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).

  • Patent number: 10867403
    Abstract: 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: Grant
    Filed: June 25, 2018
    Date of Patent: December 15, 2020
    Assignee: CLARION CO., LTD.
    Inventors: Takehito Ogata, Daisuke Fukuda, Masahiro Kiyohara
  • Publication number: 20200302192
    Abstract: 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: Application
    Filed: September 28, 2018
    Publication date: September 24, 2020
    Inventors: Takehito OGATA, Toshihisa KUWAHARA, Masahiro KIYOHARA, Yoshitaka UCHIDA
  • Publication number: 20200292320
    Abstract: 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: Application
    Filed: October 26, 2017
    Publication date: September 17, 2020
    Inventors: Morihiko SAKANO, Takehito OGATA, Shinya TAGAWA, Masahiro KIYOHARA, Yoshitaka UCHIDA
  • Publication number: 20200219281
    Abstract: 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: Application
    Filed: June 25, 2018
    Publication date: July 9, 2020
    Inventors: Takehito OGATA, Daisuke FUKUDA, Masahiro KIYOHARA
  • Publication number: 20200074192
    Abstract: 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: Application
    Filed: August 31, 2017
    Publication date: March 5, 2020
    Inventors: Takehito OGATA, Masahiro KIYOHARA, Daisuke FUKUDA, Yoshitaka UCHIDA
  • Patent number: 10572753
    Abstract: 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: Grant
    Filed: November 25, 2015
    Date of Patent: February 25, 2020
    Assignee: Hitachi, Ltd.
    Inventors: Hideyuki Kume, Masahiro Kiyohara
  • Patent number: 10242576
    Abstract: 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: Grant
    Filed: November 1, 2016
    Date of Patent: March 26, 2019
    Assignee: CLARION CO., LTD.
    Inventors: Hideyuki Kume, Masahiro Kiyohara, Kimiyoshi Machii, Noriyasu Hasejima, Yoshitaka Uchida, Takehito Ogata, Yuta Ohizumi
  • Patent number: 10186398
    Abstract: A sample positioning method that can easily and quickly position a target observation area of a sample, which is disposed on a sample stage in a sample chamber of a charged particle beam apparatus, into a field of view of a first charged particle beam.
    Type: Grant
    Filed: September 28, 2016
    Date of Patent: January 22, 2019
    Assignee: HITACHI HIGH-TECH SCIENCE CORPORATION
    Inventors: Masahiro Kiyohara, Kengo Takeno, Atsushi Uemoto, Kaoru Umemura
  • Publication number: 20180308364
    Abstract: 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: Application
    Filed: November 1, 2016
    Publication date: October 25, 2018
    Applicant: CLARION CO., LTD.
    Inventors: Hideyuki KUME, Masahiro KIYOHARA, Kimiyoshi MACHII, Noriyasu HASEJIMA, Yoshitaka UCHIDA, Takehito OGATA, Yuta OHIZUMI
  • Publication number: 20180307932
    Abstract: 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: Application
    Filed: November 25, 2015
    Publication date: October 25, 2018
    Inventors: Hideyuki KUME, Masahiro KIYOHARA
  • Patent number: 10095934
    Abstract: An in-vehicle device includes: an image acquisition unit that obtains a captured image from a camera that captures, via a camera lens, an image of a surrounding environment around a vehicle; an accumulation detection unit that individually detects a plurality of types of accumulation settled at the camera lens based upon the captured image; an image recognition unit that recognizes an object image, expressing a specific object present in the surrounding environment, in the captured image; a detection results integrating unit that calculates integrated detection results by integrating a plurality of sets of detection results based upon various sets of detection results pertaining to detection of the plurality of types of accumulation provided by the accumulation detection unit; and an operation control unit that controls operation executed by the image recognition unit based upon the integrated detection results.
    Type: Grant
    Filed: June 13, 2014
    Date of Patent: October 9, 2018
    Assignee: Clarion Co., Ltd.
