Abstract: An embedded permanent magnet type motor, which has one pole configured of two permanent magnets and has a plurality of poles of permanent magnets embedded in a rotor, includes a rotor whose magnet embedding holes communicate with a rotor outer periphery. The rotor has, between adjacent poles, a q-axis projection projecting in a direction away from a rotor rotation center. The magnet embedding holes are disposed so as to form an inverted V shape. An outer peripheral edge portion on the outer side of the permanent magnets has a curvature radius smaller than the distance from a rotation center axis to a rotor outermost peripheral portion. Circular intermediate plates of an outside diameter larger than the outside diameter of rotor steel plates are provided in intermediate positions in the rotor in a rotor rotation axis direction.

Abstract: A radar device mounted in a moving object includes a radar transmitter and a radar receiver. The radar receiver includes a plurality of antenna brunch processors that perform correlation processing of the received returning signals and the radar transmission signal, and generate respective correlation signals each including arrival delay information of each of the received returning signals, an electric power profile generator that generates an electric power profiles for each arrival direction of the received returning signals and Doppler frequency component, using the generated correlation signals, and a stationary object group distribution generator that, based on the generated electric power profiles, obtains a first distribution of a Doppler frequency components of a stationary object group including a plurality of stationary objects as the plurality of targets in the perimeter of the moving object, for each azimuth angle.

Abstract: A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position.

Abstract: Device (100) comprises: a stereo image acquisition unit (101) for acquiring a standard image and a reference image for a stereo image; an image segmenting unit (102) for acquiring standard pixel data and reference pixel data from the stereo image; a phase correction unit (103) for carrying out for each of the pixel data a phase correction process making the values of the standard pixel data more symmetrical; a windowing unit (104) for applying a windowing function to each of the pixel data that have undergone phase correction; a phase correlation unit 105 for calculating a phase correlation value between the two pixel data that have undergone windowing; and a peak position detection unit (106) for calculating, on the basis of the phase correlation value, the parallax of a corresponding point of the reference image with respect to a standard point on the standard image.

Abstract: Each of antenna system processors of a radar receiver generates, through correlation calculation of a reflection signal and a radar transmission signal, an array correlation signal for each delay in arrival of the reflection signal at each Doppler frequency. A static target candidate extractor extracts, on the basis of outputs of the antenna system processors and a Doppler frequency of a reflection signal from a static target located at a side of a moving body, array correlation signals corresponding to a candidate for the static target. A reference signal detector outputs a reference signal regarding the side of the moving body using, among the outputs of the static target candidate extractor, array correlation signals whose consistency is high. A correction value calculator calculates, using outputs of the reference signal detector, a correction value for correcting deviations between reception antennas included in an array antenna.

Abstract: A radar signal processing apparatus is disclosed which includes: time-series phase data generating section 3 generating time-series phase data in a range bin of interest based on a range profile indicating, for each range bin, a phase of a reflected wave of a radio wave from a target; phase-rotation-amount time-series data generating section 4 that divides the time-series phase data into segments of a predetermined time length, calculates an amount of phase rotation that occurs in the segments, and generates time-series data on the amount of phase rotation; pattern matching section 6 that performs pattern matching between the generated time-series data on the amount of phase rotation and a template of time-series data on the amount of phase rotation that is defined by a distance and a moving speed; and speed detection section 7 that detects the moving speed of the target based on a result of the pattern matching.

Abstract: Provided is a feature extraction device whereby it is possible, while using local binary patterns, to extract image features with which object detection which is robust against disparities in a photographic environment is possible. A feature extraction unit (440) comprises: a binary pattern generation unit (443) which generates, for each of all pixels or partial pixels in an image, local binary patterns which denote, by bit values, whether the difference in pixel values between the pixel and the surrounding adjacent pixels is greater than or equal to a threshold value; a weighting generation unit (444) which determines, for each generated local binary pattern, a weighting according to the pixel value difference; and a histogram generation unit (445) which applies the determined weightings to the corresponding local binary patterns and generates a histogram which denotes the distribution of the local binary patterns which are generated from the image.

Abstract: Disclosed is an object detection device capable of improving object detection accuracy by preventing erroneous combination detection. In this device, a detection object region correction unit (103) corrects a detection object region set by a detection object region set unit (102) on the basis of moving speed map information associated with a coordinate group in a reference image plane and the detected moving speed on each coordinate, which is detected by a radar. Thus, the detection object region can be amended by the use of the moving speed map information even when the detection object region is obtained as a result of erroneous combination. As a result, the object detection accuracy can be improved.

Abstract: Provided is a stereo distance measurement apparatus wherein a camera image itself is adjusted to correct the blur, thereby preventing the distance measurement time from being long, while improving the precision of disparity detection. In the apparatus (100), a blur adjusting unit (102) uses a filter to tailor the blur of one of two images used by a disparity measuring unit (103), to the blur of the other which is weaker. A camera image itself is adjusted, whereby the blur can be corrected. Moreover, tailoring the blur of the one image to the blur of the other image which is weaker allows an application of the filter, which is a simple processing, to cause the blurs of the images used in the disparity detection, to coincide with each other. Therefore, the precision of disparity detection can be improved, while the distance measurement can be performed at a high speed.

