Oki Electric Industry Co., Ltd.

Clarion Co

Kirin Beer Kabushiki Kaisha

Nippon Mining & Metals Co., Ltd.

Faurecia Clarion Electronics Co., Ltd.

Manabu Kawabe

Takuro Sato

Toshio Kato

Atsushi Fukasawa

Kiyoki Sekine

Morihiko Sakano

Akiyoshi Kawahashi

Nobuyuki Matsuyama

Haruhiko Akiyama

Kenji Horiguchi

Morikatsu Horino

Yoshiaki Yagi

Tsukasa Saito

Shinichi Sato

Ryuichi Hirano

Yoshihito Shimazaki

Kiyohito Tokuda

Nobuhito Makino

Eiichi Shimizu

Calibration with high accuracy can be realized even when performing the calibration while running on the actual road. Specifically, the calibration apparatus is mounted in a vehicle and includes: an image acquisition unit configured to acquire captured images obtained by a camera, which is mounted in the vehicle, capturing images of surroundings of the vehicle; a feature point extraction unit configured to extract a plurality of feature points from the captured images; a tracking unit configured to track the same feature point from a plurality of the captured images captured at different times with respect to each of the plurality of feature points, which are extracted by the feature point extraction unit, and record the tracked feature point as a feature point trajectory; a lane recognition unit configured to recognize an own vehicle's lane which is a driving lane on which the vehicle is running, from the captured images; a sorting unit configured to sort out the feature point trajectory, which is in the same plane as a plane included in the own vehicle's lane recognized by the lane recognition unit, among feature point trajectories tracked and recorded by the tracking unit; and an external parameter estimation unit configured to estimate external parameters for the camera by using the feature point trajectory sorted out by the sorting unit.

Calibration apparatus and calibration method

High precision calibration of external parameters is possible even when the surrounding road surface is configured from a plurality of flat surfaces. Specifically, provided is a calibration device comprising a camera to be mounted on a vehicle traveling on a road surface; a characteristic point extraction unit which extracts characteristic points from a captured image obtained by being captured with the camera; a tracking unit which tracks the characteristic points extracted with the characteristic point extraction unit; a storage unit which stores a trajectory of the characteristic points obtained by tracking the characteristic points; a road surface estimation unit which estimates a flat surface on which the vehicle is traveling by using the trajectory of the characteristic points; a calculation unit which calculates a calibration trajectory, which is a trajectory of the characteristic points, for use in calibration based on the estimated flat surface; and an external parameter estimation unit which executes calibration of an external parameter of the camera by using the calibration trajectory.

Calibration device and calibration method

A road surface area detection device includes a normalized speed calculation portion configured to calculate a normalized speed based on a movement of a feature point in an image captured by a camera that is disposed in a vehicle; a determination range calculation portion configured to calculate a road surface determination range, which is indicated by a magnitude of the normalized speed, based on the normalized speeds of at least two feature points at different positions in a width direction of the vehicle in a predetermined central area where the vehicle is positioned in a center thereof in the width direction perpendicular to a vehicle traveling direction; and a road surface area identification portion configured to identify, as a road surface area on which the vehicle travels, a position in the width direction that includes the feature point whose normalized speed is within the road surface determination range.

Road surface area detection device

There are provided a calibration apparatus and method capable of obtaining a high-precision calibration result by taking out only feature points on a road surface from images captured by an in-vehicle camera which is a calibration target. A road surface range is estimated by using feature points appearing in an image(s) captured by a camera (a front cameraor a rear camera) that is not a camera on which the calibration is executed (a side camera); and the calibration is executed by using only feature points existing within the estimated road surface range from among the feature points appearing in an image(s) captured by the camera on which the calibration is executed.

Calibration apparatus and method for in-vehicle camera

It is to provide a vapor phase growth apparatus which can perform vapor phase growth of a thin film having a good uniformity throughout a surface of a wafer. The vapor phase growth apparatus includes at least a sealable reactor, a wafer containing member (wafer holder) installed within the reactor and having a wafer mounting portion (pocket hole) on a surface thereof for holding a wafer, a gas supply member (gas inlet pipe) for supplying raw material gas towards the wafer, a heating member (heater) for heating the wafer, and a heat uniformizing member (susceptor) for holding the wafer containing member and uniformizing heat from the heating member, wherein raw material gas is supplied into the reactor in a high temperature environment while heating the wafer by using the heating member via the heat uniformizing member and the wafer containing member, to form a film grown on a surface of the wafer, and wherein a recess portion depressed in a dome shape is formed at a back side of the wafer containing member.

Vapor phase growth apparatus

It is to provide a method for growing an epitaxial crystal in which the doping conditions are set when an epitaxial crystal having a desired carrier concentration is grown. A method for growing an epitaxial crystal while a dopant is added to a compound semiconductor substrate, comprises: obtaining a relation between an off angle and a doping efficiency with regards to the same type of compound semiconductor substrate in advance; and setting a doping condition for carrying out an epitaxial growth on the compound semiconductor substrate based on the obtained relation and a value of the off angle of the subtrate.

