Patents by Inventor Kenjiro Yamamoto

Kenjiro Yamamoto has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 11151729
    Abstract: Improvement in the accuracy of estimating the position of a mobile entity even while traveling or if there is an error in the calibration performed utilizing: a mobile entity; an imaging device provided in the mobile entity; and an information processing device for determining a first movement amount by which a detection point that is the same object has moved on the basis of a first image and a second image acquired by the imaging device and a second movement amount by which the mobile entity has moved while the first image and the second image were acquired, determining the accuracy of recognizing the detection point acquired by the imaging device on the basis of the first movement amount and the second movement amount, and estimating the position of the mobile entity on the basis of the accuracy of recognition and position information that pertains to the detection point.
    Type: Grant
    Filed: September 20, 2018
    Date of Patent: October 19, 2021
    Assignee: HITACHI AUTOMOTIVE SYSTEMS, LTD.
    Inventors: Alex Masuo Kaneko, Kenjiro Yamamoto, Shinya Ootsuji, Shigenori Hayase
  • Patent number: 11132813
    Abstract: A distance to an object is estimated with a monocular camera that estimates a distance from a moving object to feature points on an image from an imaging device mounted on the moving object. The distance estimator sets one or more feature points on the image acquired from the imaging device at a first timing and detects the feature point on the image acquired from the imaging device at a second timing. The distance estimator also determines the movement amount of the feature point on the image between the first timing and the second timing and determines the movement amount of the moving object between the first and second timings. The distance estimator then estimates the distance from the moving object to the feature point based on the movement amount on the image and the movement amount of the moving object between the first and second timings.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: September 28, 2021
    Assignee: HITACHI, LTD.
    Inventors: Alex Masuo Kaneko, Kenjiro Yamamoto
  • Publication number: 20210256260
    Abstract: Provided is a position estimation device capable of highly accurate position estimation. A position estimation device 1 of the present invention is the position estimation device 1 which estimates a current position of a moving object 100 equipped with an imaging device 12, estimates the current position of the moving object 100, create a plurality of virtual positions based on the current position, creates virtual images at the plurality of virtual positions, respectively, compares the plurality of virtual images with an actual image to calculate a comparison error, calculates a weight based on at least one of information acquired by the imaging device 12 and information of a current position error of the moving object, performs weighting on the comparison error using the weight, and corrects the current position based on the comparison error to be weighted.
    Type: Application
    Filed: March 29, 2019
    Publication date: August 19, 2021
    Applicant: Hitachi Automotive Systems, Ltd.
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO, Shigenori HAYASE
  • Publication number: 20200279380
    Abstract: Improvement in the accuracy of estimating the position of a mobile entity even while traveling or if there is an error in the calibration performed utilizing: a mobile entity; an imaging device provided in the mobile entity; and an information processing device for determining a first movement amount by which a detection point that is the same object has moved on the basis of a first image and a second image acquired by the imaging device and a second movement amount by which the mobile entity has moved while the first image and the second image were acquired, determining the accuracy of recognizing the detection point acquired by the imaging device on the basis of the first movement amount and the second movement amount, and estimating the position of the mobile entity on the basis of the accuracy of recognition and position information that pertains to the detection point.
    Type: Application
    Filed: September 20, 2018
    Publication date: September 3, 2020
    Applicant: HITACHI AUTOMOTIVE SYSTEMS, LTD.
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO, Shinya OOTSUJI, Shigenori HAYASE
  • Patent number: 10740908
    Abstract: An object of the invention is to provide a moving object capable of being calculated a movement amount with a low processing load and high accuracy even when a three-dimensional object which is stationary or moves appears in a camera image.
    Type: Grant
    Filed: January 12, 2017
    Date of Patent: August 11, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Alex Masuo Kaneko, Kenjiro Yamamoto
  • Publication number: 20200167950
    Abstract: A distance to an object is estimated with a monocular camera that estimates a distance from a moving object to feature points on an image from an imaging device mounted on the moving object. The distance estimator sets one or more feature points on the image acquired from the imaging device at a first timing and detects the feature point on the image acquired from the imaging device at a second timing. The distance estimator also determines the movement amount of the feature point on the image between the first timing and the second timing and determines the movement amount of the moving object between the first and second timings. The distance estimator then estimates the distance from the moving object to the feature point based on the movement amount on the image and the movement amount of the moving object between the first and second timings.
    Type: Application
    Filed: February 22, 2018
    Publication date: May 28, 2020
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO
  • Patent number: 10650252
    Abstract: The reliability of detection of the traveling lane can be improved even in a case where an image capturing environment changes. The lane detection device includes a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and an operation device, regarding a traveling lane on which the moving body travels, which detects a first boundary line of the traveling lane on the first image, detects a second boundary line of the traveling lane on the second image, and estimates the position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition.
