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公开(公告)号：US11183067B2
公开(公告)日：2021-11-23
申请号：US16795740
申请日：2020-02-20
Inventor： Ayako Maruyama , Kunio Nobori , Takeo Azuma , Satoshi Sato , Nobuhiko Wakai
Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.
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公开(公告)号：US11056001B2
公开(公告)日：2021-07-06
申请号：US15608021
申请日：2017-05-30
Inventor： Ayako Maruyama , Kunio Nobori , Takeo Azuma , Satoshi Sato , Nobuhiko Wakai
Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.
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公开(公告)号：US10687052B2
公开(公告)日：2020-06-16
申请号：US15961026
申请日：2018-04-24
Inventor： Nobuhiko Wakai , Takeo Azuma , Kunio Nobori , Satoshi Sato , Mikiya Nakata
IPC: H04N7/18 , H04N17/00 , G06T7/80 , H04N13/246 , H04N13/239
Abstract: Three-dimensional point group data indicating three-dimensional coordinate sets of three-dimensional points included in a common imaging space of one or more cameras is received, one or more images captured by the one or more cameras are transmitted, the one or more transmitted images are received, initial camera parameters of each cameras are decided based on one or more mounting locations and one or more directions of the cameras, corresponding points in the one or more images are calculated for each of the three-dimensional points, based on the three-dimensional point group data and the initial camera parameters, and one or more camera parameters of the one or more cameras are calculated based on pixel values at the corresponding points in the one or more images.
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公开(公告)号：US10664995B2
公开(公告)日：2020-05-26
申请号：US15687761
申请日：2017-08-28
Inventor： Nobuhiko Wakai , Kunio Nobori , Takeo Azuma , Satoshi Sato , Ayako Maruyama , Mikiya Nakata
IPC: G06T7/80 , G01B21/04 , G01B11/24 , H04N13/246 , H04N13/239 , H04N5/232
Abstract: Provided are: a point group obtainer that obtains three-dimensional point group data indicating three-dimensional locations of each of a plurality of three-dimensional points included in an imaging space of one or more cameras; a camera parameter calculator that (i) obtains corresponding points, for each of the plurality of three-dimensional points, in individual images captured using the one or more cameras, based on the three-dimensional point group data and an initial camera parameter of each camera, and (ii) calculates a camera parameter of each camera on the basis of the initial camera parameter of each camera and pixel values, included in the individual images, at the corresponding points; and a camera parameter outputter that outputs the calculated camera parameter of each camera.
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15.发明授权公开(公告)号：US10659677B2
公开(公告)日：2020-05-19
申请号：US16031465
申请日：2018-07-10
Inventor： Kunio Nobori , Nobuhiko Wakai , Satoshi Sato , Takeo Azuma
IPC: H04N5/232 , G06T7/80 , H04N13/122 , G06T7/70 , G06K9/00 , H04N13/239 , H04N17/00 , H04N13/00
Abstract: A camera parameter set calculation apparatus calculates three-dimensional coordinate sets based on a first image obtained by a first camera mounted on a mobile apparatus, a second image obtained by a second camera arranged on or in an object different from the mobile apparatus, a camera parameter set of the first camera, and a camera parameter set of the second camera, determines first pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the first image based on the first camera parameter set and second pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the second image based on the second camera parameter set, calculates an evaluation value based on pixel values at the first pixel coordinate pairs and pixel values at the second pixel coordinate pairs, and updates the camera parameter set of the first camera based on the evaluation value.
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Patent Agency Ranking
公开(公告)号：US10607371B2
公开(公告)日：2020-03-31
申请号：US15950216
申请日：2018-04-11
Inventor： Nobuhiko Wakai , Takeo Azuma , Kunio Nobori , Satoshi Sato
Abstract: A camera calibration method which calculates camera parameters of at least three cameras (a1) acquires three-dimensional coordinate set of a calibration point and image coordinate pair of the calibration point in each camera image, (a2) acquires camera parameters of each camera, (a3) calculates a view angle-corresponding length corresponding to a view angle of each pair of cameras viewing the calibration point, (a4) calculates a three-dimensional position of a measurement point corresponding to a three-dimensional position of the calibration point for each camera pair using parallax of the calibration point between the cameras in the camera pair, (a5) weights the three-dimensional position of each measurement point using the view angle-corresponding length corresponding to the measurement point, (a6) calculates a three-dimensional position of a unified point of the weighted measurement points, and (a7) updates the camera parameters based on the three-dimensional coordinate set of the calibration point and the three-dimensional position of the unified point.
