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公开(公告)号：EP3846463A1
公开(公告)日：2021-07-07
申请号：EP19854631.9
申请日：2019-08-27
发明人： NOBORI, Kunio , SATO, Satoshi , AZUMA, Takeo , WAKAI, Nobuhiko , HARADA, Mitsuru , MACHIDA, Shinichi , IZUCHI, Masumi
IPC分类号： H04N9/07
摘要： An image generation device (1) includes: a voltage generator (40) that generates a plurality of voltages each having a different voltage value; an image capturer (10) that includes an organic photoconductive film (32), and performs imaging every time each of the plurality of voltages is applied; a luminance data obtainer (51) that obtains a plurality of luminance data items corresponding to the plurality of voltages applied, each of the plurality of luminance data items being obtained from the imaging performed by the image capturer (10); and a color image generator (52) that generates a color image based on the plurality of luminance data items.
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公开(公告)号：EP3392836B1
公开(公告)日：2020-05-13
申请号：EP18166059.8
申请日：2018-04-06
发明人： WAKAI, Nobuhiko , AZUMA, Takeo , NOBORI, Kunio , SATO, Satoshi
IPC分类号： G06T7/80
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公开(公告)号：EP4390835A2
公开(公告)日：2024-06-26
申请号：EP24174928.2
申请日：2019-09-09
发明人： SATO, Satoshi , AZUMA, Takeo , WAKAI, Nobuhiko , YOSHIOKA, Kohsuke , SHIMIZU, Noritaka , KAWAI, Yoshinao , AMADA, Takaaki , KAWAI, Yoko , MURAI, Takeshi , TAKEUCHI, Hiroki
IPC分类号： G06T5/50
CPC分类号： G01C3/06 , G06T7/55 , G06T7/521 , G06T2207/1002820130101 , G06T2207/1004820130101 , H04N5/2226 , G01S17/89 , G06T5/50 , H04N23/81 , H04N23/56 , H04N23/11 , H04N23/74 , H04N25/61 , G06T5/77
摘要： A depth acquisition device capable of accurately acquiring a depth of an image is provided. A depth acquisition device (1) includes a memory (200) and a processor (110). The processor (110) performs: acquiring timing information indicating a timing at which a light source (101) irradiates a subject with infrared light; acquiring, from the memory (200), an infrared light image generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring, from the memory (200), a visible light image generated by imaging a substantially same scene as the scene of the infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same time as a time of imaging the infrared light image; detecting a flare region from the infrared light image; and estimating a depth of the flare region based on the infrared light image, the visible light image, and the flare region.
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公开(公告)号：EP3352136B1
公开(公告)日：2020-03-18
申请号：EP17201108.2
申请日：2017-11-10
发明人： WAKAI, Nobuhiko , AZUMA, Takeo , NOBORI, Kunio , SATO, Satoshi , MARUYAMA, Ayako
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公开(公告)号：EP4386674A2
公开(公告)日：2024-06-19
申请号：EP24173503.4
申请日：2019-07-18
发明人： AZUMA, Takeo , SATO, Satoshi , WAKAI, Nobuhiko , YOSHIOKA, Kohsuke , SHIMIZU, Noritaka , KAWAI, Yoshinao , AMADA, Takaaki , KAWAI, Yoko , MURAI, Takeshi , TAKEUCHI, Hiroki
IPC分类号： G06T7/55
CPC分类号： G06T7/55 , G06T2207/1004820130101 , G06T5/50 , G06T2200/0420130101 , G06T2207/2008120130101 , G06T2207/1002420130101 , G06T2207/1002820130101 , G06T2207/2008420130101
摘要： A depth acquisition device (1) capable of accurately acquiring a depth to a subject includes a memory (200) and a processor (110a) performing: acquiring, from the memory (200), intensities of infrared light measured by imaging with infrared light emitted from a light source and reflected on the subject by pixels in an imaging element; generating a depth image by calculating the distance for each pixel based on the intensities; acquiring, from the memory (200), a visible light image generated by imaging, with visible light, the substantially same scene from the substantially same viewpoint at the substantially same timing as those of the infrared light image generated by imaging based on the intensities; detecting a lower reflection region showing an object having a lower reflectivity from the infrared light image in accordance with the infrared light image and the visible light image; correcting a lower reflection region in the depth image corresponding to the lower reflection region in accordance with the visible light image; and outputting the depth image with the corrected lower reflection region.
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公开(公告)号：EP3605463A1
公开(公告)日：2020-02-05
申请号：EP19196914.6
申请日：2017-11-10
发明人： WAKAI, Nobuhiko , AZUMA, Takeo , NOBORI, Kunio , SATO, Satoshi , MARUYAMA, Ayako
摘要： A crossing point detector includes a memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple parameters of a numerical model, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the numerical model and the square image, respectively, and computes the position of a crossing point of two straight lines expressed by the decided multiple parameters to thereby detect the crossing point with subpixel precision. The numerical model is a model that simulates a pixel integration effect when imaging a step edge by assigning pixel values to respective regions inside a pixel divided by a straight line, and deciding a pixel value of the overall pixel.
