Denso Corporation

Denso International America, Inc.

Kenji Okano

Takamichi Torikura

Hiroshi Ishida

Yuki Yamagami

Malok Alamir Tamer

Hiroaki Maruno

Matias Focken

Atsushi Yoshihara

Hirofumi Takasuka

A calibration verification method for verifying a calibration result of a camera mounted to a vehicle includes: an image acquiring step for acquiring an image captured by a camera; an overlay position calculation step for calculating a display position of a required accuracy range based on positional information of a verification target and a required accuracy of the camera; an overlay image generation step for generating an overlay image indicating a display position of the required accuracy range, and causing a display device to display a verification image where the overlay image is overlaid on the image captured by the camera; and a determination step for determining that the calibration result of the camera satisfies the required accuracy of the camera.

Verification method for calibration of camera, calibration verification program and calibration verification apparatus

In a vehicle surroundings recognition apparatus that recognizes a specific target around a vehicle from an image captured by an imaging unit, a shadow detection unit is configured to detect a shadow region based on a difference, between a plurality of elements constituting the image, in intensity of a specific color component included in colors represented by the plurality of elements and a difference in luminance between the plurality of elements, the shadow region being a region in the image in which a shadow is cast on a surface of the road. A feature point detection unit is configured to detect feature points in the image. A recognition unit is configured to recognize the target based on the shadow region detected by the shadow detection unit and a group of feature points detected by the feature point detection unit.

Vehicle surroundings recognition apparatus

An attitude estimation device acquires a plurality of images captured by a plurality of cameras mounted to a vehicle so as to form a plurality of overlap areas in each of which imaging areas partly overlap with each other. The attitude estimation device detects feature portions contained in regions on images respectively including appearances of the overlap areas. Then, the attitude estimation device calculates, for each of the overlap areas, an amount of positional offset between the feature portions detected from the plurality of images respectively including appearances of the overlap areas, and estimates an attitude of the vehicle, based on a difference in the amount of offset calculated for each of the plurality of overlap areas.

Attitude estimation device

An image processing device includes an image acquiring unit, a detection unit, and a display processing unit. The image acquiring unit is configured to acquire a captured image from an image capturing device configured to capture an image of the periphery of a vehicle. The detection unit is configured to detect a lane marker defining a traveling track of the vehicle from the captured image acquired by the image acquiring unit. The display processing unit is configured to display, on a display device, a superimposition image as the captured image on which a marker image for supporting visibility of the lane marker is superimposed such that the marker image is superimposed on the lane marker detected by the detection unit.

Image processing device

A camera monitoring system for a vehicle includes a plurality of cameras disposed around an exterior of a vehicle. An image processing module communicates with the plurality of cameras, generating overhead view images from raw images taken by at least one of the plurality of cameras. A histogram module communicates with the image processing module, generating at least one histogram from the overhead view images. A likelihood module communicates with the histogram module and determines a likelihood of blockage for at least one of the plurality of cameras. A line alignment module communicates with the likelihood module and the image processing module to determine whether a trajectory of detected feature points in a selected camera aligns with a trajectory of detected feature points in an adjacent camera. A reporting module communicates with the line alignment module and reports a camera blockage status to at least one vehicle system or controller.

Surrounding view camera blockage detection

A lane detection apparatus that detects a lane along which a vehicle travels includes: a side detection portion that detects a side lane division existing on a side of the vehicle; a front detection portion that detects a front lane division existing in front of the vehicle; a traveling speed detection portion that detects a traveling speed of the vehicle; a position correction portion that corrects a position of the front lane division based on a time lag of imaging timing between the side vehicle onboard camera and the front vehicle onboard camera, and the traveling speed; a checkup portion that compares a position of the side lane division and a corrected position of the front lane division; and an output portion that outputs the position of the side lane division as a detection result.

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Kariya, Japan

Kenji Okano