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公开(公告)号：US10565449B2
公开(公告)日：2020-02-18
申请号：US16174688
申请日：2018-10-30
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma
IPC: H04N13/243 , G06K9/00 , H04N5/232 , G06T7/593
Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.
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公开(公告)号：US10446600B2
公开(公告)日：2019-10-15
申请号：US15915111
申请日：2018-03-08
Inventor： Satoshi Sato , Hisashi Watanabe , Takeo Azuma , Kunio Nobori , Nobuhiko Wakai , Takamasa Ando
Abstract: An imaging system serving as an image generation device is provided with: a random color filter array that has a plurality of concave lenses and a plurality of color filters having different transmission characteristics; a photodiode that receives light that has passed through the random color filter array; an AD converter that converts the light received by the photodiode into digital data; and a color image generation circuit that generates an image using the digital data and modulation information of the random color filter array, in which the plurality of concave lenses are located between the plurality of color filters and the photodiode, or the plurality of color filters are located between the plurality of concave lenses and the photodiode.
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公开(公告)号：US09398273B2
公开(公告)日：2016-07-19
申请号：US14685855
申请日：2015-04-14
Inventor： Satoshi Sato , Takeo Azuma , Kunio Nobori
CPC classification number: H04N9/045 , H03M7/3062 , H04N5/374
Abstract: An imaging system includes an encoding apparatus that performs a multiple sampling process on charge signals in a plurality of wavelength bands and encodes image information and a decoding apparatus that decodes the image information. In the multiple sampling process, the charge signals of pixels in a pixel group having a predetermined arrangement pattern are analog-summed and the sum is converted into a new digital signal. The encoding apparatus performs the multiple sampling process on charge signals in at least two of the wavelength bands and outputs a digital image signal in each of the wavelength band. The at least two pixel groups have different arrangement patterns, and combinations of the arrangement patterns for all the wavelength bands differ from one another. The decoding apparatus generates a reconstructed image from the digital image signals in the wavelength bands using multiple sampling information and outputs the image.
Abstract translation: 成像系统包括对多个波长带中的电荷信号进行多次采样处理并对图像信息进行编码的编码装置和对图像信息进行解码的解码装置。 在多次采样处理中，具有预定布置图案的像素组中的像素的电荷信号被模拟相加，并且该和被转换成新的数字信号。 编码装置对至少两个波长带中的电荷信号执行多次采样处理，并输出每个波长带中的数字图像信号。 至少两个像素组具有不同的布置图案，并且用于所有波长带的布置图案的组合彼此不同。 解码装置使用多个采样信息从波长带的数字图像信号中生成重构图像，并输出该图像。
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公开(公告)号：US11758247B2
公开(公告)日：2023-09-12
申请号：US17154533
申请日：2021-01-21
Inventor： Takeo Azuma , Satoshi Sato , Nobuhiko Wakai , Kohsuke Yoshioka , Noritaka Shimizu , Yoshinao Kawai , Takaaki Amada , Yoko Kawai , Takeshi Murai , Hiroki Takeuchi
IPC: G06T7/521 , H04N23/11 , H04N13/271 , G01S17/10 , G01S17/89
CPC classification number: H04N23/11 , G01S17/10 , G01S17/89 , G06T7/521 , H04N13/271 , G06T2207/10028
Abstract: A depth acquisition device includes memory and processor performing: acquiring, from the memory, intensities of infrared light emitted from a light source and measured by imaging with the infrared light reflected on a subject by pixels in an imaging element; generating a depth image by calculating a distance to the subject as a depth for each pixel based on an intensity received by the pixel; acquiring, from the memory, a visible light image generated by imaging, with visible light, a substantially same scene with a substantially same viewpoint and at a substantially same timing as those of imaging the infrared light image; detecting, from the visible light image, an edge region including an edge along a direction perpendicular to a direction of movement of the visible light image; and correcting, in the depth image, a depth of a target region corresponding to the edge region in the depth image.
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