    Inventors: Masayuki Takemura, Masahiro Kiyohara, Shoji Muramatsu, Kota Irie, Yasuhiro Akiyama
  • Patent number: 9956941
    Abstract: An on-board device, that outputs a control signal to a cleaning control unit that controls accumulation removing units used to remove accumulations settled on a photographic lens in an on-board camera by adopting a plurality of methods, includes: an accumulation detection unit that detects an accumulation settled on the photographic lens from a photographic image output from the on-board camera when a vehicle speed input thereto is equal to or higher than a predetermined vehicle speed; a selection unit that selects an accumulation removing unit adopting a first method among the accumulation removing units adopting the plurality of methods; and a removal decision unit that makes a decision, based upon the photographic image, as to whether or not the accumulation has been removed from the photographic lens through a removal operation performed by the accumulation removing unit adopting the first method, which has been selected by the selection unit, wherein: if the removal decision unit decides that the accumul
    Type: Grant
    Filed: July 3, 2013
    Date of Patent: May 1, 2018
    Assignees: Clarion Co., Ltd., Nissan Motor Co., Ltd.
    Inventors: Masahiro Kiyohara, Kota Irie, Katsuyuki Nakamura, Shoji Muramatsu, Masayuki Takemura, Osamu Fukata, Yasuhisa Hayakawa
  • Patent number: 9922258
    Abstract: An on-vehicle image processing apparatus includes: a photographing device configured to photograph a road surface around a vehicle; an image creation section configured to create an overhead view image showing a periphery of the vehicle when looked down from above the vehicle, based on the obtained photographed image; an extraction section configured to extract a road surface sign around the vehicle by using the created overhead view image; a detection section configured to detect one or more noises among at least a road surface noise, an obstruction noise, and an attached substance noise that are to be observed when the extraction section extracts the road surface sign; and a parking frame recognition section configured to recognize a parking frame based on one of a partial photographing region in the photographed image and a partial overhead view region in the overhead view image, depending on the detected noise.
    Type: Grant
    Filed: November 27, 2013
    Date of Patent: March 20, 2018
    Assignee: Clarion Co., Ltd.
    Inventors: Masahiro Kiyohara, Takehito Ogata, Satoshi Suzuki, Shoji Muramatsu
  • Patent number: 9811742
    Abstract: Provided is a vehicle surroundings recognition apparatus capable of enhancing a calculation accuracy of a relative position and a relative speed with respect to an object such as a pedestrian even in a case where the object cannot be detected accurately in some of the images obtained by performing image-capturing around a vehicle, for example.
    Type: Grant
    Filed: November 14, 2014
    Date of Patent: November 7, 2017
    Assignee: Clarion Co., Ltd.
    Inventors: Takehito Ogata, Masahiro Kiyohara, Kota Irie, Masao Sakata, Yoshitaka Uchida
  • Patent number: 9804386
    Abstract: A camera device includes image capturing device, a lens cleaning device, an adhesion state assessment unit and a controller. The image capturing device is installed on a vehicle and has a lens for forming an image of the vehicle surroundings. The lens cleaning device cleans the lens by spraying a cleaning fluid on the lens in accordance with a predetermined lens cleaning step, in which at least a supply time for supplying cleaning fluid to the lens surface is predetermined. The adhesion state assessment unit is programmed to assess an adhesion state of contamination from a distribution of pixels corresponding to foreign matter adhered to the lens based on a captured image. The controller is programmed to extend the time until a time to start supplying the cleaning fluid in the lens cleaning step as the number of pixels corresponding to foreign matter adhered to the lens increases.
    Type: Grant
    Filed: July 26, 2013
    Date of Patent: October 31, 2017
    Assignees: Nissan Motor Co., Ltd., Clarion Co., Ltd.
    Inventors: Yasuhisa Hayakawa, Osamu Fukata, Masayuki Takemura, Masahiro Kiyohara, Shoji Muramatsu, Kota Irie
  • Patent number: 9773177
    Abstract: A surrounding environment recognition device includes: an image acquisition unit that obtains a photographic image from a camera for capturing, via a camera lens, an image of a surrounding environment around a mobile object; an image recognition unit that recognizes an object image of an object present in the surrounding environment based upon the photographic image obtained by the image acquisition unit; an accumulation detection unit that detects accumulation settled on the camera lens based upon the photographic image obtained by the image acquisition unit; a suspension decision-making unit that makes a decision, based upon detection results provided by the accumulation detection unit, whether or not to suspend operation of the image recognition unit; a tracking unit that detects a characteristic quantity in a tracking target image from a specific area in an image captured by the image acquisition unit for a reference frame, determines through calculation an estimated area where the characteristic quantity
    Type: Grant
    Filed: October 15, 2014
    Date of Patent: September 26, 2017
    Assignee: Clarion Co., Ltd.
