logo

For the Inventor, By the Inventor

The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11726483 B1

PDFFull Text
Date of Patent:
Aug. 15, 2023

Filed:

Apr. 01, 2021

Apparatus for detecting inclination angle and controller

Applicant:

Toyota Jidosha Kabushiki Kaisha, Toyota, JP;

Inventor:

Daisuke Hashimoto, Chofu, JP;

Assignee:

TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;

Attorney:

Dickinson Wright, PLLC

Primary Examiner:

Tyler J Lee

Assistant Examiner:

Tiffany P Ohman

Int. Cl.
CPC ...
G05D 1/00 (2006.01); G05D 1/02 (2020.01); B60W 50/00 (2006.01); B60W 40/12 (2012.01); B60W 30/09 (2012.01); G06T 7/20 (2017.01); B60W 30/095 (2012.01); G06V 20/58 (2022.01); G06V 20/56 (2022.01); G06F 18/20 (2023.01); G06F 18/214 (2023.01); G06V 10/82 (2022.01); G06V 10/44 (2022.01);
U.S. Cl.
CPC ...
G05D 1/0212 (2013.01); B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 40/12 (2013.01); B60W 50/0097 (2013.01); G05D 1/0214 (2013.01); G05D 1/0238 (2013.01); G06F 18/2148 (2023.01); G06F 18/285 (2023.01); G06T 7/20 (2013.01); G06V 10/454 (2022.01); G06V 10/82 (2022.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2520/00 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30252 (2013.01);
Abstract

An apparatus for detecting an inclination angle includes a processor configured to input an image generated by a camera into a first classifier that has been trained to detect a two-wheeler, thereby detecting an object region including the two-wheeler in the image; rotate the object region by predetermined different angles to define characteristic regions as respective rotated regions; cut out the characteristic regions from the image; and detect a width of the two-wheeler in each of the characteristic regions and detects a rotation angle relative to the image as the inclination angle of the two-wheeler to the normal of the ground, based on rotation angles of the respective characteristic regions relative to the image and widths of the two-wheeler in the respective characteristic regions, the rotation angle minimizing the width of the two-wheeler.

Find Patent Forward Citations

Loading…