Method for growing epitaxial crystal

A method of switching a communication channel when a mobile station moves from one service area to another service area is disclosed. The mobile station determines a difference between the transmission phase of a frame synchronizing signal received from a first base station currently holding a communication channel with the mobile station and the transmission phase of a frame synchronizing signal received from a second base station expected to newly set up a communication channel with the mobile station. The mobile station sends phase difference information representative of the above difference to the first base station via the communication channel. The first base station having received the phase difference information transfers the information to the second base station, causing it to correct the phase of data thereof to be sent to the mobile station. This successfully implements soft handover while guaranteeing the phase synchronization of frames sent from the two base stations.

Mobile communication system for accomplishing handover with phase difference of frame sync signals corrected

Differences between two adjacent bits of connection control data are derived in sequence. The derived differences are logically combined with a pilot signal and simultaneously with user data. The logically combined signals are spread to spreading bands and added to each other. The added signal is used as a modulating signal and transmitted through phase shift keying (PSK). Thereafter, the PSK modulated carrier is demodulated to derive the modulating signal. The modulating signal is despread to derive a user signal. The user signal includes the user data and the foregoing differences. The modulating signal is further despread to derive the pilot signal with the foregoing differences included. The pilot signal with the foregoing differences is subjected to a conjugate conversion and then multiplied by the user signal so that the foregoing differences are removed from the user signal to obtain the user data. The connection control data is reconstructed from the foregoing differences included in the pilot signal.

Communication system, transmitter and receiver

A spreading code generator generates a spreading code by modulo-two addition of two internal spreading codes. The first internal spreading code is part of a pseudorandom noise sequence, created by resetting a pseudorandom noise generator to an assigned initial state at intervals determined by counting a framing signal. The second spreading code is selected from a set of preferably orthogonal sequences, the selected sequence being repeated at intervals shorter than the period of the framing signal. A code-division multiple-access communication system employs this spreading code generator to generate all spreading codes used at all communicating stations. One of the spreading codes generated at each station is transmitted as a synchronization signal.

Spreading code generator and CDMA communication system

A transmission device is disclosed in which user data are cross converted, at their base band, by the orthogonal transformers 31.about.34. Signaling data are collected at every integer which does not exceed the ratio of the user data to the signaling data and time division-like multiplexed by the multiplexer 20. The multiplexed data are crossly converted, at its base band, by the orthogonal transformer 35. The base band data cross converted by the orthogonal transformers 31.about.35 are added by the adder 40 and carrier modulated so as to be radio transmitted from the antenna 60.

CDMA communications system using multiplexed signaling data lines

To initiate communication, a first station generates a synchronization signal and sends the synchronization signal to a second station. When the second station detects the synchronization signal, the second station acquires synchronization and sends a synchronization-acquisition message back to the first station. The first station now reduces the power of the synchronization signal, while continuing to send the synchronization signal, and also begins sending a modulated data signal. The second station uses the synchronization signal to maintain synchronization for demodulating the data signal.

Method of controlling synchronization signal power in a communication

In a mobile radio communication system, at a transmitter side, when a sound-absent section is detected in sound data, transmission of the sound data is stopped, and instead, tail bits are transmitted. A transmission power is lowered to 0 (zero) or a given value other than 0 when the transmission of the tail bits is finished. The lowering of the transmission power is held until a sound-present section is detected. Convolutional encoding is effected to the sound data and the tail bits prior to transmission. At a receiver side, the variation in transmission power is monitored to control an operation of an associated component in response to the monitored power variation. Viterbi decoding is effected for decoding the convolutional code.

Mobile radio communication system

There is disclosed a spread code generation device for spread spectrum communication wherein an input data is modulated so as to be spread by a spread code having a first period. The device includes a long period PN code generator for generating a spread code having a second period longer than the first period, an initial state register for storing an initial phase of the spread code having the first period output from the long period PN code generator and for outputting the initial phase to the long period PN code generator, and a counter for receiving and computing the spread code output from the long period PN code generator and for outputting a trigger signal to the initial state register when the computed spread code reaches the first period. The initial state register outputs the initial phase to the long period PN code generation in response to the trigger signal from the counter. The long period PN code generator is reset to the initial phase when the initial phase is input to the long period PN code generator, whereby the spread code having the first period is output from the counter.

Spread code generation device for spread spectrum communication

In a block-spreading code-division multiple-access communication system a demodulator stores received chip data in a separate memory area for each transmitting station. Each area has a capacity of at least two blocks. When a complete block is received from a transmitting station, all blocks of data stored in the corresponding memory area are correlated against a set of product codewords, which are obtained by spreading a set of orthogonal codewords by the transmitting station's spreading code, to find the codeword that gives the maximum correlation value. For the oldest block, this correlation value and information identifying the codeword are output. For all blocks, the maximum correlation value and corresponding product codeword are used to calculate interference correction data, which are subtracted from the data in other memory areas.

Growing community of inventors

Tokyo, Japan

Manabu Kawabe