Toko, Inc.

Honda Giken Kogyo Kabushiki Kaisha

Hiroshi Kondo

Tsuneo Tohyama

Isao Fukai

Hiroshi Tanigawa

Hiroshi Tsujino

Koji Akatsuka

Shinichi Nagai

Atsushi Miura

Takeyuki Kouchi

Takeyuki Kouti

An object detection apparatus and method capable of detecting objects based on visual images captured by a self-moving unit. A sequential images output section makes a train of a first input image and a second input image sequential to the first input image and outputs said train. A local area image processor calculates local flows based on said first input image and said second input image. An inertia information acquiring section measures self-motion of the unit to calculate inertia information thereof. A global area image processor uses said inertia information to estimate global flow, which is a motion field of the entire view associated to the self-motion, using said global flow and said first input image and creates a predictive image of said second input image. The global area image processor then calculates differential image data, which is a difference between said predictive image and said second input image. A figure-ground segregation section uses said differential image data to refine said local flows and compares the refined local flows with a predetermined threshold value to extract a figure candidate area, which is the area having a high probability of an object existing in the input image. An object presence/absence determination section determines presence/absence of objects in said figure candidate area.

Image-based object detection apparatus and method

An object detection apparatus is provided for detecting both stationary objects and moving objects accurately from an image captured from a moving mobile unit. The object detection apparatus of the present invention applies Gabor filter to two or more input images captured by an imaging device such as CCD camera mounted on a mobile unit, and calculates optical flow of local areas in the input images. Then the object detection apparatus closely removes optical flow produced by motion of the mobile unit by estimating optical flow produced from background of the input images. In other words, the object detection apparatus clarifies the area where object is not present ('ground') in the input images. By removing such 'ground' part, the area where objects seems to be present (&#x201c;feature&#x201d;) is extracted from the input images. Finally, the object detection apparatus determines whether objects are present or not using flow information of the extracted &#x201c;feature&#x201d; part.

Apparatus, program and method for detecting both stationary objects and moving objects in an image using optical flow

In an FM detector circuit, a phase-shifting circuit is constituted by integrating circuits each consisting of a transconductance amplifier and capacitor. The phase-shifting circuit being arranged to cause limiter signal to be phase-shifted by 90 degrees at center frequency. A multiplying circuit is provided which is arranged to be provided with said limiter signal and output of said phase-shifting circuit, thereby effecting phase-detection of said limiter signal. Further, an error amplifier is provided which is supplied with a smoothed version of detection output derived from said multiplying circuit. The arrangement is made such that output of the error amplifier is applied to the transconductance amplifiers constituting said phase-shifting circuit.

FM detector circuit with error voltage applied to phase shifting circuit

A polar leapfrog filter includes at least one polar network. The polar network comprises a differentiator constituted by an operational amplifier having input and output terminals, and a first integrator formed by a first capacitor for providing negative feedback to the operational amplifier and a first variable transconductance amplifier; and a second integrator formed by a second capacitor for providing negative feedback to the first integrator, and a second variable transconductance amplifier. A differentiator is provided at each of the input and output portions of the filter, and a third differentiator is provided immediately preceding the output side differentiator. In the case where two or more said polar networks are incorporated, an additional differentiator is provided between the polar networks. The sum of the number of the circuits constituting the differentiators and the number of the polar networks is selected to be even and equal to the order of the filter. The adjacent ones of the circuits are connected in such a manner that leapfrog type negative feedback is effected, and the differentiators except the output side one are constructed in the form of self negative feedback type.

Polar leapfrog filter

A polar leapfrog filter includes at least one polar network. The polar network comprises a differentiator constituted by an operational amplifier having input and output terminals, and a first integrator formed by a first capacitor for providing negative feedback to the operational amplifier and a first variable transconductance amplifier; and a second integrator formed by a second capacitor for providing negative feedback to the first integrator, and a second variable transconductance amplifier. In the case where two or more said polar networks are incorporated, an integrator is provided between adjacent ones of the polar networks. The total number of all the circuits is selected to be odd and equal to the order of the filter. The adjacent ones of the circuits are connected in such a manner that leapfrog type negative feedback is effected.