Abstract: Provided is a positioning information forming device which improves object detection accuracy. This device comprises a synthesis unit (103) which synthesizes camera distance map information and radar distance map information and generates “synthesized map information”. This synthesized map information is used for object detection processing by a detection device (200). In this way it is possible to improve object detection accuracy by being able to detect objects based on information in which the camera distance map information and radar distance map information have been synthesized. In other words, by synthesizing the camera distance map information and radar distance map information, it is possible to remove unnecessary noise due to reflection from the ground and walls, etc. and therefore set object detection thresholds to low values. It is therefore possible to detect even objects the detection of which was judged to be impossible in the past.

Abstract: A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position.

Abstract: Provided is a stereo image processing device, with which it is possible to compute disparity with high precision even for an object of a small image region size in a baseline length direction. With this device, an image matching unit (102) acquires a correspondence point of a reference image for a target point of a target image. An image cropping unit (201) extracts first two-dimensional pixel data including the target point from the target image, and extracts second two-dimensional pixel data including the correspondence point from the reference image. An image reconfiguration unit (202) reconfigures the respective first two-dimensional pixel data and second two-dimensional pixel data into first one-dimensional pixel data and second one-dimensional pixel data. A peak position detection unit (104) computes disparity based on the correlation between the first one-dimensional pixel data and the second one-dimensional pixel data.

Abstract: Device (10) comprises: a comparison object pixel acquisition unit (433) which acquires pixel values of a plurality of comparison object pixels which, when each pixel of an image is designated as a pixel of interest, and a ring-shaped region with the pixel of interest being designated as the center thereof being designated a vicinity region, said comparison object pixels are included in the vicinity region; a pixel difference calculation unit (434) which calculates the difference between the pixel value of the pixel of interest and the pixel values of each comparison object pixel; and a local binary pattern generation unit (435) which generates a local binary pattern for each pixel. A plurality of vicinity regions are present for each pixel of interest, and the distance of the vicinity regions are established on the basis of the spatial frequency characteristics of a lens with which the image is photographed.

Abstract: A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position.

Abstract: Provided is a stereo image processing apparatus and a method of processing a stereo image, wherein calculation precision of disparity is improved, while maintaining a processing amount equal to the SAD method. In the stereo image processing apparatus (200), a data deletion unit (201) is installed in a stage prior to an image matching unit (102) and a filter unit (103), and forms a thinned-out target image and a thinned-out reference image, by thinning out a target image and a reference image. The filter unit (103) carries out filtering that uses an inverted phase filter, which is matching based on phase correlation.

Abstract: An object detection device that can accurately identify an object candidate in captured stereo images as an object or a road surface. The object detection device (100) have a disparity map generator (120) that generates a disparity map based on the stereo images; a road surface estimator (130) that estimates a road surface based on the disparity map; an object candidate location extractor (140) that extracts an object candidate region above the road surface, based on the disparity map and the road surface; an object identifying region extractor (150) that extracts an object identifying region including a region around the object candidate region; a geometric feature extractor (160) that extracts a geometric feature of the object candidate based on the object identifying region; and an object identifying unit (170) that identifies whether the object candidate is an object or a road surface based on the geometric feature.

Abstract: A disparity calculation apparatus for a stereo camera implements ranging of an object that includes consecutive similar patterns. In stereo matching, if a plurality of corresponding point candidates are present in a sum of absolute differences or similar evaluation value distribution for a target point, an evaluation value map is generated by superimposing an evaluation value distribution of a target point, for which a plurality of corresponding points are determined to be present, and an evaluation value distribution of each other target point present in a peripheral area of that target point. The shape of an object is represented in real space around a target point for which a plurality of corresponding points are determined to be present. The true distance of a railing that extends in a straight line is determined by extracting a line segment with the strongest linearity in the evaluation value map.

Abstract: Provided is a feature extraction device including a sub region setting unit (433) which sets a plurality of sub regions with respect to a pixel of interest, and a binary pattern generation unit (434) which generates a local binary pattern indicating pixel value comparison results relative to each sub region with respect to each pixel of interest. The sub region setting unit (433) sets (436) a region constituted by a plurality of pixels including a pixel separated from the pixel of interest as a sub region, and the binary pattern generation unit (434) calculates (437) a representative value for each sub region and generates (439) a local binary pattern indicating whether or not the difference (438) between the representative value and the value of the pixel of interest is equal to or larger than a predetermined threshold value.

Abstract: Provided is a device for detecting intruding objects that enables the detection of intruding objects without requiring antenna switching. Delay units (102) use different delay amounts to delay signals received at each of a plurality of antennas (110). A signal synthesis unit (103) synthesizes the delayed signals. A frequency conversion unit (106) converts the synthesized signal frequency to a baseband. A wave detection unit (107) detects the signal that has undergone frequency conversion. A radar profile generation unit (104) uses the detected signal to generate a profile formed from the distance from the antenna, and the signal strength at each distance from the antenna. A detection processing unit (105) detects a peak in the profile at which the signal strength exceeds a preset threshold value, and determines whether an intruding object is present in a detection region on the basis of the detected peak.

Abstract: Provided are a pedestrian-crossing marking detecting method and a pedestrian-crossing marking detecting device, wherein the existence of pedestrian crossing markings and the positions thereof can be detected accurately from within a picked up image, even when detection of the intensity edges of painted sections is difficult. In the pedestrian-crossing mark detecting device (100), a road-surface distance of a predetermined range is calculated with respect to image data picked up from the periphery of the vehicle including the road, using camera installation information or a stereo camera's distance information, and the period of the pedestrian crossing markings is calculated on the basis of the road-surface distance of the predetermined range, and furthermore, a power of frequency is calculated using an even function and odd function of a square wave of the period as the basis function.