    Inventors: Masayuki Takemura, Masahiro Kiyohara, Kota Irie, Masao Sakata, Yoshitaka Uchida
  • Patent number: 9726883
    Abstract: A three-dimensional object detection has an image capturing device, an image conversion unit, a three-dimensional object detection unit, a three-dimensional object assessment unit, first and second foreign matter detection units and a controller. The image capturing device captures images rearward of a vehicle. The three-dimensional object detection unit detects three-dimensional objects based on image information. The three-dimensional object assessment unit assesses whether or not a detected three-dimensional object is another vehicle. The foreign matter detection units detect whether or not foreign matter has adhered to a lens based on the change over time in luminance values for each predetermined pixel of the image capturing element and the change over time in the difference between an evaluation value and a reference value. The controller outputs control commands to the other means to suppress the assessment of foreign matter as another vehicle when foreign matter has been detected.
    Type: Grant
    Filed: July 12, 2013
    Date of Patent: August 8, 2017
    Assignees: Nissan Motor Co., Ltd, Clarion Co., Ltd.
    Inventors: Osamu Fukata, Yasuhisa Hayakawa, Masayuki Takemura, Akira Utagawa, Masahiro Kiyohara, Shoji Muramatsu, Kota Irie
  • Patent number: 9721169
    Abstract: An image processing device includes: an image acquisition unit that obtains a photographic image of an area outside of a vehicle captured and output by a camera; a sun decision unit that calculates a sun position which indicates, at least, a solar elevation and makes a decision as to whether or not the solar elevation is equal to or lower than a predetermined elevation; an opacity detection unit that detects clouding of a lens surface of the camera; a vehicle detection unit that detects another vehicle, different from the vehicle, based upon image information of a first image area in the photographic image; and a control unit that suspends detection of the other vehicle by the vehicle detection unit if the opacity detection unit detects opacity in, at least, the first image area and the sun decision unit decides that the solar elevation is equal to or lower than the predetermined elevation.
    Type: Grant
    Filed: July 22, 2013
    Date of Patent: August 1, 2017
    Assignees: Clarion Co., Ltd., Nissan Motor Co., Ltd.
    Inventors: Masahiro Kiyohara, Katsuyuki Nakamura, Masayuki Takemura, Kota Irie, Yasuhisa Hayakawa, Osamu Fukata
  • Patent number: 9721460
    Abstract: An in-vehicle surrounding environment recognition device includes: a photographic unit that photographs a road surface around a vehicle and acquires a photographic image; an application execution unit that recognizes another vehicle on the basis of the photographic image, and detects a relative speed of the other vehicle with respect to the vehicle; a reflection determination unit that, on the basis of the photographic image, determines upon presence or absence of a reflection of a background object from the road surface; a warning control unit that controls output of a warning signal on the basis of the result of recognition of the other vehicle; and a warning prevention adjustment unit that suppresses output of the warning signal on the basis of the relative speed of the other vehicle, if it has been determined that there is the reflection of the background object from the road surface.
    Type: Grant
    Filed: July 11, 2013
    Date of Patent: August 1, 2017
    Assignees: Clarion Co., Ltd., Nissan Motor Co., Ltd.
    Inventors: Masayuki Takemura, Akira Utagawa, Shoji Muramatsu, Masahiro Kiyohara, Yasuhisa Hayakawa, Osamu Fukata
  • Patent number: 9715633
    Abstract: Provided is a vehicle-mounted image processing device capable of recognizing the outside of a vehicle based on an image taken by a vehicle-mounted camera more precisely. A vehicle-mounted image processing device of the present invention includes: an image acquisition unit (12) that acquires through-images (21) to (24) taken by cameras (1) to (4) disposed on front, rear and sides of a vehicle (10); a bird's eye view image generation unit (13) that converts the acquired through images (21) to (24) to generate a bird's eye view image (25); a parking line recognition unit (15) that performs parking line recognition processing to recognize a parking line WL based on at least one of the through-images (21) to (24) and the bird's eye view image (25).
    Type: Grant
    Filed: November 27, 2013
    Date of Patent: July 25, 2017
    Assignee: Clarion Co., Ltd.
    Inventors: Takehito Ogata, Masahiro Kiyohara, Satoshi Suzuki, Shoji Muramatsu