Denso Ten Limited

Fujitsu Corporation

Yasutaka Okada

Jun Kanetake

Tetsuo Yamamoto

Hiroaki Sano

Atsushi Yoshihara

Ryo Yoshimura

Tomoki Shidori

Kimitaka Murashita

Ryusuke Seki

Yuki Katayama

Masami Mizutani

Rei Hiromi

Hiroshi Yamada

Toshiaki Ando

Hiroyuki Watabe

Yoshikuni Miki

Aoi Ogishima

Kengo Iino

In an image recognition apparatus, a processor performs, based on an input image and using an image recognition model, a plurality of object detection processes to detect as an object detection region a region in the input image where a recognition target object is judged to be present. In the plurality of object detection processes, a plurality of mutually different image recognition models are used. The processor generates inference result data according to the degree of overlap among a plurality of object detection regions detected in the plurality of object detection processes.

Image recognition apparatus, image recognition method, and a learning data set generation apparatus

An object to reduce a possibility that a detection target appearing in a captured image is not detected. In order to achieve such an object, an image processing device includes: a first detection unit that is configured to detect a predetermined object and a predetermined part of the predetermined object from an acquired captured image; a setting unit that sets a detection range in the captured image based on a detection result of the first detection unit in a case where only the predetermined object out of the predetermined object and the predetermined part has been detected by the first detection unit; and a second detection unit that attempts to detect the predetermined part in the detection range.

Image processing device and image processing method

A vehicle onboard apparatus mounted in a vehicle includes an in-vehicle processing unit that performs image recognition on an input image from a camera mounted in the vehicle. The in-vehicle processing unit performs the image recognition using an image recognition model corresponding to position information of the vehicle and additional reference information different from the position information.

Vehicle onboard apparatus, image recognition system, support apparatus for vehicle onboard apparatus, image recognition method, and model data transmission method

A model generating apparatus includes a measurement unit and a change unit. The measurement unit measures a size of an object appearing on an image included in data set. The change unit changes, based on a distribution of the size, a layer to be connected to a detection unit of a Convolutional Neural Network (CNN) for detecting an object appearing on the image, among layers for extracting feature included in the CNN.

Model generating apparatus and model generating method

An information processing device includes a memory and a processor coupled to the memory. The processor acquires a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle, calculates an amount of movement of the vehicle based on a sensor value acquired during a measurement period between the first time and the second time, outputs a result of distance measurement using a first distance measurement method to perform distance measurement using the first image or the second image or a second distance measurement method to perform distance measurement using the first image and the second image, depending on the amount of movement and outputs a result of calculation of a route to guide the vehicle to a parking space, based on the result of distance measurement.

Information processing device and recording medium recording vehicle parking support program

An image processing device includes: a detection unit which detects a target object based on edge information acquired from image data; and a judging unit which judges whether a certain region in the image data is an improper region that is not suitable for detection of the target object based on an edge pattern of edge information in the certain region and a feature pattern indicating a feature of the target object, and the detection unit detects the target object excluding a region that has been judged to be the improper region by the judging unit.

In a travel status recording apparatus, a data acquisition unit acquires first travel status data and second travel status data indicating a travel status in relation to a vehicle. An event detection unit detects a predetermined event that occurs in relation to the vehicle based on the first travel status data acquired. In response to the predetermined event being detected, a data analysis unit analyzes the second travel status data using artificial intelligence. A recording control unit records, in a storage unit, an analysis result of the second travel status data in association with event detection information in relation to the predetermined event.

Travel status recording apparatus

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle; an exclusion determination unit configured to determine whether there is a parking-unavailable area in which parking of the vehicle is not permitted; and a parking space detection unit configured to detect the parking space based on the delimiting line candidate. In a case where plural parallel lines that are adjacent to the delimiting line candidate and that have a predetermined angle to the delimiting line candidate is detected, the exclusion determination unit regards an area in which the plural parallel lines are provided as the parking-unavailable area, and prohibits the parking space detection unit from detecting the parking space across the delimiting line candidate adjacent to the parking-unavailable area.

An image processing device includes: an extraction unit which extracts, from image data taken by shooting a neighborhood of a vehicle, edge points that are to be used for detecting partition lines of a parking frame and whose edge intensity values are larger than an edge threshold value; and a correction unit which corrects the edge threshold value based on a density of the edge points extracted by the extraction unit.

An image processing device includes: a delimiting line detection unit configured to detect a delimiting line candidate based on image data obtained by capturing a surrounding of a vehicle, the delimiting line candidate being a candidate of a delimiting line that delimits a parking space; and an exclusion determination unit configured to determine whether or not to exclude the delimiting line candidate detected by the delimiting line detection unit from the candidate of the delimiting line. In a case where a plurality of the delimiting line candidates is detected within a predetermined range in the image data, the exclusion determination unit determines whether or not to exclude the delimiting line candidate from the candidate of the delimiting line by comparing edge strength of the plurality of delimiting line candidates.

Image processing device and image processing method detecting vehicle parking space

An image processing device includes: a detection unit which detects partition line candidates that are candidates for a partition line for partitioning a parking frame, based on edge lines that are detected based on luminance of each pixel of image data taken by shooting a neighborhood of a vehicle; and a generation unit which generates an integrated partition line candidate by integrating the partition line candidates detected by the detection unit, according to a prescribed integration condition.

An image processing device includes: an extraction unit which extracts edge lines based on image data taken by an imaging device by shooting a neighborhood of a vehicle; a selection unit which selects, as a pair of edge lines, edge lines that satisfy a prescribed condition from the extracted edge lines; an exclusion unit which, in a case where a non-paint-out region exists between the pair of edge lines, excludes quasi-edge lines that form the non-paint-out region from the pair of edge lines; and a detection unit which detects a partition line that partitions a parking frame based on the pair of edge lines from which the quasi-edge lines are excluded.

An image processing device includes: an extraction unit which extracts a horizontal edge line in which edge points are arranged consecutively in a horizontal direction from an image taken that contains an image of a parking frame; a detection unit which detects a three-dimensional indication body to serve as a stop position indication body in the parking frame based on the horizontal edge line extracted by the extraction unit; and a determining unit which, in a case where a plurality of the horizontal edge lines are arranged in a vertical direction in an image of the three-dimensional indication body detected by the detection unit, determines the stop position regarding one of the plurality of the horizontal edge lines other than a highest horizontal edge line in the vertical direction as corresponding to a top end line of the three-dimensional indication body.

An image processing device includes: a setting unit configured to set an area, as a first area, in which at least one delimiting line for delimiting a parking space is detected in a first image of plural images continuously captured while moving; and a prediction unit configured to predict, based on the first area, a second area in which the at least one delimiting line is to be detected in at least one second image of the plural images, the at least one second image being captured later in time than the first image.

Image processing device and method predicting areas in which to search for parking space delimiting lines

An image processing device includes: an extraction unit configured to extract at least one edge line based on image data obtained by an imaging device configured to capture a surrounding of a vehicle; a giving unit configured to give a priority to each of the at least one edge line; a registration unit configured to register the at least one edge line in descending order of the priority while limiting a number of registration of the at least one edge line to an upper limit or smaller of the number of registration; and a detection unit configured to detect a parking space, based on the at least one edge line registered.

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Kobe, Japan

Yasutaka Okada