Patents by Inventor Masahiro Kiyohara
Masahiro Kiyohara 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).
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Publication number: 20230282003Abstract: Provided is an external environment recognition system which complements a blind spot of an on-board camera occurring due to a moving obstacle such as a preceding vehicle with a photographed image obtained from an on-road camera, and can generate a detailed map for automatic traveling.Type: ApplicationFiled: April 19, 2021Publication date: September 7, 2023Inventors: Shigeru MATSUO, Masahiro KIYOHARA, Hideaki KIDO
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Patent number: 11749493Abstract: A liquid metal ion source (50) includes: a reservoir (10) configured to hold an ion material (M) forming a liquid metal; a needle electrode (20); an extraction electrode (22) configured to cause an ion of the ion material to be emitted from a distal end of the needle electrode; a beam diaphragm (24), which is arranged on a downstream side of the extraction electrode, and is configured to limit a beam diameter of the ion; and a vacuum chamber (30) configured to accommodate and hold the reservoir, the needle electrode, the extraction electrode, and the beam diaphragm in vacuum, wherein the liquid metal ion source further includes an oxidizing gas introducing portion (40), and wherein the oxidizing gas introducing portion communicates to the vacuum chamber, and is configured to introduce an oxidizing gas into a periphery of the needle electrode.Type: GrantFiled: September 21, 2020Date of Patent: September 5, 2023Assignee: HITACHI HIGH-TECH SCIENCE CORPORATIONInventors: Yoshihiro Koyama, Tatsuya Asahata, Masahiro Kiyohara, Tsunghan Yang
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Publication number: 20230243657Abstract: An object of the present invention is to provide a vehicle control device and a host vehicle position estimation method capable of appropriately learning a correction amount of a host vehicle position estimated based on a global navigation satellite system (GNSS) according to an environmental change.Type: ApplicationFiled: February 1, 2021Publication date: August 3, 2023Applicant: Hitachi Astemo, Ltd.Inventors: Masahiro KIYOHARA, Takeshi OGATA, Hiroki OTA, Shinichi AMAYA
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Patent number: 11560160Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.Type: GrantFiled: March 5, 2019Date of Patent: January 24, 2023Assignee: FAURECIA CLARION ELECTRONICS CO., LTD.Inventors: Morihiko Sakano, Shinya Tagawa, Masahiro Kiyohara
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Patent number: 11514683Abstract: An on-board outside recognition apparatus extracts a feature point from an image including an environment around a user's own vehicle, measures a three-dimensional position of the feature point based on movement of the feature point tracked in time series on the image and calculates a foot position of the feature point on the image from the three-dimensional position of the feature point is performed. Then, the on-board outside recognition apparatus extracts a road surface area where the user's own vehicle can travel, from the image using a degree of similarity of a texture of the image, and judges a feature point the foot position of which is judged not to be included in the road surface area to be highly reliable.Type: GrantFiled: September 28, 2018Date of Patent: November 29, 2022Assignee: Faurecia Clarion Electronics Co., Ltd.Inventors: Takehito Ogata, Toshihisa Kuwahara, Masahiro Kiyohara, Yoshitaka Uchida
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Patent number: 11476078Abstract: Provided is a charged particle beam apparatus including a focused ion beam column, a sample holder, a stage supporting the sample holder, a securing member rotating unit, a stage driving unit, and a control device. The sample holder includes a securing member fixing a sample. The securing member rotating unit rotates the securing member around a first rotational axis and a second rotational axis. The stage driving unit translates the stage in three dimensions and rotates the stage around a third rotational axis. The control device acquires a correction value for correcting a change in a position of a center of rotation for rotation around at least one among a first rotational axis, a second rotational axis, and a third rotational axis. The control device translates the stage according to the correction value.Type: GrantFiled: March 16, 2021Date of Patent: October 18, 2022Assignee: HITACHI HIGH-TECH SCIENCE CORPORATIONInventors: Masahiro Kiyohara, Atsushi Uemoto
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Patent number: 11351986Abstract: The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus 120 according to the present invention includes a mode switching unit 121D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode 202 to acquire and store point group data in a storage unit when a vehicle 1 approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit 124; and a position estimation mode 203 to have a position estimation unit 121C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.Type: GrantFiled: July 12, 2018Date of Patent: June 7, 2022Assignee: CLARION CO., LTD.Inventors: Morihiko Sakano, Shinya Tagawa, Masahiro Kiyohara
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Patent number: 11143511Abstract: Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information.Type: GrantFiled: October 26, 2017Date of Patent: October 12, 2021Assignee: Clarion Co., LtdInventors: Morihiko Sakano, Takehito Ogata, Shinya Tagawa, Masahiro Kiyohara, Yoshitaka Uchida
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Publication number: 20210296084Abstract: Provided is a charged particle beam apparatus including a focused ion beam column, a sample holder, a stage supporting the sample holder, a securing member rotating unit, a stage driving unit, and a control device. The sample holder includes a securing member fixing a sample. The securing member rotating unit rotates the securing member around a first rotational axis and a second rotational axis. The stage driving unit translates the stage in three dimensions and rotates the stage around a third rotational axis. The control device acquires a correction value for correcting a change in a position of a center of rotation for rotation around at least one among a first rotational axis, a second rotational axis, and a third rotational axis. The control device translates the stage according to the correction value.Type: ApplicationFiled: March 16, 2021Publication date: September 23, 2021Inventors: Masahiro KIYOHARA, Atsushi UEMOTO
