公开(公告)号：US20130135448A1

公开(公告)日：2013-05-30

申请号：US13674333

申请日：2012-11-12

Applicant: Sony Corporation

Inventor： Takefumi Nagumo ,  Jun Murayama ,  Toshio Yamazaki ,  Ken Tamayama

IPC: H04N13/02

CPC classification number: G06T3/4053 ,  G06T5/002 ,  G06T7/246 ,  G06T7/557 ,  G06T2200/21 ,  G06T2207/10012 ,  G06T2207/10052 ,  G06T2207/20201 ,  H04N13/111 ,  H04N13/128 ,  H04N13/204 ,  H04N13/225 ,  H04N13/229 ,  H04N13/271 ,  H04N2013/0081 ,  H04N2013/0088

Abstract: An image processing device includes a viewpoint separating unit configured to separate multi-viewpoint image data, including images of multiple viewpoints and representing intensity distribution of light and the direction of travel of light according to positions and pixel values of pixels, into a plurality of single-viewpoint image data for each of the individual viewpoints; and a parallax control unit configured to control amount of parallax between the plurality of single-viewpoint image data obtained by separation into individual viewpoints by the viewpoint separating unit.

Abstract translation: 一种图像处理装置，包括视点分离单元，被配置为将包括多个视点的图像的多视点图像数据和根据像素的位置和像素值表示的光的强度分布和光的行进方向分离成多个单个 每个视点的视点图像数据; 以及视差控制单元，被配置为通过视点分离单元将通过分离获得的多个单视点图像数据之间的视差量控制为各个视点。

公开(公告)号：US08798390B2

公开(公告)日：2014-08-05

申请号：US13674530

申请日：2012-11-12

Applicant: Sony Corporation

Inventor： Toshio Yamazaki

IPC: G06K9/40

CPC classification number: G06T5/002 ,  H04N13/128

Abstract: An image processing apparatus including: an error determination processing unit inputting a distance image having distance information or parallax information up to the subject, detecting an error signal included in the distance image, and outputting a synthesis coefficient according to an error degree of an image region unit; a low pass filter processing unit applying a low pass filter with respect to the distance image and generating a noise reduction distance image; and a distance image synthesis unit generating a corrected distance image using a synthesis process of the distance image and the noise reduction distance image, in which, the distance image synthesis unit follows a synthesis coefficient of an image region unit output by the error determination processing unit, performs synthesis processing in which the synthesis ratio of the distance image and the noise reduction image is set in the image region units, and generates the corrected distance image.

Abstract translation: 一种图像处理装置，包括：误差确定处理单元，输入具有到目标的距离信息或视差信息的距离图像，检测包括在距离图像中的误差信号，并根据图像区域的误差程度输出合成系数 单元; 低通滤波处理单元，相对于所述距离图像应用低通滤波器，并生成降噪距离图像; 以及距离图像合成部，其使用所述距离图像和所述噪声降低距离图像的合成处理生成校正后的距离图像，其中，所述距离图像合成单元遵循由所述误差判定处理部输出的图像区域单位的合成系数 执行其中将距离图像和降噪图像的合成比设置在图像区域单位中的合成处理，并且生成校正后的距离图像。

公开(公告)号：US11719788B2

公开(公告)日：2023-08-08

申请号：US17139290

申请日：2020-12-31

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Hideki Oyaizu ,  Kenichi Kawasaki

IPC: G01S7/40 ,  G01C3/08 ,  G01C3/14 ,  G01S13/86 ,  G01S13/93 ,  G01S13/931 ,  G06T7/73 ,  G06V20/58 ,  G08G1/16 ,  H04N13/239 ,  H04N13/246 ,  B60R21/00

CPC classification number: G01S7/40 ,  G01C3/08 ,  G01C3/14 ,  G01S13/86 ,  G01S13/867 ,  G01S13/93 ,  G01S13/931 ,  G06T7/74 ,  G06V20/58 ,  G08G1/16 ,  H04N13/239 ,  H04N13/246 ,  B60R21/00 ,  G06T2207/10012 ,  G06T2207/10044 ,  G06T2207/30261

Abstract: A signal processing apparatus including a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

公开(公告)号：US11427218B2

公开(公告)日：2022-08-30

申请号：US16634581

申请日：2018-07-25

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Hideki Oyaizu ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Kentaro Doba

IPC: B60W60/00 ,  G01S17/931 ,  G01S17/894 ,  G01S7/481 ,  G01S17/42 ,  G05D1/00

Abstract: A laser range finder projects light while changing a direction in a horizontal direction at a predetermined angle with respect to a vertical direction to also receive reflected light of the light, and detects a direction and a distance in which the light is reflected from an obstacle or the like, according to a difference time between a time of light projection and a time of light reception. A normal direction of a flat plane forming a road surface is detected on the basis of a polarized image. The laser range finder projects light such that the light has a predetermined angle with respect to the vertical direction so as to be orthogonal to the normal direction of the flat plane forming the road surface. The laser range finder can be applied to in-vehicle systems.

