公开(公告)号：US20180316907A1

公开(公告)日：2018-11-01

申请号：US15960983

申请日：2018-04-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： TAKEO AZUMA ,  NOBUHIKO WAKAI ,  KUNIO NOBORI ,  SATOSHI SATO

IPC: H04N13/271 ,  H04N13/243

CPC classification number: H04N13/271 ,  H04N13/239 ,  H04N13/243 ,  H04N2013/0081

Abstract: An image capturing apparatus: calculates, for each of pairs of images, based on the pairs of images and camera parameters, position information including information specifying a three-dimensional position of a measurement point with respect to a pair of pixels respectively included in the pair of images, and information specifying a position of each of the pair of pixels; performs, based on the position information and the camera parameters, weighted addition on the information specifying the three-dimensional position of the measurement point in each of the pair of images, with information using an effective baseline length or a viewing angle, with respect to the three-dimensional position, of a pair of the cameras corresponding to the pair of images; and outputs position information of the measurement point to which a weighted addition value is applied.

公开(公告)号：US20180316906A1

公开(公告)日：2018-11-01

申请号：US15961041

申请日：2018-04-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： KUNIO NOBORI ,  NOBUHIKO WAKAI ,  SATOSHI SATO ,  TAKEO AZUMA ,  MIKIYA NAKATA

IPC: H04N13/246 ,  H04N13/275 ,  G06K9/00 ,  G06T7/80

Abstract: A camera parameter set calculation apparatus calculates three-dimensional coordinate sets corresponding to overlapping regions including images of a portion of a subject, based on a first and second images captured by a first and second cameras, a first camera parameter set of the first camera and a second camera parameter set of the second camera; determines first pixel coordinate pairs based on the first camera parameter set by projecting the three-dimensional coordinate sets on the first image; determines second pixel coordinate pairs based on the second camera parameter set by projecting the three-dimensional coordinate sets on the second image; calculates an evaluation value, based on pixel values at the first pixel coordinate pairs on the first image and pixel values at the second pixel coordinate pairs on the second image; and updates the first and second camera parameter sets based on the evaluation value.

公开(公告)号：US20180316905A1

公开(公告)日：2018-11-01

申请号：US15961011

申请日：2018-04-24

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： KUNIO NOBORI ,  NOBUHIKO WAKAI ,  SATOSHI SATO ,  TAKEO AZUMA ,  MIKIYA NAKATA

IPC: H04N13/246 ,  H04N5/232 ,  G06T7/80 ,  G06T7/73

CPC classification number: H04N13/246 ,  B60R1/00 ,  B60R2300/301 ,  B60R2300/303 ,  B60R2300/307 ,  B60R2300/607 ,  G06T7/73 ,  G06T7/85 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/30208 ,  G06T2207/30264 ,  H04N5/23216 ,  H04N5/23238 ,  H04N13/239 ,  H04N13/243

Abstract: A camera parameter set calculation method including (a1) acquiring a first image captured by a first camera and a second image captured by a second camera, (a2) acquiring camera parameter sets of the first and second cameras, (a3) extracting, from the first image, a predetermined portion having assumed three-dimensional position information, (a4) calculating three-dimensional coordinate sets corresponding to the predetermined portion on a basis of the assumed three-dimensional position information, the first image, and the first camera parameter set, (a5) determining first pixel coordinate pairs and second pixel coordinate pairs corresponding to the predetermined portion in the first image and second image, respectively, on the basis of the three-dimensional coordinate sets, (a6) calculating an evaluation value on the basis of pixel values at the first pixel coordinate pairs and pixel values at the second coordinate pairs, (a7) updating the camera parameter sets on the basis of the evaluation value.

公开(公告)号：US20180300900A1

公开(公告)日：2018-10-18

申请号：US15950216

申请日：2018-04-11

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： NOBUHIKO WAKAI ,  TAKEO AZUMA ,  KUNIO NOBORI ,  SATOSHI SATO

IPC: G06T7/80 ,  G06T7/73

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.

公开(公告)号：US20150172633A1

公开(公告)日：2015-06-18

申请号：US14555643

申请日：2014-11-27

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： KUNIO NOBORI ,  SATOSHI SATO ,  TAKEO AZUMA

IPC: H04N13/02 ,  G06K9/00 ,  G06T7/20 ,  H04N5/232 ,  G06T7/00

CPC classification number: G06K9/00664 ,  G06K9/00805 ,  G06T7/596 ,  G06T2207/10012 ,  G06T2207/10052 ,  G06T2207/30261 ,  H04N5/23238 ,  H04N13/243 ,  Y10S901/01 ,  Y10S901/47

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.

Abstract translation: 提供了一种捕获多个图像的图像捕获装置，从多个图像计算三维位置，并输出多个图像和关于三维位置的信息。 摄像装置包括摄像单元，照相机参数存储单元，位置计算单元，位置选择单元和图像补充单元。 图像捕获单元使用至少三个照相机输出多个图像。 相机参数存储单元预先存储包括遮挡信息的相机参数。 位置计算单元计算多个点的三维位置。 位置选择单元选择与不具有遮挡物的对象区域相关的位置信息，并输出所选择的位置信息。 图像补充单元生成补充图像，并输出补充图像和所选择的位置信息。

公开(公告)号：US20150116531A1

公开(公告)日：2015-04-30

申请号：US14510121

申请日：2014-10-09

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： SATOSHI SATO ,  TAKEO AZUMA ,  JUN OZAWA

IPC: H04N5/232

CPC classification number: H04N19/192 ,  H04N19/12 ,  H04N19/136 ,  H04N19/172 ,  H04N19/60

Abstract: An image capturing system includes a photoelectric conversion unit, a charge holding unit, a multiple sampling information setting unit, a multiple sampling unit, a conversion unit, and an image reconstruction unit. The photoelectric conversion unit converts optical signals received by a plurality of pixels to electric signals. The charge holding unit stores the electric signals and holds the electric signals as charge signals. The multiple sampling information setting unit sets multiple sampling information used for a multiple sampling process. The multiple sampling information includes first multiple sampling information and second multiple sampling information. The multiple sampling unit performs the multiple sampling process using the multiple sampling information and the charge signals so as to output signals. The conversion unit converts the output signals to digital signals. The image reconstruction unit generates reconstructed images using the digital signals and the multiple sampling information, and outputs the reconstructed images.

Abstract translation: 图像拍摄系统包括光电转换单元，电荷保持单元，多采样信息设置单元，多采样单元，转换单元和图像重建单元。 光电转换单元将由多个像素接收的光信号转换为电信号。 电荷保持单元存储电信号并保持电信号作为充电信号。 多个采样信息设置单元设置用于多次采样处理的多个采样信息。 多个采样信息包括第一多个采样信息和第二多个采样信息。 多采样单元使用多个采样信息和充电信号执行多次采样处理，以输出信号。 转换单元将输出信号转换为数字信号。 图像重建单元使用数字信号和多个采样信息生成重建图像，并且输出重构图像。