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Publication number: 20210206391Abstract: An information processing apparatus includes: a point group data acquisition unit configured to acquire, based on information from a sensor configured to detect an object existing in surroundings of a vehicle, point group data related to a plurality of points representing the object; a movement amount estimation unit configured to estimate a movement amount of the vehicle; a storage unit configured to store, as a point group map recorded in association with position information including a latitude and a longitude, relative positions of the plurality of points relative to a first reference position that is a place on a travel path of the vehicle; and a position estimation unit configured to estimate a position of the vehicle based on the point group map, the point group data, and the movement amount.Type: ApplicationFiled: March 5, 2019Publication date: July 8, 2021Inventors: Morihiko SAKANO, Shinya TAGAWA, Masahiro KIYOHARA
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Publication number: 20210129832Abstract: The present invention aims at obtaining an in-vehicle processing apparatus for automatically selecting modes. An in-vehicle processing apparatus 120 according to the present invention includes a mode switching unit 121D that makes a transition, based on latitude-longitude positioning information of a vehicle, between: a map storage mode 202 to acquire and store point group data in a storage unit when a vehicle 1 approaches a preset registered spot and point group data of surroundings of the vehicle is not stored in the storage unit 124; and a position estimation mode 203 to have a position estimation unit 121C estimate a position of the vehicle when the vehicle approaches the registered spot and the point group data of surroundings of the vehicle is stored in the storage unit.Type: ApplicationFiled: July 12, 2018Publication date: May 6, 2021Inventors: Morihiko SAKANO, Shinya TAGAWA, Masahiro KIYOHARA
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Patent number: 10977504Abstract: A vehicle-mounted image processing device 1000 acquires an image around a host vehicle 10, senses a feature amount of a target object present on a road surface from the image, and relative position coordinates with respect to the host vehicle 10, acquires information of a three-dimensional object around the host vehicle 10 and relative position coordinates of the three-dimensional object, distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the feature amount and the three-dimensional object, and recognizes the target object by using a feature on the road surface. As a result, a vehicle-mounted image processing device, which is capable of avoiding misrecognition of a part of a three-dimensional object as a target object when sensing the target object present on a road surface such as a parking bay by using a camera image, is provided.Type: GrantFiled: August 31, 2017Date of Patent: April 13, 2021Assignee: Clarion Co., Ltd.Inventors: Takehito Ogata, Masahiro Kiyohara, Daisuke Fukuda, Yoshitaka Uchida
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Publication number: 20210090842Abstract: A liquid metal ion source (50) includes: a reservoir (10) configured to hold an ion material (M) forming a liquid metal; a needle electrode (20); an extraction electrode (22) configured to cause an ion of the ion material to be emitted from a distal end of the needle electrode; a beam diaphragm (24), which is arranged on a downstream side of the extraction electrode, and is configured to limit a beam diameter of the ion; and a vacuum chamber (30) configured to accommodate and hold the reservoir, the needle electrode, the extraction electrode, and the beam diaphragm in vacuum, wherein the liquid metal ion source further includes an oxidizing gas introducing portion (40), and wherein the oxidizing gas introducing portion communicates to the vacuum chamber, and is configured to introduce an oxidizing gas into a periphery of the needle electrode.Type: ApplicationFiled: September 21, 2020Publication date: March 25, 2021Inventors: Yoshihiro KOYAMA, Tatsuya ASAHATA, Masahiro KIYOHARA, Tsunghan YANG
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Patent number: 10867403Abstract: A vehicle external recognition extracts a feature point from an image including an environment around a vehicle; measures a distance from the vehicle to the feature point based on a movement of the feature point; extracts, as a first road surface area, a local area judged as a road surface based on distance information to the feature point and a position of the feature point in the image from among a plurality of local areas in the image; calculates a multi-dimensional image feature amount including color information for each of the plurality of local areas, and similarity to the first road surface area using the image feature amount with respect to a no-road-surface-extracted area(s) from among the plurality of local areas; extracts a second road surface area from the no-road-surface-extracted area(s) based on the similarity; and recognizes a travelable area using the first and the second road surface areas.Type: GrantFiled: June 25, 2018Date of Patent: December 15, 2020Assignee: CLARION CO., LTD.Inventors: Takehito Ogata, Daisuke Fukuda, Masahiro Kiyohara
