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1.发明公开
公开(公告)号：EP3195076A1
公开(公告)日：2017-07-26
申请号：EP15871315.6
申请日：2015-06-26
发明人： YAN, Jiaqi , ZHOU, You
CPC分类号： B64C39/024 , B64C2201/027 , B64C2201/146 , G01C3/14 , G01C5/06 , G01C11/06 , G05D1/042 , G05D1/101 , G06T7/00 , G06T7/55 , G06T2207/10032 , H04N13/239 , H04N13/289 , H04N2013/0081
摘要： A method for selecting an operation mode of a mobile platform includes detecting a height grade of the mobile platform and selecting an operation mode of the mobile platform according to a result of the detecting.
摘要翻译： 一种用于选择移动平台的操作模式的系统及其制作和使用方法。 系统可以从移动平台的角度确定移动平台的高度以及第一和第二图像之间的差异。 基于确定的高度和图像差异，可以从移动平台的多种操作模式中选择移动平台的适当操作模式。 这些操作模式可以例如基于高度和/或图像差异来分类。 从而，系统可以有利地利用移动平台的不同操作模式，并且可以满足在宽范围的高度内选择移动平台的操作模式的精度要求。 另一方面，该系统可以基于在不同时间采集的图像以及通过惯性测量单元采集的数据来操作移动平台。
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2.发明公开PHOTOGRAPHING METHOD AND APPARATUS AND TERMINAL 审中-公开FOTOGRAFIEVERFAHREN UND -ORRICHTUNG SOWIEENDGERÄT
公开(公告)号：EP3154256A1
公开(公告)日：2017-04-12
申请号：EP15878504.8
申请日：2015-06-30
发明人： DU, Lijian
CPC分类号： G06K9/6202 , G01C3/08 , G01C3/14 , G06T7/74 , H04N5/2258 , H04N5/232
摘要： The present disclosure relates to a photographing method, an apparatus, and a terminal. The method includes: using two photographing modules to acquire images of a to-be-photographed object at a first moment and a second moment after a preset time interval, and determining a distance of the to-be-photographed object according to image points formed by a point of the to-be-photographed object on photosensitive devices of the two photographing modules, and parameters of the two photographing modules; calculating a variation between the distances of the to-be-photographed object at the first moment and the second moment; determining whether the variation is less than or equal to a preset value; and photographing the to-be-photographed object if yes. By means of the above technical solution of the present disclosure, automatic photographing is realized, the operation is simple, user requirements can be satisfied, and user experience can be improved.
摘要翻译： 本公开涉及拍摄方法，装置和终端。 该方法包括：使用两个拍摄模块在预设时间间隔之后的第一时刻和第二时刻获取被拍摄对象的图像，并根据形成的图像点确定被拍摄对象的距离 通过两个拍摄模块的感光装置上的被拍摄物体的点和两个拍摄模块的参数; 计算在第一时刻和第二时刻被拍摄物体的距离之间的变化; 确定所述变化是否小于或等于预设值; 并且如果是，则拍摄被拍摄的对象。 通过本公开的上述技术方案，实现了自动拍摄，操作简单，可以满足用户要求，可以提高用户体验。
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公开(公告)号：EP2913793A1
公开(公告)日：2015-09-02
申请号：EP13848331.8
申请日：2013-08-22
申请人： Sony Corporation
发明人： HAYASAKA, Kengo , ITO, Katsuhisa
CPC分类号： G06T7/60 , G01C3/06 , G01C3/14 , G01S11/12 , G06T5/001 , G06T7/593 , G06T2207/10012 , G06T2207/20016 , H04N2013/0081
摘要： [Object] To provide an image processing apparatus capable of increasing a distance calculation accuracy.
