Abstract: In an object detection device to be installed to a vehicle and detect an object outside the vehicle, a position calculator sets multiple candidate points representing a candidate position of the object, based on positions of feature points extracted from a first image captured at a first time. The multiple candidate points are set to be denser within a detection range set based on a distance to the object detected by the ultrasonic sensor than outside the detection range. The position calculator estimates positions of the multiple candidate points at a second time which is after the first time, based on the positions of the multiple candidate points and movement information of the vehicle, and calculates the position of the object by comparing the estimated positions of the multiple candidate points at the second time and the positions of the feature points extracted from a second image captured at the second time.

Abstract: In an apparatus for monitoring surroundings of a vehicle, a road surface recognizer recognizes from an image of surroundings of the vehicle captured by a camera, a road surface on which the vehicle can travel. A travel trajectory estimator estimates a travel trajectory from a current location of the vehicle based on a steering state of the vehicle. A travelable degree calculator calculates, based on the travel trajectory estimated by the travel trajectory estimator and a result of recognition of the road surface by the road surface recognizer, a travelable degree that is a degree to which the vehicle can travel on the road surface. A notifier provides a notification of the travelable degree calculated by the travelable degree calculator.

Abstract: An information processing apparatus includes a status determining unit, a speed detecting unit, and a display controlling unit. The status determining unit determines a control status of control performed by an output control apparatus controlling an output direction of a driving force for a vehicle. The speed detecting unit detects a traveling speed of the vehicle. The display controlling unit allows a display apparatus to display one or more surrounding images included in a plurality of surrounding images and determined according to the control status determined by the status determining unit and the traveling speed detected by the speed detecting unit, the plurality of surrounding images being images which show surroundings of the vehicle based on images captured by one or more cameras capturing images of the surroundings of the vehicle and which differ from one another in at least one of a viewpoint and a display range.

Abstract: A perimeter monitoring device is applied to a vehicle comprising a distance measuring sensor for transmitting a probing wave and receiving a reflected wave of the probing wave and an imaging device for capturing an image of the surroundings of the vehicle. The perimeter monitoring device comprises: an information acquisition unit for acquiring distance information, directional information, and object width information of an object existing in the vicinity of the vehicle as detection information of the object provided by the distance measuring sensor; an area setting unit for setting an image processing area on which image processing is performed in the image captured by the imaging device based on the distance information, the directional information, and the object width information acquired by the information acquisition unit; and an object recognition unit for performing the image processing on the image processing area set by the area setting unit to recognize the object.

Abstract: In an image processing apparatus, an image obtaining unit obtains an image of a region around a vehicle captured by an imaging device, and a region identifier identifies, based on the obtained image, a travelable region and a non-travelable region in the obtained image. The travelable region is a region in which the vehicle is travelable, and the non-travelable region is a region except for the travelable region in the obtained image. A boundary identifier identifies, in the obtained image, a boundary between the travelable region and non-travelable region. An image display unit displays the travelable region and non-travelable region while distinguishing the travelable region and non-travelable region from one another.

Abstract: An image creation device is provided with an image acquisition unit acquiring multiple captured images of a peripheral area, a detection unit detecting a three-dimensional object present in the peripheral area, a first conversion unit converting the multiple captured images into multiple individual overhead images to create a first conversion image by means of an overall overhead image, a second conversion unit creating a second conversion image in which an image captured from a virtual camera is converted in accordance with the conversion rule, the virtual camera being virtually arranged at a virtual position set on the vehicle such that a virtual optical axis direction faces the direction of the three-dimensional object, and a synthesis unit synthesizes the second conversion image on the first conversion image to create a synthesis image.

Abstract: An object detection device acquires a plurality of images captured by a camera mounted in a moving body and acquires movement information of the camera. The object detection device extracts an edge from a first image among the acquired images. The object detection device calculates a plurality of candidate points corresponding to the edge in a second image, based on the movement information and calculates candidate points corresponding to a plurality of heights as height candidates of the edge. The object detection device calculates a correlation index value between the edge and each of the plurality of candidate points and detects the candidate point with the largest correlation as a correspondence point of the edge. The object detection device detects an object at a position of the edge when the correlation index value of the detected correspondence point is equal to or smaller than a predetermined threshold.