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Publication number: 20200302192Abstract: A subject of the present invention is to obtain an outside recognition apparatus for vehicle making it possible to improve accuracy of a distance measurement method based on tracking of a feature point on a camera image. An on-board outside recognition apparatus of the present invention extracts a feature point from an image including an environment around a user's own vehicle, measures a three-dimensional position of the feature point based on movement of the feature point tracked in time series on the image and calculates a foot position of the feature point on the image from the three-dimensional position of the feature point is performed. Then, the on-board outside recognition apparatus extracts a road surface area where the user's own vehicle can travel, from the image using a degree of similarity of a texture of the image, and judges a feature point the foot position of which is judged not to be included in the road surface area to be highly reliable.Type: ApplicationFiled: September 28, 2018Publication date: September 24, 2020Inventors: Takehito OGATA, Toshihisa KUWAHARA, Masahiro KIYOHARA, Yoshitaka UCHIDA
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Publication number: 20200292320Abstract: Provided is an on-vehicle processing device that can estimate the position of a vehicle with higher accuracy. A storage unit stores a parking lot point group including a plurality of coordinates of points of a part of an object in a parking lot coordinate system. A sensor input unit acquires peripheral information from a camera. A movement information acquisition unit acquires movement information. A local peripheral information creation unit generates local peripheral information expressing second point group data including a position of the vehicle in a local coordinate system and a plurality of coordinates of points of a part of the object in the local coordinate system on the basis of the peripheral information and the movement information.Type: ApplicationFiled: October 26, 2017Publication date: September 17, 2020Inventors: Morihiko SAKANO, Takehito OGATA, Shinya TAGAWA, Masahiro KIYOHARA, Yoshitaka UCHIDA
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Publication number: 20200219281Abstract: A vehicle external recognition extracts a feature point from an image including an environment around a vehicle; measures a distance from the vehicle to the feature point based on a movement of the feature point; extracts, as a first road surface area, a local area judged as a road surface based on distance information to the feature point and a position of the feature point in the image from among a plurality of local areas in the image; calculates a multi-dimensional image feature amount including color information for each of the plurality of local areas, and similarity to the first road surface area using the image feature amount with respect to a no-road-surface-extracted area(s) from among the plurality of local areas; extracts a second road surface area from the no-road-surface-extracted area(s) based on the similarity; and recognizes a travelable area using the first and the second road surface areas.Type: ApplicationFiled: June 25, 2018Publication date: July 9, 2020Inventors: Takehito OGATA, Daisuke FUKUDA, Masahiro KIYOHARA
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Publication number: 20200074192Abstract: A vehicle-mounted image processing device 1000 acquires an image around a host vehicle 10, senses a feature amount of a target object present on a road surface from the image, and relative position coordinates with respect to the host vehicle 10, acquires information of a three-dimensional object around the host vehicle 10 and relative position coordinates of the three-dimensional object, distinguishes whether the feature amount is a feature amount of a feature on the road surface or a feature amount of a feature on the three-dimensional object by using a positional relationship between the feature amount and the three-dimensional object, and recognizes the target object by using a feature on the road surface. As a result, a vehicle-mounted image processing device, which is capable of avoiding misrecognition of a part of a three-dimensional object as a target object when sensing the target object present on a road surface such as a parking bay by using a camera image, is provided.Type: ApplicationFiled: August 31, 2017Publication date: March 5, 2020Inventors: Takehito OGATA, Masahiro KIYOHARA, Daisuke FUKUDA, Yoshitaka UCHIDA
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Patent number: 10572753Abstract: The purpose of the present invention is to provide an outside recognition device for a vehicle with which it is possible to correctly estimate the orientation of an obstruction. An outside recognition device according to the present invention is provided with an obstruction detection unit for detecting an obstruction in an image, an orientation estimation unit for estimating the orientation of the obstruction detected by the obstruction detection unit, and an orientation correction unit for correcting the orientation estimated by the orientation estimation unit in accordance with the positional relationship of the obstruction and the camera. With this outside recognition device for a vehicle, it is possible to correctly estimate the orientation of the obstruction.Type: GrantFiled: November 25, 2015Date of Patent: February 25, 2020Assignee: Hitachi, Ltd.Inventors: Hideyuki Kume, Masahiro Kiyohara
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Patent number: 10242576Abstract: The obstacle detection device comprises: a first camera installed on a moving vehicle used for photographing a frontward or rearward view of the vehicle; a second camera installed on the vehicle used for photographing a sideward view of the vehicle; a parking space detection unit for detecting a parking space on the basis of an image obtained by photographing by the first camera; a memory unit for storing a real-space area of the parking space; a motion acquisition unit for acquiring information about behaviors of the vehicle; an obstacle calculation unit for calculating information about an obstacle present in the vicinity of the parking space on the basis of multiple images obtained by photographing by the second camera at different points in time; and a processing area setting unit for controlling, the calculation by the obstacle calculation unit.Type: GrantFiled: November 1, 2016Date of Patent: March 26, 2019Assignee: CLARION CO., LTD.Inventors: Hideyuki Kume, Masahiro Kiyohara, Kimiyoshi Machii, Noriyasu Hasejima, Yoshitaka Uchida, Takehito Ogata, Yuta Ohizumi