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1. WO2007046336 - OBJECT RECOGNIZING DEVICE

Publication Number WO/2007/046336
Publication Date 26.04.2007
International Application No. PCT/JP2006/320572
International Filing Date 16.10.2006
IPC
G01B 21/20 2006.01
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the other groups of this subclass
20for measuring contours or curvatures, e.g. determining profile
B60R 21/00 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
RVEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
21Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
G01S 13/93 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems, specially adapted for specific applications
93for anti-collision purposes
G01S 15/93 2006.01
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
15Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
88Sonar systems specially adapted for specific applications
93for anti-collision purposes
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
CPC
B60W 2420/52
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
2420Indexing codes relating to the type of sensors based on the principle of their operation
52Radar, Lidar
B60W 30/06
BPERFORMING OPERATIONS; TRANSPORTING
60VEHICLES IN GENERAL
WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
30Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units ; , or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
06Automatic manoeuvring for parking
G01B 21/20
GPHYSICS
01MEASURING; TESTING
BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
21Measuring arrangements or details thereof in so far as they are not adapted to particular types of measuring means of the preceding groups
20for measuring contours or curvatures, e.g. determining profile
G01S 13/931
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
G01S 2013/9314
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
9314Parking operations
G01S 2013/932
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
13Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
88Radar or analogous systems specially adapted for specific applications
93for anti-collision purposes
931of land vehicles
932using own vehicle data, e.g. ground speed, steering wheel direction
Applicants
  • アイシン精機株式会社 AISIN SEIKI KABUSHIKI KAISHA [JP]/[JP] (AllExceptUS)
  • 柿並俊明 KAKINAMI, Toshiaki [JP]/[JP] (UsOnly)
  • 渡辺 宏行 WATANABE, Hiroyuki [JP]/[JP] (UsOnly)
Inventors
  • 柿並俊明 KAKINAMI, Toshiaki
  • 渡辺 宏行 WATANABE, Hiroyuki
Agents
  • 北村修一郎 KITAMURA, Shuichiro
Priority Data
2005-30610020.10.2005JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) OBJECT RECOGNIZING DEVICE
(FR) DISPOSITIF DE RECONNAISSANCE D’OBJET
(JA) 物体認識装置
Abstract
(EN)
An object recognizing device for stably recognizing the shape of an object with a low computational complexity even if data on an object to be detected is mixedly present. The object recognizing device comprises an object detecting section (1), a shape model setting section (3), a goodness-of-fit computing section (4), and a contour determining section (5). The shape model setting section (3) extracts a given sample from a group of samples constituting surface shape information detected by the object detecting section (1) and determines a shape model. The goodness-of-fit computing section (4) computes the goodness of fit of each shape model. The setting of a shape model and the computation of the goodness of fit are carried out at most a predetermined times. The contour shape determining section (5) determines as a contour shape a shape model having a goodness of fit higher than a first reference value most early irrespective of the predetermined times if there are goodnesses of fit higher than the first reference value.
(FR)
Dispositif de reconnaissance d’objet reconnaissant de façon stable la forme d’un objet et introduisant une faible complexité de calcul, même lorsque les données sur un objet à détecter sont mélangées. Le dispositif de reconnaissance d’objet comprend une section (1) de détection d’objet, une section (3) de définition de modèle de forme, une section (4) de calcul d’adéquation d’adaptation et une section (5) de détermination de contour. La section (3) de définition de modèle de forme extrait un échantillon donné d’un groupe d’échantillons constituant des informations de forme de surface détecté par une section (1) de détection d’objet et détermine un modèle de forme. La section (4) de calcul d’adéquation d’adaptation calcule l’adéquation d’adaptation de chaque modèle de forme. La définition d’un modèle de forme et le calcul de l’adéquation de l’adaptation sont réalisés à des instants prédéterminés. La section (5) de détermination de contour détermine en tant que contour un modèle de forme ayant une adéquation d’adaptation supérieure à une première valeur de référence précédente, sans tenir compte des instants prédéterminés s’il existe des adéquations d’adaptation supérieure à la première valeur de référence.
(JA)
 少ない演算量で、被検出対象のデータが混在しても安定して物体の形状を認識することができる物体認識装置を提供する。  物体認識装置は、物体検出部1と、形状モデル設定部3と、適合度演算部4と、輪郭形状決定部5とを備える。形状モデル設定部3は、物体検出部1によって検出された表面形状情報を構成する標本群から任意の標本を抽出して形状モデルを定める。適合度演算部4は、各形状モデルの適合度を演算する。形状モデルの設定と適合度の演算は最大で規定回数分行われる。輪郭形状決定部5は、第一基準値以上の適合度が存在する場合は、規定回数に拘らず最先に第一基準値以上となった適合度を有する形状モデルを輪郭形状として決定する。
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