A polar leapfrog filter includes at least one polar network. The polar network comprises a differentiator constituted by an operational amplifier having input and output terminals, and a first integrator formed by a first capacitor for providing negative feedback to the operational amplifier and a first variable transconductance amplifier; and a second integrator formed by a second capacitor for providing negative feedback to the first integrator, and a second variable transconductance amplifier. An integrator is provided at each of the input and output stages, and a third integrator is provided immediately preceding the output side integrator. In the case where two or more said polar networks are incorporated, an additional integrator is provided between the polar networks. The total number of all the circuits is selected to be even and equal to the order of the filter. The adjacent ones of the circuits are connected in such a manner that leapfrog type negative feedback is effected, and only the input side integrator is constructed in the form of self negative feedback type.

An all-pass filter includes an adder which comprises a variable conductance amplifier and a capacitor connected to the output terminal thereof. The adder is being arranged to add the output of a band pass filter and an input signal together.

All-pass filter

A polar leapfrog filter includes at least one polar network. The polar network comprises a differentiator constituted by an operational amplifier having input and output terminals, and a first integrator formed by a first capacitor for providing negative feedback to the operational amplifier and a first variable transconductance amplifier; and a second integrator formed by a second capacitor for providing negative feedback to the first integrator, and a second variable transconductance amplifier. A differentiator is provided at each of the input and output stages of the filter. In the case where two or more said polar networks are incorporated, an additional differentiator is provided between the polar networks. The total number of all the circuit units constituting the filter is selected to provide odd order and equal order for the filter. The circuit units are connected in such a manner that leapfrog type negative feedback is effected.

An active filter circuit comprises a differentiator constituted by an operational amplifier having an input terminal and output terminal, and a first integrator constituted by a first capacitor and a first variable conductance amplifier for providing negative feedback to the operational amplifier and a first variable conductance amplifier; and a second integrator constituted by a second capacitor and a second variable conductance amplifier for providing negative feedback to the first integrator. The active filter circuit is arranged such that a damping pole is set up at a predetermined frequency by adjusting operating currents of the first and second variable conductance amplifiers.

Active filter circuit

A leapfrog filter comprises a first integrator made up of a first operational amplifier and a first capacitor connected to output terminal of the first operational amplifier; a second integrator made up of a second operational amplifier and a second capacitor connected to inverting input terminal and output terminal of the second operational amplifier; and a variable current source circuit. The first operational amplifier has the output terminal thereof connected to non-inverting input terminal of the second operational amplifier. The second operational amplifier has the output terminal thereof connected to inverting input terminal of the first operational amplifier. An input terminal is connected to non-inverting input terminal of the first operational amplifier; and output terminal connected to the output terminal of the second operational amplifier. The variable current source circuit is arranged such that bias currents supplied to the first and second operational amplifiers are controlled so as to change mutual conductances of the first and first operational amplifiers, thereby adjusting pass band width of the filter while at the same time restraining occurrence of in-band ripple.

Leapfrog filter

In a tuning circuit, use is made of a current-controlled type variable inductor comprising a tuning coil and a control coil for controlling the magnetic flux density of the tuning coil. The tuning coil is connected in series with the antenna; a tuning capacitor is connected to each end of tuning coil; and by controlling a current flowing through the control coil, magnetic flux induced in the tuning coil is increased, decreased or cancelled so that the magnetic flux density of the tuning coil is adjusted to control the inductance thereof, thereby permitting the tuning circuit to be tuned to any desired frequency in the receiving frequency band.

Tuning circuit and receiver

A leapfrog filter comprising a first and a second integrator each consisting of an operational amplifier and integrating capacitor. The leapfrog filter includes differential amplifier which is arranged to differentially supply current to the first and second integrators through a first and a second current source circuit respectively; and a third current source circuit for adjusting the sum of currents supplied to the first and second current source circuits, wherein characteristics such as the center frequency f.sub.o and quality factor Q of the leapfrog filter are controlled by adjusting the respective current values.

Leapfrog filter having adjustable center frequency and quality factor

In a pulse delay circuit device, a double-balanced type differential amplifier is provided which comprises a first and a second differential amplifier and is provided with a first and a second output stage. The design is made such that by rendering the differential amplifiers operative alternately, an output pulse having predetermined delay time and pulse width can be derived from each of the first and second output stages of the double-balanced type differential amplifier.

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Tsurugashima, Japan

Hiroshi Kondo