[Solving Means] According to an embodiment of the present technology, there is provided an image processing apparatus including a parallax information generation unit. The parallax information generation unit generates parallax information based on a first phase difference distribution and a second phase difference distribution, the first phase difference distribution being generated on a pixel by pixel basis for the first parallax image and the second parallax image, the second phase difference distribution being generated on a sub-pixel by sub-pixel basis based on the first phase difference distribution.摘要翻译： 本发明提供一种能够提高距离计算精度的图像处理装置。 [解决方案]根据本技术的实施例，提供了一种包括视差信息生成单元的图像处理装置。 视差信息生成单元基于第一相位差分布和第二相位差分布生成视差信息，第一相位差分布是针对第一视差图像和第二视差图像逐个像素地生成的，第二相位差分布 分布是基于第一相位差分布在子像素基础上产生的。
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公开(公告)号：EP2778603A4
公开(公告)日：2015-06-03
申请号：EP12847189
申请日：2012-10-24
发明人： KAKEGAWA SHINJI , MITOMA HIROTO , OSHIMA AKIRA , MATONO HARUKI , SHIMA TAKESHI
CPC分类号： H04N13/0246 , G01C3/14 , G06T7/593 , G06T2207/10012 , G06T2207/30261 , G08G1/166 , G08G1/167 , H04N13/0239 , H04N2013/0085
摘要： To obtain an image processing device and a method of processing an image that improve distance accuracy and is capable of performing accurate distance even about an object at a greater distance than before, when a distance to an object is measured, one image object region 302 including an image of an object is extracted from one image of a pair of images imaged by a pair of imaging elements at the same time in the same direction. The degree of background that is likelihood of whether either an object image configuration part 304 or a background image configuration part 303 is calculated for each of a plurality of image configuration parts that configures the one image object region 302. Then, the other image object region 503 having an image similar to the one image object region 302 is extracted from the other image 501 using the degree of background, and a parallax between the one image object region 302 and the other image object region 503 is calculated.
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公开(公告)号：EP2824417A1
公开(公告)日：2015-01-14
申请号：EP13758317.5
申请日：2013-02-06
发明人： MATONO Haruki , MITOMA Hiroto
摘要： In order to be able to measure a distance with disparity resolution of a stereo camera or less and precisely measure a relative distance to a target even in the event of degradation of the imaging condition, a distance calculator includes a monocular distance calculation section 203, a stereo distance calculation section 204, a blurriness level calculation section 201, a distance estimation section 202, and an output distance calculation section 206. The monocular distance calculation section 203 calculates the distance to a target based on image information captured by a camera 101 or 102. The stereo distance calculation section 204 calculates the distance to the target based on image information captured by the two cameras 101 and 102. The blurriness level calculation section 201 calculates the blurriness level of the image information captured by the image information captured by the cameras 101 and 102. The distance estimation section 202 estimates the distance to the target at the time of capturing of images by the cameras 101 and 102. The output distance calculation section 206 calculates the distance to the target to be output. The output distance calculation section 206 selects, as the distance to be output, the distance calculated by the monocular distance calculation section 203 or the distance calculated by the stereo distance calculation section 204 based on the blurriness level and the estimated distance.
摘要翻译： 为了能够利用立体相机的视差分辨率来测量距离或更少并且即使在成像条件恶化的情况下也精确地测量到目标的相对距离，距离计算器包括单目距离计算部分203， 立体距离计算部分204，模糊度等级计算部分201，距离估计部分202和输出距离计算部分206.单目距离计算部分203基于由照相机101或102捕获的图像信息来计算到目标的距离 ，立体距离计算部204基于由两个照相机101,102拍摄到的图像信息，计算与对象物的距离。模糊度水平计算部201计算由照相机101拍摄的图像信息所拍摄的图像信息的模糊度 距离估计部分202估计距离目标的距离 摄像机101和102拍摄图像的时间。输出距离计算部206计算到要输出的目标的距离。 输出距离计算部分206基于模糊等级和估计距离来选择由单目距离计算部分203计算的距离或由立体距离计算部分204计算的距离作为要输出的距离。
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6.发明公开
公开(公告)号：EP3377916A1
公开(公告)日：2018-09-26
申请号：EP16787445.2
申请日：2016-10-26
申请人： Aesculap AG
发明人： PFEIFER, Tobias , BROERS, Holger
CPC分类号： G01S17/023 , A61B34/20 , A61B90/30 , A61B2034/2055 , A61B2090/371 , A61B2090/3937 , G01B11/24 , G01B11/245 , G01B2210/52 , G01C3/14 , G01S17/36 , G01S17/89
摘要： The invention relates to a medical radiation-based coordinate measuring device, comprising a first image sensor unit (30; 72) and a second image sensor unit (32; 74) for providing a first luminosity characteristic data set or a second luminosity characteristic data set and a data processing unit (38) for ascertaining the object coordinates of object points (12, 22), which can be imaged using electromagnetic radiation, in an area on the basis of the luminosity characteristic data sets by means of triangulation. The aim of the invention is to provide a coordinate measuring device of this generic type with which the object coordinates can be reliably determined. According to the invention, this is achieved in that the coordinate measuring device (10) comprises at least one distance measuring unit (48; 72, 74) for the object points (12, 22) in order to provide at least one distance data set, and the data processing unit (38) is designed and programmed to add distance information at least to the first luminosity characteristic data set prior to the triangulation process on the basis of a distance data set. The invention additionally relates to a coordinate measuring method.