    Type: Grant
    Filed: March 9, 2016
    Date of Patent: May 12, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Alex Masuo Kaneko, Kenjiro Yamamoto, Taiki Iimura
  • Publication number: 20200132471
    Abstract: The present invention provides a position estimating device for accurately estimating the position of a moving body.
    Type: Application
    Filed: May 18, 2018
    Publication date: April 30, 2020
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO, Shigenori HAYASE
  • Patent number: 10620633
    Abstract: The present invention addresses the problem of achieving an autonomous mobile system that is provided with a means for safe two-way traffic or overtaking if the crossing or approach of travel paths arises with respect to another party such as a pedestrian, bicycle or the like during autonomous travel over a designated reference path in an environment in which mobile obstacles such as pedestrians, bicycles and the like moving in free directions are present in public or in a facility. To solve this problem, in the present invention, it is necessary before an approach to induce circumstances such that mutual motion is defined and to obtain defining information of the movement of the other party, thereby maintaining uniform circumstances when passing nearby such that no large changes in course are performed.
    Type: Grant
    Filed: November 5, 2013
    Date of Patent: April 14, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Kenjiro Yamamoto, Ryoko Ichinose
  • Publication number: 20200055183
    Abstract: A multi-operation unit integration device having scale expandability and includes a plurality of operation units each of which includes a movable unit; and an integration module. The integration module includes an operation timing unit that gives operation timings of the plurality of operation units based on an operation instruction input from an outside, and the operation unit includes: a plurality of operation learning units that generate a control signal given to the movable unit according to an operation timing signal from the operation timing unit of the integration module; drive means for driving the movable unit of the operation unit according to the control signal; and a sensor that detects a state quantity of the movable unit driven by the drive means. An autonomous learning type robot device is configured using the multi-operation unit integration device as a control portion.
    Type: Application
    Filed: March 2, 2018
    Publication date: February 20, 2020
    Inventors: Hiroshi ITO, Kenjiro YAMAMOTO, Yusuke HIEIDA
  • Patent number: 10509971
    Abstract: Landmark recognition can handle various landmarks with a low processing load and high reliability. Provided are a database, a segmentation processor, a pattern extraction processor, and a database comparison processor. The database stores landmark extraction information associated with landmark determination condition information, the landmark extraction information identifying a region including a landmark of an image, and allowing right-opposite positioning of the landmark, the landmark determination condition information used for determining landmark pattern information as the landmark. The segmentation processor sets a plurality of segmentation lines with respect to the region including the landmark of the image in a direction parallel to the landmark from a direction right opposite to the landmark, and determines a distance between intersections of the segmentation lines and a boundary of the landmark.
    Type: Grant
    Filed: March 28, 2016
    Date of Patent: December 17, 2019
    Assignee: Hitachi, Ltd.
    Inventors: Alex Masuo Kaneko, Kenjiro Yamamoto
  • Patent number: 10365657
    Abstract: An environment information acquisition unit acquires a signal state of a traffic light. A self-position estimation unit estimates a self-position of the autonomous moving object. A traveling route decision unit calculates a first time necessary to move along a first route from the self-position to an end point of a crosswalk and a second time necessary to move along a second route from the self-point to a start point of the crosswalk in a case in which the signal state is changed from blue to red on the crosswalk after a predetermined time or in a case in which the signal state is changed from blue to red, and selects a route corresponding to a time smaller between the first time and the second time. A vehicle control unit controls autonomous movement of the autonomous moving object so that the autonomous moving object moves along the selected route.
    Type: Grant
    Filed: April 3, 2014
    Date of Patent: July 30, 2019
    Assignee: HITACHI, LTD.
    Inventors: Mikio Tokuyama, Kenjiro Yamamoto, Taiki Iimura, Azusa Amino
  • Publication number: 20190066312
    Abstract: An object of the invention is to provide a moving object capable of being calculated a movement amount with a low processing load and high accuracy even when a three-dimensional object which is stationary or moves appears in a camera image.
    Type: Application
    Filed: January 12, 2017
    Publication date: February 28, 2019
    Applicant: Hitachi, Ltd.
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO
  • Patent number: 10156847
    Abstract: An autonomous moving device includes a database that stores information on which objects are necessary to avoid and which are not necessary to avoid. When the autonomous object travels, an object detection unit detects an object on the road by using a sensor; a collation unit collates the detected object on a road surface with an object stored in the database; a determination input unit receives an input of an operator regarding whether or not to avoid the object where there is no data which is the same as or similar to the object in the database as a result of collation which is performed by the collation unit; and an operation generation unit commands the next operation of the moving object, based on the result of collation which is performed by the collation unit and the determination unit.
    Type: Grant
    Filed: July 25, 2014
    Date of Patent: December 18, 2018
    Assignee: HITACHI, LTD.