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公开(公告)号：EP3392837A1
公开(公告)日：2018-10-24
申请号：EP18166375.8
申请日：2018-04-09
发明人： WAKAI, Nobuhiko , AZUMA, Takeo , NOBORI, Kunio , SATO, Satoshi
IPC分类号： G06T7/80
CPC分类号： G06T7/85 , G06T7/73 , G06T2207/10012 , G06T2207/30204
摘要： A camera calibration method, which calculates camera parameters of two cameras using calibration points, includes: (a1) acquiring three-dimensional coordinate sets of the calibration points and image coordinate pairs of the calibration points in a camera image of each camera; (a2) acquiring multiple camera parameters of each camera; (a3) for each calibration point, calculating a view angle-corresponding length corresponding to a view angle of the two cameras viewing the calibration point; (a4) for each calibration point, calculating a three-dimensional position of a measurement point corresponding to a three-dimensional position of the calibration point using parallax of the calibration point between the two cameras; (a5) for each calibration point, weighting a difference between the three-dimensional coordinate set of the calibration point and the three-dimensional position of the measurement point corresponding to the calibration point using the view angle-corresponding length corresponding to the calibration point; and (a6) updating the camera parameters based on the weighted difference.
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公开(公告)号：EP3392836A1
公开(公告)日：2018-10-24
申请号：EP18166059.8
申请日：2018-04-06
发明人： WAKAI, Nobuhiko , AZUMA, Takeo , NOBORI, Kunio , SATO, Satoshi
IPC分类号： G06T7/80
摘要： A camera calibration method which calculates camera parameters of at least three cameras acquires three-dimensional coordinate set of a calibration point and image coordinate pair of the calibration point in each camera image, acquires camera parameters of each camera, calculates a view angle-corresponding length (L1b, L1a) corresponding to a view angle of each pair of cameras (21, 22) viewing the calibration point (P1), calculates a three-dimensional position of a measurement point corresponding to a three-dimensional position of the calibration point for each camera pair (21,22) using parallax of the calibration point between the cameras in the camera pair (21,22), weights the three-dimensional position of each measurement point using the view angle-corresponding length (L1b, L1a) corresponding to the measurement point (P1), calculates a three-dimensional position of a unified point of the weighted measurement points, and 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：EP4390835A3
公开(公告)日：2024-09-11
申请号：EP24174928.2
申请日：2019-09-09
发明人： SATO, Satoshi , AZUMA, Takeo , WAKAI, Nobuhiko , YOSHIOKA, Kohsuke , SHIMIZU, Noritaka , KAWAI, Yoshinao , AMADA, Takaaki , KAWAI, Yoko , MURAI, Takeshi , TAKEUCHI, Hiroki
CPC分类号： G01C3/06 , G06T7/55 , G06T2207/1002820130101 , G06T2207/1004820130101 , H04N5/2226 , G01S17/89 , G06T5/50 , H04N23/81 , H04N23/56 , H04N23/11 , H04N23/74 , H04N25/61 , G06T5/77
摘要： A depth acquisition device capable of accurately acquiring a depth of an image is provided. A depth acquisition device (1) includes a memory (200) and a processor (110). The processor (110) performs: acquiring timing information indicating a timing at which a light source (101) irradiates a subject with infrared light; acquiring, from the memory (200), an infrared light image generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring, from the memory (200), a visible light image generated by imaging a substantially same scene as the scene of the infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same time as a time of imaging the infrared light image; detecting a flare region from the infrared light image; and estimating a depth of the flare region based on the infrared light image, the visible light image, and the flare region.
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公开(公告)号：EP3859394A1
公开(公告)日：2021-08-04
申请号：EP19864942.8
申请日：2019-09-11
发明人： AZUMA, Takeo , SATO, Satoshi , WAKAI, Nobuhiko , YOSHIOKA, Kohsuke , SHIMIZU, Noritaka , KAWAI, Yoshinao , AMADA, Takaaki , KAWAI, Yoko , MURAI, Takeshi , TAKEUCHI, Hiroki
摘要： A depth acquisition device (1) capable of accurately acquiring a depth of a subject of an image includes a memory (200) and a processor (110a). The processor (110a) performs: acquiring, from the memory (200), intensities of infrared light which have been emitted from a light source and are measured by imaging performed by receiving 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 (200), a visible light image generated by imaging a substantially same scene as that of an infrared light image, with visible light from a substantially same viewpoint and at a substantially same timing as those of imaging the infrared light image which is generated by the imaging based on the intensities of the infrared light received by the pixels; 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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