Abstract: A parking assistance device is applied to a vehicle equipped with a camera for capturing an image of an area in front of the vehicle and is configured to assist forward parking of the vehicle in a parking space. The parking assistance device includes: a position estimation unit which, in a situation where the vehicle is advancing toward the parking space in a lateral passage of the parking space, estimates, based on an image captured by the camera, at least one of a first corner position, which is a near-side corner position at a vehicle entrance part of the parking space, and a second corner position, which is a far-side corner position at the vehicle entrance part, before the vehicle passes by the parking space; and a space recognition unit which recognizes the parking space for forward parking based on the at least one estimated corner position.

Abstract: A position acquisition unit acquires relative position information between an own vehicle and an obstacle based on a reception wave received by a distance measurement sensor. A shape recognition unit executes shape recognition of the obstacle based on image information acquired by an image capturing unit. A detection processing unit detects the obstacle based on the relative position information acquired by the position acquisition unit and a shape recognition result obtained by the shape recognition unit. The detection processing unit determines whether the height of the obstacle is equal to or greater than a predetermined height or not. The detection processing unit discards the relative position information corresponding to the obstacle in a case where the shape recognition result obtained by the shape recognition unit indicates that the height of the obstacle is less than the predetermined height.

Abstract: An image recognition device includes an image acquisition unit, a moving object detection unit, and a pedestrian detection unit. The image acquisition unit acquires consecutive captured images of a surrounding of a vehicle from a camera mounted to the vehicle. The moving object detection unit calculates a moving amount based on consecutive captured images in time series acquired by the image acquisition unit to detect a moving object from the captured images. The pedestrian detection unit detects a pedestrian using an identifier for identifying a pedestrian from the captured images acquired by the image acquisition unit. The pedestrian detection unit relaxes a detection criterion for detecting a pedestrian using the identifier in a region of a captured image where the moving object is detected.

Abstract: An obstacle detection apparatus includes a distance measuring sensor, an imaging section, and a control section. Based on a reception result of reception waves obtained by the distance measuring sensor, the control section acquires an estimated reflection position in an illuminated region already irradiated with search waves. Based on the estimated reflection position, the control section recognizes an outer shape of an obstacle. Based on an imaging result obtained by the imaging section, the control section performs image recognition of the obstacle. Based on a recognition result of the outer shape of the obstacle and a result of the image recognition, the control section acquires a relative position, with respect to a vehicle, of a portion of the obstacle in an image captured by the imaging section included in a non-irradiated region ahead of the illuminated region in a vehicle traveling direction.

Abstract: A parking assisting apparatus includes an imaging unit acquiring image information corresponding to an image of surroundings of a vehicle, an image processing section recognizing a feature shape in the image by processing the image information, an obstacle detecting section acquiring positional-relationship information corresponding to a positional relationship between the vehicle and an obstacle present around a parking space, and a manner-of-parking selecting section selecting a manner of parking the vehicle in the parking space from manner candidates including perpendicular parking and parallel parking based on the feature shape and the positional-relationship information.

Abstract: A parking assistance device is applied to a vehicle equipped with a camera for capturing an image of an area in front of the vehicle and is configured to assist forward parking of the vehicle in a parking space. The parking assistance device includes: a position estimation unit which, in a situation where the vehicle is advancing toward the parking space in a lateral passage of the parking space, estimates, based on an image captured by the camera, at least one of a first corner position, which is a near-side corner position at a vehicle entrance part of the parking space, and a second corner position, which is a far-side corner position at the vehicle entrance part, before the vehicle passes by the parking space; and a space recognition unit which recognizes the parking space for forward parking based on the at least one estimated corner position.

