image of the plural images, the at least one second image being captured later in time than the first image.

Image processing device and method predicting areas in which to search for parking space delimiting lines

An image processing device includes: an extraction unit configured to extract at least one edge line based on image data obtained by an imaging device configured to capture a surrounding of a vehicle; a giving unit configured to give a priority to each of the at least one edge line; a registration unit configured to register the at least one edge line in descending order of the priority while limiting a number of registration of the at least one edge line to an upper limit or smaller of the number of registration; and a detection unit configured to detect a parking space, based on the at least one edge line registered.

An image processing device includes: a calculation unit which calculates chroma values of pixels of image data taken by a shooting device based on differences between R values or G values and B values, respectively; a correction unit which corrects luminance values of pixels that satisfy a prescribed condition for being a yellow pixel using the calculated chroma values as emphasis amounts, respectively; and a detection unit which detects a line drawn on a road surface based on the corrected luminance values.

An image processing device includes: an extraction unit which extracts a horizontal edge line in which edge points are arranged consecutively in a horizontal direction from an image taken that contains an image of a parking frame; a detection unit which detects, in a case where an edge length of a series edge line in which a plurality of the horizontal edge lines are arranged in the horizontal direction like a broken line is longer than or equal to a prescribed threshold value among a plurality of the horizontal edge lines extracted by the extraction unit, the series edge line as corresponding to a deep-side boundary line of a parking frame; and a determining unit which determines a stop position in the parking frame based on the boundary line detected by the detection unit.

To provide a parking space recognition apparatus that can reduce a processing load for detecting the parking space. The parking space recognition apparatus recognizes a parking space by using images generated by four cameras to be mounted on a vehicle. In the parking space recognition apparatus, an image acquisition part acquires the images generated by the cameras. A detection setter selects the cameras to be used for detecting the parking space from among the cameras based on a traveling state of the vehicle. A parking space detector acquires the images generated by the cameras selected by the detection setter from the image acquisition part, and detects the parking space from the acquired images.

Parking compartment recognition apparatus

An image processing device includes: a delimiting line detection unit that detects a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle; and an exclusion determination unit that determines whether to exclude the delimiting line candidate. When a white delimiting line candidate having higher luminance than the road surface luminance and a black delimiting line candidate having lower luminance are detected, and one of the white and black delimiting line candidates is set as at least one first delimiting line candidate, and the other thereof is set as a second delimiting line candidate while the at least one first delimiting line candidate includes a pair of first delimiting line candidates between which the second delimiting line candidate is arranged and a distance between the pair is equal to or smaller than a threshold, the second delimiting line candidate is excluded.

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Kobe, Japan

Hiroaki Sano