Hitachi Automotive Systems, Ltd.

Clarion Co

Hitachi, Ltd.

Hitachi Astemo Ltd.

Nidec Copal Corporation

Toshiyuki Aoki

Mikio Bando

Keiichi Betsui

Tomoaki Hiruta

Haruki Matono

Takeshi Nagasaki

Kazuhiro Okada

Tatsuhiko Monji

Takeshi Shima

Seiji Murata

Yukihiro Kawamata

Takayoshi Yokota

Masakatsu Hayashi

Koichi Kato

Tsutomu Hasegawa

Hiroyuki Kohida

Akihiro Kawabata

Zhixing Liu

Hiroshi Kuroda

Tomoyuki Hamada

Katsuaki Tanaka

Masayuki Takemura

Yoshitaka Uchida

Kohji Kamejima

Hideaki Kido

Mirai Higuchi

Yoshinori Katada

Morihiko Sakano

Yoshiyuki Sasada

Yoshiyuki Takamura

Eiji Sato

Takeo Takagi

Keiji Sato

Takuma Osato

Rikiya Kashimura

Yoshiyuki Muto

Naoya Tada

Ichirou Kuzumi

Shigeki Kunii

Shiwori Ishii

Masaji Yoshimura

Hiroki Moizumi

Yasuto Arakaki

Tsukasa Okada

Provided is a stereo camera that is capable of reducing the distance error created by entrance pupil center movement between different principal ray angles of incidence. In the present invention, imaging system unitimages a standard image of an object. Imaging system unitimages a reference image of the object. A geometric correction information storage unitstores geometric correction information for the standard image and reference image, which each have error depending on the differences between the positions of the object in the standard image and reference image if the entrance pupil center indicating the point of intersection between the principal ray and optical axis moves according to the angle of incidence and the positions of the object in the standard image and reference image if it is assumed that the entrance pupil center does not move according to the angle of incidence. The geometric correction unitgeometrically corrects the standard image and reference image using the geometric correction information.

Stereo camera

In order to improve parallax accuracy and output an accurate distance, this stereo image processing device is provided with: a stereo image capture unit that captures a plurality of images with different viewpoints; a synchronization unit that synchronizes image capture times when the plurality of images are captured; image correction units that parallelize and output the plurality of images captured by the stereo image capture unit; a parallax measurement unit that detects parallax on the basis of the images outputted by the image correction units; and an object detection unit that detects an object on the basis of the parallax measured by the parallax measurement unit, and is further provided with delay amount holding units that each hold, pixel by pixel, delay times from the image capture times synchronized by the synchronization unit, and an object parallax correction unit that corrects the parallax of the object detected by the object detection unit on the basis of the delay times held by the delay amount holding units.

Stereo image processing device

The present invention provides a stereo camera in which it is possible to improve the precision of correcting vertical offset between a first image captured by a first image-capture unit and a second image captured by a second image-capture unit. In the present invention, an image-capture system unitcaptures a benchmark image. An image-capture system unitcaptures a reference image. A geometry correction unitgenerates a plurality of geometry-corrected reference images having differing amounts of vertical-direction movement from the reference image. A parallax calculation unitgenerates a plurality of parallax images from the combination of the benchmark image and each of the reference images. A parallax image evaluation unitcalculates evaluation values pertaining to the reliability of each of the parallax images. A vertical offset correction unit: calculates, on the basis of a correspondence relationship between vertical offset and the evaluation values pertaining to reliability, an evaluation value pertaining to the maximum reliability and a vertical offset that corresponds to this evaluation value; and sets the vertical offset that corresponds to the evaluation value pertaining to the maximum reliability as a vertical offset correction amount.

An image processing device processes an image captured by at least one image-capturing device including a lens which has characteristics of including an inflection point of a change rate of an incidence angle per image height with respect to the incidence angle at a predetermined inflection point incidence angle. The image processing device includes a resolution adjustment unit that adjusts resolution of an inflection point correspondence image area corresponding to the predetermined inflection point incidence angle and resolution of at least one of an inside image area positioned more inside than the inflection point correspondence image area and an outside image area positioned outside of the inflection point correspondence image area.

Image processing device

An imaging apparatus includes a first imaging element that receives light having passed through a first optical element and outputs an image which has a luminance value corresponding to intensity of the light and is processed as a reference image. A second imaging element receives light having passed through a second optical element and outputs an image which has a luminance value corresponding to intensity of the light and is processed as a reference image. A distance calculation device calculates a distance image on the basis of the reference image and the comparison image, and recognition device recognizes an object on the basis of the distance image calculated by the distance calculation apparatus, in which the optical elements or the imaging elements satisfy at least one of conditions in which transmittance of the first optical element is higher than transmittance of the second optical element.

Imaging apparatus

Disclosed is a linear vibration motor comprising a movable element that is equipped with a magnet and weights; a coil for applying a driving force on the magnet through the application of an electric current; a frame, wherein the coil is secured; a shaft, borne on or secured by the frame, for supporting the movable element so as to be able to vibrate along the axial direction; and coil springs, disposed between the movable element and the frame, for elastically supporting the vibration of the movable element along the axial direction, on both sides of the movable element in the direction of vibration, wherein the directions of winding of the coil springs are set so as to prevent rotational vibration, around the shaft, of the movable element that is vibrating reciprocatingly along the axial direction.