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公开(公告)号：EP2778603A1
公开(公告)日：2014-09-17
申请号：EP12847189.3
申请日：2012-10-24
发明人： KAKEGAWA Shinji , MITOMA Hiroto , OSHIMA Akira , MATONO Haruki , SHIMA Takeshi
CPC分类号： H04N13/246 , G01C3/14 , G06T7/593 , G06T2207/10012 , G06T2207/30261 , G08G1/166 , G08G1/167 , H04N13/239 , H04N2013/0085
摘要： To obtain an image processing device and a method of processing an image that improve distance accuracy and is capable of performing accurate distance even about an object at a greater distance than before, when a distance to an object is measured, one image object region 302 including an image of an object is extracted from one image of a pair of images imaged by a pair of imaging elements at the same time in the same direction. The degree of background that is likelihood of whether either an object image configuration part 304 or a background image configuration part 303 is calculated for each of a plurality of image configuration parts that configures the one image object region 302. Then, the other image object region 503 having an image similar to the one image object region 302 is extracted from the other image 501 using the degree of background, and a parallax between the one image object region 302 and the other image object region 503 is calculated.
摘要翻译： 为了获得图像处理装置和处理图像的方法，所述图像处理装置和处理图像的方法提高了距离精度，并且能够以比以前更大的距离对物体执行精确的距离，但是当到物体的距离被测量时，一个图像物体区域302包括 从相同方向上同时由一对成像元件成像的一对图像中的一个图像提取对象的图像。 针对构成一个图像对象区域302的多个图像构成部分的每一个计算是对象图像构造部分304还是背景图像构造部分303的可能性的背景的程度。然后，另一个图像对象区域 使用背景的程度从另一个图像501中提取具有与一个图像对象区域302相似的图像的图像对象503，并且计算一个图像对象区域302和另一个图像对象区域503之间的视差。
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8.发明公开A CALIBRATION APPARATUS, A DISTANCE MEASUREMENT SYSTEM, A CALIBRATION METHOD AND A CALIBRATION PROGRAM 审中-公开KALIBRIUNUNGSVORRICHTUNG，DISTANZMESSSYSTEM，KALIBRIUNUNGSVERFAHREN UND KALIBRIERUNGSPROGRAMM
公开(公告)号：EP2616768A1
公开(公告)日：2013-07-24
申请号：EP11824989.5
申请日：2011-08-25
申请人： Ricoh Company Ltd.
发明人： AOKI, Shin
CPC分类号： G06T7/85 , G01B11/026 , G01C3/085 , G01C3/14 , G06T7/593 , G06T2207/10021 , G06T2207/30252 , G08G1/16 , H04N17/002
摘要： A calibration apparatus is provided. The calibration apparatus receives inputs of two reference images and plural items of parallax data; searches for plural feature points common to these two reference images; calculates parallaxes and parallax changing amounts, based on the parallax data related to the respective feature points in these two reference images, for each of the searched feature points; and calculates a correction value for the parameter based on the calculated parallaxes and parallax changing amounts. The two reference images are captured by one of the imaging devices at two locations, and the parallax data is calculated using these two reference images and two corresponding images based on positions of plural feature points common to the reference image and the corresponding image for each pair on a location basis. The two corresponding images are captured by another of the imaging devices at these two locations.
