Abstract: Provided is an object detection device capable of reliably recognizing a vehicle. This object detection device detects multiple three-dimensional objects from a left image and a right image captured with a left imaging unit and a right imaging unit (S103), extracts, as combination candidates from among the multiple three-dimensional objects, two three-dimensional objects which exist with an interval to the left/right, and determines whether a sparse parallax region, which is a region having a smaller parallax density than left/right regions, exists in an intermediate region between the two three-dimensional objects extracted as combination candidates.

Abstract: An on-vehicle control device includes: an image acquiring unit that acquires a captured image from an image-capturing device, the image-capturing device capturing an image of surroundings of a vehicle; a judged range dividing unit that divides a predetermined judged range of an image-capturing range of the image-capturing device into a plurality of regions; a feature point extracting unit that extracts a feature point having predetermined characteristics in the surroundings of the vehicle from the image acquired by the image acquiring unit; a point accumulating unit that accumulate points for a region where there is the feature point extracted by the feature point extracting unit, among the plurality of regions, for a plurality of images acquired by the image acquiring unit in time series; and a judging unit that judges whether a foreign matter is adhered to the image-capturing device based on scores resulting from accumulating points of the plurality of regions.

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

Abstract: The purpose of the present invention is to provide an object detection device conducive to carrying out control in an appropriate manner according to the surrounding environment, with consideration to the accuracy of locations of detected objects. The device is characterized by being provided with: a parallax information generation unit for generating parallax information from a plurality of parallax images acquired from a plurality of imaging units; an object detection unit for detecting objects contained in the parallax images; a location information generation unit for generating location information about the objects, on the basis of the parallax information; and a location accuracy information generation unit for generating location accuracy information pertaining to the accuracy of the location information, on the basis of the condition of generation of the parallax information.

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.

Abstract: Provided are a travel route recognition device and a travel assistance system using the same, which are capable of precisely recognizing the positions of white lines and road boundaries even if, for example, there is a decrease in the accuracy of the detection of both white lines and road boundaries on the travel route. The direction of the travel route is estimated on the basis of the direction of a linear site included in an image obtained by imaging units, and the direction of the boundaries of a surface region included in a distance image comprising three-dimensional distance information generated on the basis of the images obtained by the imaging units or on the basis of distance information detected by the distance detection unit.

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

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.

Abstract: The present invention addresses the problem of attaining an object recognition device that can change control of a vehicle in accordance with the reliability of detection of a target object. The object recognition device according to the present invention recognizes a target object around a vehicle and includes: a distance-information-based target object determination unit 106 that determines whether or not an object 303 is a target object by using distance information from the vehicle 301 to the object 303; an image-information-based target object determination unit 107 that determines whether or not the object 303 is a target object by using image information obtained by capturing an image of the object 303 from the vehicle 301; and a target object detection reliability calculation unit 108 that calculates the reliability of detection of a target object by using the distance information and the image information.

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.

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.

Abstract: The present invention addresses the problem of providing a surrounding environment recognition device that presents to a user a sensing-enabled range that varies depending on a contamination state of a lens. The present invention is characterized by comprising: an image-capturing unit that acquires an image; an application execution unit that executes an application for recognizing an object to be recognized from the image; a lens state diagnosis unit that diagnoses the lens state of a camera on the basis of the image; a sensing range determination unit that determines a sensing-enabled range allowing the sensing of the object to be recognized with the lens state diagnosed by the lens state diagnosis unit when the application is executed, and a sensing-disabled range not enabling the sensing of the object to be recognized; and a notification control unit that notifies the sensing-enabled range of the sensing range determination unit.

Abstract: A turbidity degree calculating unit calculates a degree of the white turbidity U on a surface of the lens based on a brightness gradient g of an image I (x, y), and a lens cleaning control unit sets a lens cleaning mode for spraying at least one of the cleaning fluid and the compressed air, which is performed by the lens cleaning unit, based on the calculated turbidity degree U.

Abstract: A three-dimensional object detection device has an image capturing unit, an object detection unit, first and second edge intensity calculation units, a day/night assessment unit and a controller. The day/night assessment unit assess whether it is currently daytime or nighttime when detecting a three-dimensional object based on the captured images. Upon assesses it is daytime, edges of a subject are extracted from a first edge extraction area, including a horizon reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges in the first edge extraction area. Upon assesses it is nighttime, the edges of a subject are extracted from a second edge extraction area, including a road edge reference area, and a threshold value for detecting the three-dimensional object is set based on the intensity of the edges that are extracted from the second edge extraction area.

Abstract: A three-dimensional object detection device has an image capturing unit, an object detection unit, a nighttime assessment unit, a luminance detection unit, a luminance peak detection unit and a controller. The image capturing unit captures images rearward of a vehicle. The object detection unit detects a presence of an object from the captured images. The nighttime assessment unit assesses if nighttime has fallen. The luminance detection unit detects a luminance of image areas from the captured image. The luminance peak detection unit detects a peak in the luminance having a luminance gradient that is greater than or equal to a predetermined reference value from among the detected peaks in the luminance as a target luminance peak. The controller controls detection of the object in an image area in which the target luminance peak is detected when an assessment has been made that nighttime has fallen by the nighttime assessment unit.

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

Abstract: A vehicle surroundings monitoring device includes: a captured image acquisition unit that acquires an image of surroundings of a vehicle by an image capturing unit mounted on the vehicle; an attachment detection unit that decides a state in which foreign matter adheres to a lens of the image capturing unit; a state decision unit that decides that the lens is in a lens state in which performance of image recognition is reduced in case that the attachment detection unit decides that the foreign matter adheres to the lens; a lens state recording unit that records the lens state in a recording unit upon termination of a system; and a lens state read-out unit that reads out the lens state recorded in the recording unit upon start of the system.

Abstract: A vehicle-mounted environment recognition device includes an imaging unit that acquires an image taken by an imaging device; an image self-diagnosis unit that diagnoses contamination of a lens of the imaging device with respect to the image acquired by the imaging unit; an application execution unit that executes an application selected from a predetermined application group; and a fail determination unit that determines, on the basis of a diagnosis result from the image self-diagnosis unit, whether the lens contamination state is in an endurance range of the application and, if within the endurance range, sets the operation of the application executed by the application execution unit to a suppression mode. If outside the endurance range, contamination removal control is implemented, or a fail determination is made for the application. Contamination removal and fail determination can be implemented utilizing parameter adjustment and hardware, or an image-based self-diagnosis can be conducted.

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.

Abstract: An in-vehicle image recognizer effectively detects a moving object from an image even when a lens has grime. In a detection sensitivity adjustor (50) which adjusts detection sensitivity to be increased according to a white turbidity level (U), the detection sensitivity of a vehicle detector (70) (image recognition application execution unit), which detects the other vehicle (6) (moving object) existing in the surrounding area of a vehicle (5) with a predetermined detection sensitivity from the image obtained by an imaging unit (10) disposed in the vehicle (5) to observe the surrounding area of the vehicle (5) through a lens (12) and convert the light signal of the observed surrounding area of the vehicle (5) into an image signal, is corrected based on the attachment level M of the attached matter such as dirt or water drops to the lens (12), which is calculated by an attachment level calculator (26).