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    Distance estimation apparatus, distance estimation method, storage medium storing program, integrated circuit, and camera
    1.
    发明授权
    Distance estimation apparatus, distance estimation method, storage medium storing program, integrated circuit, and camera 有权
    距离估计装置，距离估计方法，存储介质存储程序，集成电路和摄像机

    公开(公告)号：US08159598B2

    公开(公告)日：2012-04-17

    申请号：US12542886

    申请日：2009-08-18

    申请人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    发明人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    IPC分类号： H04N5/232

    CPC分类号： G01S17/89 ,  G01S17/36 ,  G06T7/564 ,  G06T2207/10028 ,  H04N2213/006

    摘要： Attempts to achieve a higher resolution and a higher frame rate of a distance image when a distance to an object within a target space is estimated using the TOF method would cause CCD saturation due to shot noise or environment light, and lower distance precision. A distance estimation apparatus illuminates an object with illumination light for distance estimation emitted from a light source that can emit light (electromagnetic wave) having a predetermined illumination frequency, receives reflected light of the illumination light, obtains information about the distance from the apparatus to the object, generates distance image data based on the distance information, extracts edge information of a color image formed using a visible light component obtained in synchronization with the reflected light, and corrects distance information of a target part of the distance image using distance information of a neighboring part of the target part based on the edge information.

    摘要翻译： 当使用TOF方法估计到目标空间内的对象的距离时，尝试实现更高分辨率和更高的距离图像的帧速率将导致由于镜头噪声或环境光而导致的CCD饱和度和较低的距离精度。 距离估计装置利用用于从能够发射具有预定照明频率的光（电磁波）发射的距离估计的照明光照射物体，接收照明光的反射光，获得关于从该装置到该装置的距离的信息 对象，基于距离信息生成距离图像数据，提取使用与反射光同步地获得的可见光分量形成的彩色图像的边缘信息，并且使用距离图像的距离信息来校正距离图像的距离信息 基于边缘信息的目标部分的相邻部分。

    Image processing device, image processing method, program, recording medium and integrated circuit
    2.
    发明授权
    Image processing device, image processing method, program, recording medium and integrated circuit 有权
    图像处理装置，图像处理方法，程序，记录介质和集成电路

    公开(公告)号：US08063994B2

    公开(公告)日：2011-11-22

    申请号：US12300713

    申请日：2007-04-16

    申请人： Yoshiaki Owaki ,  Yasuhiro Kuwahara

    发明人： Yoshiaki Owaki ,  Yasuhiro Kuwahara

    IPC分类号： H04N1/405 ,  H04N1/409 ,  H04N5/21

    CPC分类号： G09G3/2066 ,  G09G3/2803 ,  G09G2320/0247 ,  G09G2320/0285 ,  G09G2360/02 ,  Y10S348/91

    摘要： Flicker occurs in a flicker-noticeable area consisting of pixels with no pixel value variations. An image processing device (100) includes a variance calculation unit (101) that obtains a variance of an area consisting of a target pixel and neighboring pixels included in a first frame, and changes, according to the variance, the rate at which an error generated at the target pixel through tone level restriction is distributed within the frame and between frames. The image processing device (100) includes an error diffusion unit (113) that distributes the error generated at the target pixel to the neighboring pixels included in the first frame based on an intra-frame error diffusion rate and an intra-frame error distribution weight, and distributes the error generated at the target pixel to a target pixel and neighboring pixels included in the second frame based on an inter-frame error diffusion rate and an inter-frame error distribution weight.

    摘要翻译： 闪烁发生在由没有像素值变化的像素组成的闪烁显着区域中。 一种图像处理装置（100）包括：方差计算单元（101），其获得由包括在第一帧中的目标像素和相邻像素组成的区域的方差，并根据差异改变错误率 通过音调电平限制在目标像素处生成的帧被分配在帧内和帧之间。 图像处理装置（100）包括误差扩散单元（113），该误差扩散单元（113）基于帧内误差扩散率和帧内误差分布权重将在目标像素处生成的误差分布到包括在第一帧中的相邻像素 并且基于帧间误差扩散率和帧间误差分布权重将在目标像素处产生的误差分布到包括在第二帧中的目标像素和相邻像素。

    DISTANCE MEASURING DEVICE, DISTANCE MEASURING METHOD, PROGRAM, AND INTEGRATED CIRCUIT
    3.
    发明申请
    DISTANCE MEASURING DEVICE, DISTANCE MEASURING METHOD, PROGRAM, AND INTEGRATED CIRCUIT 有权
    距离测量装置，距离测量方法，程序和集成电路

