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公开(公告)号：US20230219231A1
公开(公告)日：2023-07-13
申请号：US18121155
申请日：2023-03-14
Inventor： Tsukasa OKADA , Tomohide ISHIGAMI , Yuzuka ISOBE , Kozo EZAWA , Yoshinari MATSUYAMA , Kenji TOKUDA
CPC classification number: B25J9/1697 , B25J13/089 , B25J19/023 , G06T7/73 , G06T2207/10028 , G06T2207/30204
Abstract: A target object setting unit sets a position of a target object in a work object. A feature point recognizer detects feature points of a work object from a captured image obtained by an image capturing apparatus, the image including the work object and a holdable object. A first position calculator calculates a position of the target object in a coordinate system of the image capturing apparatus based on the feature points. A second position calculator calculates a position of the holdable object in the coordinate system of the image capturing apparatus based on the captured image. A control signal generator converts the positions of the target object and the holdable object in the coordinate system of the image capturing apparatus, into positions in a coordinate system of the robot arm apparatus, and outputs a first control signal to the robot arm apparatus based on the converted positions of the target object and the holdable object, for moving the holdable object to the position of the target object.
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公开(公告)号：US20160307303A1
公开(公告)日：2016-10-20
申请号：US15193447
申请日：2016-06-27
Inventor： Tomohide ISHIGAMI
CPC classification number: G06T5/005 , G02B27/1066 , G02B27/123 , G06T2207/10052 , H04N5/2171 , H04N5/2251 , H04N5/2253 , H04N5/2254 , H04N5/357
Abstract: An image capture device of the present disclosure is capable of recording light-ray information including a travelling direction of a light ray and an intensity of the light ray in the travelling direction, and includes: a main lens; an image sensor; microlenses arranged between the main lens and the image sensor; a dirt detector that detects a dirt region on or near the main lens based on an inclination of a straight line on an epipolar plane image that is produced by separating pixels on the image sensor so as to correspond to a plurality of sub-apertures existing on the main lens and arranging the separated pixels in a parallax direction; and a dirt remover that reconstructs pixels of the dirt region by using pixels outside the dirt region.
Abstract translation: 本公开的图像捕获装置能够记录包括光线的行进方向和光线在行进方向上的强度的光线信息，并且包括：主透镜; 图像传感器; 布置在主透镜和图像传感器之间的微透镜; 一种污物检测器，其基于通过分离图像传感器上的像素而产生的对数平面图像上的直线的倾斜度来检测主透镜上或附近的污物区域，以对应于存在于多个子孔径上的多个子孔径 所述主透镜并且在视差方向上布置所述分离的像素; 以及通过使用污物区域外的像素重建污物区域的像素的污物去除器。
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公开(公告)号：US20220366599A1
公开(公告)日：2022-11-17
申请号：US17877008
申请日：2022-07-29
Inventor： Tsukasa OKADA , Ukyou KATSURA , Tomohide ISHIGAMI
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.
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Patent Agency Ranking
4.发明申请公开(公告)号：US20210101747A1
公开(公告)日：2021-04-08
申请号：US17123861
申请日：2020-12-16
Inventor： Tomohide ISHIGAMI
Abstract: A first calculator calculates a relative position and a relative attitude of a vehicle based on images captured by an image capturing apparatus mounted on the vehicle. A second calculator extracts one marker from an image captured by the image capturing apparatus, and calculates an absolute position and an absolute attitude of the vehicle based on the position and the attitude of the one extracted marker. A corrector corrects the relative position and the relative attitude based on the absolute position and the absolute attitude to generate a corrected position and a corrected attitude of the vehicle. When an angular difference between a traveling direction of the vehicle having the corrected position and the corrected attitude, and the direction of the passageway is smaller than a predetermined threshold, the corrector corrects the relative attitude based on the direction of the passageway, instead of the absolute attitude.
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公开(公告)号：US20240262635A1
公开(公告)日：2024-08-08
申请号：US18635298
申请日：2024-04-15
Inventor： Tsukasa Okada , Tomohide ISHIGAMI , Yoshinari MATSUYAMA , Yuma YAMAKURA , Yuzuka ISOBE
IPC: B65G43/00
CPC classification number: B65G43/00 , B65G2203/041
Abstract: A storage device stores a first and a second feature point maps of an object in advance, the first feature point map detected by image processing not based on deep learning, and the second feature point map detected using a deep learning model trained in advance. A processing circuit detects first feature points of the object by the image processing on a captured image. The processing circuit detects second feature points of the object from the captured image using the deep learning model. The processing circuit calculates a position of a target object based on the first feature points and the first feature point map. When the position cannot be calculated based on the first feature points and the first feature point map, the processing circuit calculates the position of the target object based on the first and second feature points, and he first and second feature point maps.
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公开(公告)号：US20160309074A1
公开(公告)日：2016-10-20
申请号：US15194694
申请日：2016-06-28
Inventor： Tomohide ISHIGAMI
CPC classification number: H04N5/23212 , G02B3/0056 , G02B27/0075 , G02B27/1066 , H04N5/2254 , H04N5/23229 , H04N5/369
Abstract: The present disclosure is intended to provide an image capture device having high resolution in reconstruction. The image capture device of the present disclosure, which is capable of recording light information including a traveling direction of light and intensity of the light in the traveling direction, includes a main lens; an image sensor; a microlens array that is placed between the main lens and the image sensor and has a predetermined vertical rotation angle relative to the image sensor; and a signal processing unit for generating a refocused image on a virtual image plane at any given focal position using the light information.
Abstract translation: 本公开旨在提供一种在重建中具有高分辨率的图像捕获装置。 能够记录包括光的行进方向和行进方向的光强度的光信息的本公开的图像捕获装置包括主透镜; 图像传感器; 微透镜阵列，其设置在主透镜和图像传感器之间，并且相对于图像传感器具有预定的垂直旋转角度; 以及信号处理单元，用于使用光信息在任何给定的焦点位置在虚拟图像平面上产生重聚焦图像。
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公开(公告)号：US20220366596A1
公开(公告)日：2022-11-17
申请号：US17879127
申请日：2022-08-02
Inventor： Ukyou KATSURA , Tsukasa OKADA , Tomohide ISHIGAMI
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.
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公开(公告)号：US20180033160A1
公开(公告)日：2018-02-01
申请号：US15716923
申请日：2017-09-27
Inventor： Tomohide ISHIGAMI
CPC classification number: G06T7/73 , G01C15/00 , G01C21/20 , G06T7/74 , G06T7/90 , G06T15/08 , G06T2207/10024 , G06T2207/10028 , G06T2207/20048 , G06T2207/20072 , G06T2207/20076 , G06T2207/30244 , G06T2207/30252
Abstract: A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.
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