摘要翻译： 提供校准装置。 校准装置接收两个参考图像和多个视差数据的输入; 搜索这两个参考图像共同的多个特征点; 对于每个搜索到的特征点，基于与这两个参考图像中的各个特征点相关的视差数据来计算视差和视差变化量; 并且基于所计算的视差和视差变化量来计算参数的校正值。 两个参考图像由两个位置的成像装置之一捕获，并且使用这两个参考图像和基于参考图像共同的多个特征点的位置和每对的相应图像的两个对应图像来计算视差数据 在位置的基础上。 两个相应的图像在这两个位置由另一个成像装置捕获。
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公开(公告)号：EP2544162A1
公开(公告)日：2013-01-09
申请号：EP11750332.6
申请日：2011-02-21
发明人： AIMURA, Makoto , NAGAOKA, Nobuharu
CPC分类号： B60R1/00 , B60R2300/105 , B60R2300/305 , B60R2300/307 , B60R2300/8093 , G01C3/14 , G06K9/00362 , G06K9/00805 , G06T7/593 , G06T2207/10012 , G06T2207/10048 , G06T2207/30196 , G06T2207/30261 , G08G1/166
摘要： The disclosed device, which is built into a vehicle, images the area surrounding the vehicle and detects physical objects in the area surrounding the vehicle on the basis of the image which is taken. The device determines whether the detected physical object is a pedestrian or an animal, and a warning is given to the driver of the vehicle if the determined physical object is present within a specified area from the vehicle. If it is determined that the detected physical object is an animal and that the animal is present within the specified area, the warning in continued for a specified period even after the animal has left the specified area. Animals have habits of behaving in a herd, so there is the possibility that an animal might be lurking in the area surrounding the vehicle even after an animal has left the specified area. The risk of lurking animals can be brought to the driver's attention by the continuation of the warning.
摘要翻译： 所公开的内置于车辆中的装置基于拍摄的图像对车辆周围的区域成像并检测车辆周围的区域中的物体。 该装置确定检测到的物理对象是行人还是动物，并且如果确定的物理对象存在于车辆的指定区域内，则向车辆的驾驶员发出警告。 如果确定检测到的物理对象是动物并且动物存在于指定区域内，则即使在动物离开指定区域之后，该警告也持续特定时间段。 动物有在畜群中行为的习惯，所以即使在动物离开指定区域之后，动物仍有可能潜伏在车辆周围的区域。 通过继续发出警告，潜藏在动物身上的风险可能会引起驾驶者的注意。
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10.发明公开Angle detecting apparatus and projector equipped therewith automatically correcting the Keystone distortion 有权Winkeldetektor-Apparat und damitausgerüsteteProjektor zur automatischen Korrektur des Trapezoidalbildfehlers
公开(公告)号：EP1395050A1
公开(公告)日：2004-03-03
申请号：EP03019756.0
申请日：2003-08-29
申请人： Seiko Precision Inc.
发明人： Shiroshi, Kanemitsu
摘要： In an angle detecting apparatus and projector using range finders, range finding calculations are performed in plural directions using line type passive range finders as a range finding portion. Thus, if one range finding result is an abnormal value, the effects are reduced. The structure is miniaturized.
[Means for Resolution]
A control circuit 5 calculates four horizontal relative inclination angles between a screen 1 and a projector 2 based on results of range finding calculations of a line type passive range finder 3 doing range finding in five directions, finds their average value, calculates four vertical relative inclination angles between the screen 1 and the projector 2 based on the results of range finding of a line type passive range finder 4 doing range finding in five directions, and finds their average value. A display driving portion 7 adjusts a projection optical system 8 including a condensing lens based on the horizontal and vertical inclination angles calculated by the control circuit 5 and on the distance between range finding calculational regions, thus correcting keystone distortion in the projected image.摘要翻译： 在使用测距仪的角度检测装置和投影仪中，使用线型无源测距仪作为测距部，在多个方向上进行测距计算。 因此，如果一个测距结果为异常值，则效果降低。 结构小型化。 控制电路5根据线性无源测距装置3进行测距的测距计算结果，计算屏幕1与投影仪2之间的四个水平相对倾斜角度。 根据五行方向的线型无源测距仪4的测距结果，求出其平均值，计算屏幕1与投影仪2之间的四个垂直相对倾斜角度，求出其平均值 。 显示驱动部分7基于由控制电路5计算的水平和垂直倾斜角度以及测距计算区域之间的距离来调整包括聚光透镜的投影光学系统8，从而校正投影图像中的梯形失真。
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