Linear vibration motor

To process sensor information positively in an information processor to which plural sensors are connected. An information processing system including plural sensors, plural buses respectively connected to the plural sensors, an arbitration unit performing arbitration of the plural buses and a priority determination unit determining the priority of each of the plural sensors, in which the arbitration unit performs arbitration of the plural buses in accordance with the determination result of the priority determination unit.

Information processing system

The objective of the present invention is to obtain an external environment-recognizing apparatus with which it is possible to obtain detection results having a necessary accuracy when a plurality of target objects from a captured image are detected. This external-environment-recognizing apparatus has: a plurality of processing units for processing an image; a recognition application-storing unit for storing, by object type, a plurality of recognition applications for recognizing an object by processing using at least one processing unit among the plurality of processing units; an external-information-acquiring unit for acquiring external information that includes at least external environmental information or vehicle behavior information; and a selecting unit for selecting at least one recognition application from the recognition-application-storing unit, and for selecting, on the basis of the external information, a processing unit among the plurality of processing units for processing the selected recognition application.

External-environment-recognizing apparatus

A camera calibration device that captures images of at least one marker with at least two cameras and calibrates installation states of the at least two cameras based upon the captured images by the at least two cameras, includes: an extracting unit that extracts a feature amount of the at least one marker based upon the captured images by the at least two cameras; a primary calibration unit that calculates a position of each of the at least two cameras in a marker coordinate system, based upon the feature amount; and a secondary calibration unit that preforms coordinate transformation of the position of each of the cameras in the marker coordinate system calculated by the primary calibration unit, into a position of each of the cameras in a vehicle coordinate system.

Camera calibration device

The present invention addresses the problem of providing an imaging device that prevents mismatching in image matching for parallax calculation even if the sharpnesses of an end part and center part of a processing area differ. An imaging deviceaccording to the present invention is provided with a means for equalizing the sharpnesses of the processing areas of a reference image and a comparison image.

Imaging device

A navigation apparatus includes: a map information storage unit that stores road information; a position estimation unit that estimates the position of the vehicle; a map matching unit that specifies link candidate points corresponding to the position of the vehicle; a parallel roads determination unit that detects links of parallel roads that extend mutually parallel to one another; a traveling link determination unit that, for each link of the parallel roads, determines whether it is a traveling link upon which the vehicle is traveling, or a parallel link that extends parallel to the traveling link; and a link position correction unit that obtains position correction amounts for nodes of the traveling link and of the parallel link on the basis of the distance between the link candidate point that corresponds to the traveling link and the position of the vehicle.

Navigation apparatus

A position calculation method includes: by using a current position of a mobile object, a link candidate point position, an error variance of positions of a plurality of links included in a region around the current position, and an error variance of azimuths of the plurality of links, calculating, an evaluation value that corresponds to a probability that the mobile object is traveling upon a road corresponding to each link candidate point, for each link including the each link candidate point; and calculating the current position based upon the evaluation value, by taking the mobile object as being positioned at a link candidate point, among a plurality of link candidate points, for which the probability is highest.

Position calculation method and position calculation apparatus

A driving support device includes a maximum measurement range determination unit adapted to calculate a distance to a plurality of points on a surface of an object present at surroundings of a vehicle. A distance sensor such as a laser range finder or a stereo camera that measures a distance is used in order to estimate bias of an acceleration sensor with high accuracy upon correction of the bias by use of the distance sensor such as the stereo camera or the LRF in a GPS non-receiving section. A sensor parameter estimation unit is adapted to estimate a parameter of the acceleration sensor based on a behavior of an own vehicle obtained from a vehicle translation and rotation angle calculation means adapted to count backwards the vehicle behavior based on distance variation and also based on a measurement value of the acceleration sensor.

Driving support device

A position estimation device includes: a mathematical expression model processing unit that calculates a position of a mobile object, a condition quantity indicating a moving condition of the mobile object and an error in the condition quantity through filtering processing executed by using a probability model based upon an attitude information and a positioning information of the mobile object having been obtained from sensors and a specific mathematical expression model among a plurality of mathematical expression models expressing behavior of the mobile object; a threshold calculation unit that calculates a threshold candidate value for a threshold value to be used as a criterion when selecting the specific mathematical expression model, by using the error; a threshold value determining unit that determines the threshold value based upon the threshold candidate value; and a mathematical expression model selection unit that selects the specific mathematical expression model based upon the threshold value.

Position estimation device and position estimation method

An approaching object detection system, approaching object can be accurately detected while reducing the load on a calculation processing. A first moving region detection unit () detects (#) only an optical flow substantially in horizontal direction in an image (P) captured by a camera () (#) and sets (#) a rectangular image portion (Q) containing a region moving in a substantially horizontal direction according to the detected optical flow. A second moving region detection unit () obtains a distribution (profile) of signal values of the set rectangular image portion (Q), (#) in a vertical direction (longitudinal direction). Furthermore, the second moving region detection unit () correlates distributions of signal values of image portions (Q, Q) of two continuous images (P, P) in time series (#) based on dynamic programming based processing to obtain an enlargement rate (#). An approaching object determining unit () determines according to the enlargement rate whether the object is actually approaching.

Approaching object detection system

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Tokyo, Japan

Toshiyuki Aoki