Toyota Jidosha Kabushiki Kaisha

Toyota Motor Europe Nv/sa

Kabushiki Kaisha Toyota Chuo Kenkyusho

Mineki Soga

Hiromichi Yanagihara

Cristiano Niclass

Harald Franz Arno Merkel

Toshiki Kindo

Radivoje Popovic

Shigeru Ando

Hideo Fukamachi

Keiichi Yamada

Yoichi Kato

Mitsuhiko Ohta

Marc Lany

Kota Ito

Edoardo Charbon

An image processing device includes a storage unit, an initial setting unit configured to store a position of an optical axis neighborhood point in a first image obtained by the imaging unit in the storage unit as an initial position of a specific point in the first image in association with image features of a surrounding area of the optical axis neighborhood point, a search unit configured to search for a corresponding point of the specific point in a second image obtained by the imaging unit based on the image features of the surrounding area of the specific point stored in the storage unit, and an output unit configured to output a position of the corresponding point in the second image as a position of the reference point in the second image.

Image processing device

An object detection apparatus is provided with: an imager configured to image surroundings of a subject vehicle and to obtain a surrounding image; an object detector configured to detect an interested-object from the surrounding image and to output first image coordinates, which indicate a position of the detected interested-object on the surrounding image; a calculator configured to associate the interested-object with one or more coordinate points out of a plurality of coordinate points, each of which indicates three-dimensional coordinates of respective one of a plurality of points on a road, on the basis of the first image coordinates and a position of the subject vehicle, and configured to calculate at least one of a position of the interested-object on a real space and a distance to the interested-object from the subject vehicle on the basis of the position of the subject vehicle and the one or more coordinate points associated.

Object detection apparatus

An imaging apparatus is provided with an imager configured to image surroundings of a moving body, and configured to obtain a surrounding image; a position detector configured to detect a position of the moving body; a map device configured to store therein road map information; a setting device configured to estimate an area corresponding to a road in the obtained surrounding image on the basis of the detected position and the road map information, and configured to set a photometric area including at least a part of the estimated area; a calculator configured to calculate an exposure condition of said in on the basis of image information in the set photometric area in the obtained surrounding image; and a controller programmed to control said imager on the basis of the calculated exposure condition.

Imaging apparatus

There is provided a light detector having a light-receiving unit including a light-receiving element of a photon-counting type that receives incident light and outputs a binary pulse indicating presence or absence of photon incidence, and an integrating unit that calculates an output value in which a total of pulse widths of pulses is integrated over a measurement period.

Light detector

An optical rangefinder based on time-of-flight measurement, radiates pulsed light toward an object (), and receives reflected light from the object, the receiver operating in a photon counting mode, so as to generate a pulse for a detected photon. There is a variable probability of a photon detection on the receiver, and a controller () controls the photon detection probability of the receiver, based on a light level. By controlling the detection probability according to a light level, the receiver can have an increased dynamic range, and without the expense of using optical components. This can apply even while detecting very weak signals since the receiver can still be in a photon counting mode while the detection probability is controlled. The light level can be indicated by an output of the receiver itself, or by another detector external to the receiver.

Pulsed light optical rangefinder

A first semiconductor layer serves as a first implanted layer of a first conductivity type. A second semiconductor layer of a second conductivity type is provided under the first semiconductor layer. The second conductivity type is opposite to the first conductivity type. The second semiconductor layer is buried in an epitaxial layer grown above a substrate. The second semiconductor layer becomes fully depleted when an appropriate bias voltage is applied to the device.

Single photon avalanche diode with second semiconductor layer burried in epitaxial layer

A photodetector disclosed herein comprises an avalanche transistor having a reference junction structure in which temperature characteristics of a current amplification factor are about the same as those of an avalanche photodiode and which is reverse-biased, and a current injection junction structure which injects a reference current to the reference junction structure and which is forward-biased. Voltages to be applied to the avalanche photodiode and the reference junction structure are controlled so that the amplification factor of the reference current amplified in the reference junction structure is retained at a predetermined value, whereby the temperature characteristics of the photodetector utilizing an avalanche effect can be stabilized.

Photodetector

A submillimeter wavelength radar system has a receiver () for receiving and downconverting signals from content in a field of view of the system and a signal processor () arranged to determine information about the content from the downconverted signals, the radar system being arranged to obtain signals of the same points in the field of view from different illumination or receiving angles by having multiple illumination or receive positions, and the signal processor being arranged to use the determined information from the signals from the two or more angles to determine location or orientation of the content. By using information from different angles, it becomes possible to address or overcome the drawback of submillimeter wavelengths that most of the reflection is specular and so only surfaces of an object facing the radar system are detectable, meaning that many objects are unrecognisable.

Submillimeter radar using signals reflected from multiple angles

A signal processor () for a submillimeter wavelength active radar system () processes signals received and downconverted by the radar system, the downconverted signals corresponding to a given pixel of the field of view having time varying amplitude and phase components which have a periodic component which is dependent on content. Information about the content is discriminated from the periodic component. By using phase rather than only amplitude, there is additional information in the downconverted signals. The phase is more sensitive to changes in the content such as objects, background and atmospheric conditions, than amplitude alone. The phase information enables the periodic component to be retained which can be characteristic of the content owing to content flutter, changes in submillimeter standing waves and interference fringes in received reflections of submillimeter illumination if surface layers have a thickness of a number of half wavelengths.

Submillimeter radar using phase information

An antenna () has a one dimensional or multidimensional array of elements (), wherein spacings between successive elements of at least part of the array are non periodic and correspond to a series of multiples of a unit spacing, the multiples following a Fibonacci sequence. Two dimensional arrays can be arranged as a Fibonacci grid or as a Fibonacci square tiling. The number of elements can be reduced for a given measure of resolution, while still enabling the signal being transmitted or received to have a peak in a single unique direction and thus form a beam. Furthermore, since there will be some elements clustered close together and a few which are well spaced, it can be more suitable for vehicles () than a regularly spaced array. It can be used as a transmit antenna or as a receive antenna for a submillimeter radar system.

Antenna having sparsely populated array of elements

In an image conversion method and apparatus, luminance Yof each pixel of a converted image is obtained by use of an expression Y=CY+CYand from luminance Yof a corresponding pixel of a source image, luminance Yof a corresponding pixel of a low frequency image, and Cand Cwhich are functions of the luminance Y. Since C+Cis constant when Y&#x2266;T, contrast of a low frequency component can be prevented from decreasing. In a portion in which the luminance Yof the low frequency image is low, the low frequency image is enhanced. In a portion in which the luminance Yof the low frequency image is high, the low frequency image is suppressed. In a method and apparatus for detecting noise level of an original signal in real time, a plurality of local regions are set on an input image in such a manner that the local regions are distributed uniformly over the entire area of an image. In each local region, determination as to whether or not luminance is saturated is performed. Variation in luminance is detected in each of a plurality of unsaturated local regions. Noise level is determined on the basis of the detected variation.

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Nisshin, Japan

Mineki Soga