    Inventors: Taiki Iimura, Kenjiro Yamamoto
  • Publication number: 20180247139
    Abstract: Landmark recognition can handle various landmarks with a low processing load and high reliability. Provided are a database, a segmentation processor, a pattern extraction processor, and a database comparison processor. The database stores landmark extraction information associated with landmark determination condition information, the landmark extraction information identifying a region including a landmark of an image, and allowing right-opposite positioning of the landmark, the landmark determination condition information used for determining landmark pattern information as the landmark. The segmentation processor sets a plurality of segmentation lines with respect to the region including the landmark of the image in a direction parallel to the landmark from a direction right opposite to the landmark, and determines a distance between intersections of the segmentation lines and a boundary of the landmark.
    Type: Application
    Filed: March 28, 2016
    Publication date: August 30, 2018
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO
  • Patent number: 10061324
    Abstract: An object of the present invention is to provide an autonomous moving device or the like that estimates a self position based on an arrangement of landmarks in surrounding environment while suppressing the influence by external disturbances. In order to achieve the object described above, an external disturbance factor which becomes an external disturbance and a landmark used for the self position estimation when estimating a self position from an image captured by a wide angle camera are extracted, the landmark which is not affected by the external disturbance factor is selected from an image captured by the standard camera capable of controlling a posture using the extracted information, the posture of the standard camera is controlled so as to track the selected landmark, and the self position is estimated based on the arrangement of the landmarks captured by the tracking-controlled standard camera.
    Type: Grant
    Filed: July 30, 2014
    Date of Patent: August 28, 2018
    Assignee: HITACHI, LTD.
    Inventors: Taiki Iimura, Kenjiro Yamamoto
  • Patent number: 10055694
    Abstract: Provided are: a use-assisting tool for an autonomous mobile device that enhances convenience for a user of the autonomous mobile device; an operation management center; an operation system; and an autonomous mobile device. The use-assisting tool for an autonomous mobile device provides assistance for using the autonomous mobile device, which travels autonomously along a route to a destination, and is characterized by: being provided with a communication means that communicates with an operation management center, an input means, and a display means; a destination to be visited using the autonomous mobile device being input by means of the input means; and the display means displaying cooperation information established at the destination that is transmitted from the operation management center. The cooperation information established at the destination includes information regarding securing a mobility means at the destination and establishing a reservation at the destination.
    Type: Grant
    Filed: August 7, 2012
    Date of Patent: August 21, 2018
    Assignee: Hitachi, Ltd.
    Inventors: Ryoko Ichinose, Takashi Sato, Ai Masuda, Kenjiro Yamamoto, Yukihiko Ono, Akira Oshima
  • Publication number: 20180150700
    Abstract: The reliability of detection of the traveling lane can be improved even in a case where an image capturing environment changes. The lane detection device includes a first image capturing device which is fixed to a moving body and periodically captures a first image under a predetermined first image capturing condition, a second image capturing device which is fixed to the moving body and periodically captures a second image under a second image capturing condition different from the predetermined first image capturing condition, and an operation device, regarding a traveling lane on which the moving body travels, which detects a first boundary line of the traveling lane on the first image, detects a second boundary line of the traveling lane on the second image, and estimates the position of the first boundary line on the first image based on a position of the second boundary line on the second image under a predetermined execution condition.
    Type: Application
    Filed: March 9, 2016
    Publication date: May 31, 2018
    Inventors: Alex Masuo KANEKO, Kenjiro YAMAMOTO, Taiki IIMURA
  • Patent number: 9921069
    Abstract: The invention is intended to be able to generate map data even if a location not suited for identification of a matching position exists. A map data creation device creates map data, the map data being used for autonomous movement by a vehicle (1a), a vehicle (1b) and/or other vehicles (1), based on a relative position of the vehicle (1b) which exists around the vehicle (1a), relative to the vehicle (1a), the relative position being measured by the vehicle (1a), and object shape data of an object which exists around the vehicle (1b), the object shape being measured by the vehicle (1b). Moreover, the relative position of the vehicle (1b) relative to the vehicle (1a) is calculated based on the object shape data measured by the vehicle (1a).
    Type: Grant
    Filed: April 5, 2012
    Date of Patent: March 20, 2018
    Assignee: HITACHI, LTD.
    Inventors: Yukihiko Ono, Kenjiro Yamamoto, Ryoko Ichinose, Akira Oshima
  • Publication number: 20170212518
    Abstract: An autonomous moving device includes a database that stores information on which objects are necessary to avoid and which are not necessary to avoid. When the autonomous object travels, an object detection unit detects an object on the road by using a sensor; a collation unit collates the detected object on a road surface with an object stored in the database; a determination input unit receives an input of an operator regarding whether or not to avoid the object where there is no data which is the same as or similar to the object in the database as a result of collation which is performed by the collation unit; and an operation generation unit commands the next operation of the moving object, based on the result of collation which is performed by the collation unit and the determination unit.
    Type: Application
    Filed: July 25, 2014
    Publication date: July 27, 2017
    Applicant: HITACHI, LTD.
    Inventors: Taiki IIMURA, Kenjiro YAMAMOTO