公开(公告)号：US10664995B2

公开(公告)日：2020-05-26

申请号：US15687761

申请日：2017-08-28

Applicant: Panasonic Intellectual Property Management Co., Ltd.

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.

公开(公告)号：US10659677B2

公开(公告)日：2020-05-19

申请号：US16031465

申请日：2018-07-10

Applicant: Panasonic Intellectual Property Management Co., Ltd.

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.

公开(公告)号：US10607371B2

公开(公告)日：2020-03-31

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：US10446600B2

公开(公告)日：2019-10-15

申请号：US15915111

申请日：2018-03-08

Applicant: Panasonic Intellectual Property Management Co., Ltd.

Inventor： Satoshi Sato ,  Hisashi Watanabe ,  Takeo Azuma ,  Kunio Nobori ,  Nobuhiko Wakai ,  Takamasa Ando

IPC: H01L27/146 ,  H04N5/369 ,  H04N9/04 ,  G06T3/40 ,  H04N5/225 ,  H04N9/67 ,  H04N9/65

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.