公开(公告)号：US11328444B2

公开(公告)日：2022-05-10

申请号：US16639127

申请日：2018-08-08

Applicant: Sony Corporation

Inventor： Toshio Yamazaki ,  Takuto Motoyama ,  Kentaro Doba ,  Yasuhiro Sutou

IPC: G06T7/73 ,  H04N13/239 ,  G01S13/08 ,  G01S13/89 ,  G06T7/00 ,  G06V10/25

Abstract: The present disclosure relates to a signal processing apparatus and system. In calibration, a sensor section is used to acquire a time of day when a stereo camera image capturing a target is acquired and a time of day when a radar image capturing the target is acquired. The target has a radar reflector and a marker. The image acquisition times of day are acquired while at the same time changing a distance between the sensor section and the target so as to find an amount of time-of-day discrepancy, a difference in time of day between the stereo camera image and the radar image at the same distance. At the time of object detection, the radar image acquired first is buffered and then output together with the stereo camera image acquired by the time-of-day discrepancy later, thus combining the stereo camera image and the radar image.

公开(公告)号：US11047976B2

公开(公告)日：2021-06-29

申请号：US15762593

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Yasuhiro Sutou ,  Hideki Oyaizu ,  Takuto Motoyama ,  Toshio Yamazaki

IPC: G01S13/86 ,  G01S13/931 ,  H04N13/239 ,  G06T7/593 ,  G01S17/86 ,  G01S17/931 ,  G01C3/08 ,  H04N13/00

Abstract: The present technology relates to an information processing apparatus, an information processing method and a program that make it possible to determine a distance to an object with high accuracy.
A likelihood calculation unit calculates, from information obtained by each of a plurality of distance measurement methods, distance likelihoods with regard to which the distance to an object is each of a plurality of distances. An integration unit integrates the distance likelihoods according to the plurality of distance measurement methods to determine integration likelihoods each of the plurality of distances. The present technology can be applied, for example, to a case in which a distance to an obstacle is determined and a driver who drives an automobile or the like is supported using the distance or to a like case.

公开(公告)号：US10908257B2

公开(公告)日：2021-02-02

申请号：US15762136

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Hideki Oyaizu ,  Kenichi Kawasaki

IPC: G01S7/40 ,  G01S13/93 ,  G01S13/86 ,  G06T7/73 ,  H04N13/246 ,  H04N13/239 ,  G01C3/08 ,  G01C3/14 ,  G01S13/931 ,  G06K9/00 ,  G08G1/16 ,  B60R21/00 ,  G01S13/00

Abstract: A signal processing apparatus including a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

公开(公告)号：US20180284256A1

公开(公告)日：2018-10-04

申请号：US15762593

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Yasuhiro Sutou ,  Hideki Oyaizu ,  Takuto Motoyama ,  Toshio Yamazaki

IPC: G01S13/86 ,  G01S13/89 ,  G01C3/08

Abstract: The present technology relates to an information processing apparatus, an information processing method and a program that make it possible to determine a distance to an object with high accuracy.A likelihood calculation unit calculates, from information obtained by each of a plurality of distance measurement methods, distance likelihoods with regard to which the distance to an object is each of a plurality of distances. An integration unit integrates the distance likelihoods according to the plurality of distance measurement methods to determine integration likelihoods each of the plurality of distances. The present technology can be applied, for example, to a case in which a distance to an obstacle is determined and a driver who drives an automobile or the like is supported using the distance or to a like case.

公开(公告)号：US20180267142A1

公开(公告)日：2018-09-20

申请号：US15762136

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Hideki Oyaizu ,  Kenichi Kawasaki

IPC: G01S7/40 ,  G01S13/86 ,  G01S13/93 ,  G01C3/08 ,  G01C3/14 ,  G08G1/16 ,  H04N13/239 ,  G06T7/73 ,  G06K9/00 ,  H04N13/246

CPC classification number: G01S7/40 ,  B60R21/00 ,  G01C3/08 ,  G01C3/14 ,  G01S13/86 ,  G01S13/867 ,  G01S13/93 ,  G01S13/931 ,  G06K9/00805 ,  G06T7/74 ,  G06T2207/10012 ,  G06T2207/10044 ,  G06T2207/30261 ,  G08G1/16 ,  H04N13/239 ,  H04N13/246

Abstract: The present technology relates to a signal processing apparatus, a signal processing method, and a program that enable calibration with high precision.The signal processing apparatus includes a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship. The present technology is applicable to, for example, signal processing apparatuses for sensor fusion.

公开(公告)号：US11348208B2

公开(公告)日：2022-05-31

申请号：US16976844

申请日：2019-02-22

Applicant: SONY CORPORATION

Inventor： Toshio Yamazaki

IPC: G06T5/00 ,  G06T7/80 ,  G06T5/50

Abstract: Provided is a signal processing apparatus that estimates image distortion in a case where images are captured through a transmissive body allowing light to pass through. The signal processing apparatus includes a lens distortion estimation section that estimates lens distortion based on a location of a feature point in a first image and a second image of an object. The first image is captured by an imaging section through a transmissive body and a lens that allow light to pass through. The second image is free of transmissive body distortion caused by the transmissive body and free of the lens distortion caused by the lens. The apparatus further includes a transmissive body distortion estimation section that estimates the transmissive body distortion based on the location of the feature point in the first image and a third image that is obtained by removing the estimated lens distortion from the first image.