公开(公告)号：US20180295342A1

公开(公告)日：2018-10-11

申请号：US15946297

申请日：2018-04-05

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Atsushi WATANABE ,  Minoru NAKAMURA

IPC: H04N13/128 ,  H04N13/254 ,  H04N13/156 ,  G06T1/00 ,  G06T7/80

Abstract: An image processing device of an image apparatus includes a distance image generation unit that generates a first distance image and a second distance image from the output signals of a first camera and a second camera based on flight times of light. The image processing device includes a stereo image generation unit that generates a stereo image from the output signals of the cameras. The image processing device includes an image comparison unit that compares the stereo image and the distance image and detects an abnormality of at least one of the first distance image and the second distance image.

公开(公告)号：US20230130830A1

公开(公告)日：2023-04-27

申请号：US17905642

申请日：2021-03-08

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Fumikazu WARASHINA ,  Yuuki TAKAHASHI

IPC: G06V10/74 ,  G06T5/50 ,  G06V10/25 ,  B25J9/16

Abstract: A distance image capturing system including: an image acquisition unit for capturing a plurality of images of an object at the same image capturing position and in the same image capturing orientation with respect to the object to acquire a plurality of first distance images; an image synthesis unit for synthesizing the plurality of first distance images to generate a second distance image; and a number-of-image-capturing-operation determination unit for estimating a distance measurement error in the second distance image and determining the number of image capturing operations for the first distance images at which the estimated distance measurement error is equal to or less than a predetermined target error.

公开(公告)号：US20180131922A1

公开(公告)日：2018-05-10

申请号：US15794408

申请日：2017-10-26

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Yuuki TAKAHASHI ,  Atsushi WATANABE

IPC: H04N13/00 ,  H04N13/02

CPC classification number: H04N13/167 ,  G01S7/4816 ,  G01S17/00 ,  G01S17/36 ,  G01S17/89 ,  H04N13/254 ,  H04N2213/005

Abstract: To provide an image capture device capable of doing multiple image captures by using multiple image capture units and capable of measuring a distance between each of the image capture units and a target more correctly. An image capture device according to the present invention is an image capture device with multiple image capture units. The image capture device comprises: one light emission unit for distance measurement that emits a reference beam; and the multiple image capture units that capture images of a reflected beam of the reference beam while having common timing of image capture.

公开(公告)号：US20210158562A1

公开(公告)日：2021-05-27

申请号：US17029037

申请日：2020-09-23

Applicant: FANUC CORPORATION

Inventor： Minoru NAKAMURA ,  Yuuki TAKAHASHI ,  Atsushi WATANABE

IPC: G06T7/70 ,  H04N5/235 ,  G06K9/62 ,  H04N5/225 ,  G01S17/89

Abstract: The object detection system includes a TOF sensor which outputs an image of a target space on the basis of a phase difference between reference light emitted toward the target space and reflected light from the target space, an object detection section which detects a position of an object present in the target space on the basis of the output image, an imaging conditions calculation section which calculates imaging conditions including at least one of an integration time and a light emission period of the TOF sensor on the basis of an image of the detected object, and an imaging conditions changing section which changes a configuration of the TOF sensor to the calculated imaging conditions, and the object detection section detects a position of the object on the basis of the image output under the changed imaging conditions.

公开(公告)号：US20180336402A1

公开(公告)日：2018-11-22

申请号：US15958133

申请日：2018-04-20

Applicant: FANUC CORPORATION

Inventor： Yuuki TAKAHASHI ,  Atsushi WATANABE ,  Minoru NAKAMURA

IPC: G06K9/00 ,  G07C9/00 ,  G06T7/11

Abstract: A monitor apparatus includes a camera that captures a three-dimensional image and an image processing device that processes the output signal of the camera. A part of an image capturing region of the camera is set as a monitor region. The image processing device includes a region setting unit that sets a plurality of spatial regions by dividing the monitor region. The region setting unit divides the monitor region at a plurality of cutting planes radially extending from the camera serving as a start point. The region setting unit sets the spatial region on one end as a precaution region and sets the spatial region on the other end as a limit region.