Abstract: An object detection apparatus is provided with a distance measurement sensor that measures a distance to an object which exists in a surrounding area of a vehicle, by transmitting scanning waves to the surrounding of the vehicle and receiving reflection waves of the scanning waves, and an image acquiring section that is adopted to the vehicle, and is provided with an on-vehicle camera that captures images in the surrounding of the vehicle, the imaging acquiring section acquiring an image that is captured by the camera. The apparatus includes a determination section that determines whether, a predetermined object that is difficult to detect by the reflection waves of the distance measurement sensor is included in the object image, and a sensitivity control section that increases a sensitivity of the object detection by the distance measurement sensor and a vehicle control that is executed relative to the predetermined object as a target object.

Abstract: An image processing unit repeatedly acquires a captured bird's-eye image which is obtained by bird's-eye conversion of a captured image of the surroundings of a vehicle. An image processing unit acquires a history image that is a bird's-eye image corresponding to a predetermined area in front in the traveling direction at each timing determined according to a predetermined condition. The image processing unit acquires a history image at every predetermined first cycle if an unstable condition related to a behavior of the vehicle is not satisfied. If an unstable condition is satisfied, the history image is acquired at a later timing than the first cycle. The image processing unit creates a bird's-eye image for display by extracting an area corresponding to a non-imaging area of the latest captured bird's-eye image from among the accumulated history images, and combining the extracted area with the non-imaging area.

Abstract: An image processing unit identifies the shape of an obstacle that is identified from an area that appears in a peripheral image based on an image captured by a camera. The shape of the obstacle includes at least a tilt of a section of the obstacle in a road-surface direction. The section of the obstacle faces a vehicle. The image processing unit generates a superimposed image in which a mark image that is generated as a pattern that indicates the identified obstacle is superimposed onto a position that corresponds to the obstacle in the peripheral image. At this time, the image processing unit variably changes properties of the mark image based on the tilt of the obstacle identified by an obstacle identifying unit. The image processing unit then displays the generated superimposed image on display apparatus.

Abstract: An ECU captures an image of an imaging region around an own vehicle, and acquires image data, the imaging region being configured by a plurality of imaging areas. The ECU determines whether the object is present in the imaging areas, on the basis of detection results of an object present around the own vehicle. The ECU selects a target area to be displayed in an easy-to-see state from among the plurality of imaging areas, on the basis of determination results. The ECU reduces and corrects the image data of each imaging area such that an image of the target area is displayed in the easy-to-see state compared to an image of each imaging area to generate display image data.

Abstract: An information processing apparatus includes a status determining unit, a speed detecting unit, and a display controlling unit. The status determining unit determines a control status of control performed by an output control apparatus controlling an output direction of a driving force for a vehicle. The speed detecting unit detects a traveling speed of the vehicle. The display controlling unit allows a display apparatus to display one or more surrounding images included in a plurality of surrounding images and determined according to the control status determined by the status determining unit and the traveling speed detected by the speed detecting unit, the plurality of surrounding images being images which show surroundings of the vehicle based on images captured by one or more cameras capturing images of the surroundings of the vehicle and which differ from one another in at least one of a viewpoint and a display range.

Abstract: A driving assistance device converts an image captured by an in-vehicle camera configured to image the periphery of a vehicle into an image viewed from a virtual viewpoint. The driving assistance device combines, as a higher-level layer, a vehicle image indicating the position and shape of the vehicle with a converted target image. The driving assistance device adjusts the opacity of the vehicle image such that the target image as a lower-level layer is visible at a superimposed portion of the vehicle image and the target image. At this point, the opacity of the vehicle image is variably set according to at least one of an own vehicle surrounding condition or a vehicle running condition. The driving assistance device outputs, as a driving assistance image, the target image combined with the adjusted vehicle image.

Abstract: An image processing device includes an image input section inputting images taken by a vehicle camera, a calibration target specifying section specifying a calibration target included both in a first image and in a second image, a vehicle information input section inputting information indicating travel distance and orientation change of the vehicle, a calculation section, and a storing control section. The calculation section converts the first and the second images to the first and second bird's-eye view images, respectively, arranges the first and the second birds-eye view images on common coordinate system with consideration of corresponding image taking positions and image taking orientations, and calculates at least one orientation parameter of the camera which minimizes position difference and rotation angle difference between the two calibration targets included in the first and second birds-eye view images. The storing control section stores the orientation parameter in storage.