    公开(公告)号：US20110051118A1

    公开(公告)日：2011-03-03

    申请号：US12990677

    申请日：2010-02-18

    申请人： Daisuke Sato ,  Tatsumi Watanabe ,  Bunpei Toji ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Shinya Kiuchi ,  Yoshiaki Owaki

    发明人： Daisuke Sato ,  Tatsumi Watanabe ,  Bunpei Toji ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Shinya Kiuchi ,  Yoshiaki Owaki

    IPC分类号： G01C3/06 ,  G01S17/36

    CPC分类号： G01S17/32 ,  G01S7/491 ,  G01S7/4913 ,  G01S7/499

    摘要： A distance measuring device using a multiple wave enables measurement of long distances with a high resolution and with a high precision by significantly reducing the circuit scale required for demultiplexing circuitry. A distance measuring device (1) includes an illumination unit (1) that illuminates using multiple modulated light having a plurality of frequencies satisfying a relationship in which one frequency is an even multiple of another frequency, a light receiving unit (20) that accumulates the charge of reflected light of the multiple modulated light into a plurality of accumulation units while switching an accumulation unit into which the charge is accumulated at a predetermined timing, and a distance calculation unit (30) that calculates a distance based on the charge.

    摘要翻译： 使用多波的距离测量装置能够通过显着地减少解复用电路所需的电路规模，从而以高分辨率和高精度测量长距离。 距离测量装置（1）包括：照明单元（1），其使用具有多个频率的多个调制光进行照明，该多个调制光满足一个频率为另一个频率的偶数倍的关系;光接收单元（20） 在预定定时将多个调制光的反射光充电到多个累加单元中，同时切换在其中累积电荷的累积单元;以及距离计算单元，其基于电荷计算距离。

    Distance measuring device, distance measuring method, program, and integrated circuit
    4.
    发明授权
    Distance measuring device, distance measuring method, program, and integrated circuit 有权
    距离测量装置，距离测量方法，程序和集成电路

    公开(公告)号：US08531651B2

    公开(公告)日：2013-09-10

    申请号：US12990677

    申请日：2010-02-18

    申请人： Daisuke Sato ,  Tatsumi Watanabe ,  Bunpei Toji ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Shinya Kiuchi ,  Yoshiaki Owaki

    发明人： Daisuke Sato ,  Tatsumi Watanabe ,  Bunpei Toji ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Shinya Kiuchi ,  Yoshiaki Owaki

    IPC分类号： G01C3/08

    CPC分类号： G01S17/32 ,  G01S7/491 ,  G01S7/4913 ,  G01S7/499

    摘要： A distance measuring device using a multiple wave enables measurement of long distances with a high resolution and with a high precision by significantly reducing the circuit scale required for demultiplexing circuitry. A distance measuring device (1) includes an illumination unit (1) that illuminates using multiple modulated light having a plurality of frequencies satisfying a relationship in which one frequency is an even multiple of another frequency, a light receiving unit (20) that accumulates the charge of reflected light of the multiple modulated light into a plurality of accumulation units while switching an accumulation unit into which the charge is accumulated at a predetermined timing, and a distance calculation unit (30) that calculates a distance based on the charge.

    摘要翻译： 使用多波的距离测量装置能够通过显着地减少解复用电路所需的电路规模，从而以高分辨率和高精度测量长距离。 距离测量装置（1）包括：照明单元（1），其使用具有多个频率的多个调制光进行照明，该多个调制光满足一个频率为另一个频率的偶数倍的关系;光接收单元（20） 在预定定时将多个调制光的反射光充电到多个累加单元中，同时切换在其中累积电荷的累积单元;以及距离计算单元，其基于电荷计算距离。

    DISTANCE ESTIMATING DEVICE, DISTANCE ESTIMATING METHOD, PROGRAM, INTEGRATED CIRCUIT, AND CAMERA
    5.
    发明申请
    DISTANCE ESTIMATING DEVICE, DISTANCE ESTIMATING METHOD, PROGRAM, INTEGRATED CIRCUIT, AND CAMERA 审中-公开
    距离估计设备，距离估计方法，程序，集成电路和摄像机

    公开(公告)号：US20110063437A1

    公开(公告)日：2011-03-17

    申请号：US12922544

    申请日：2009-07-29

    申请人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    发明人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    IPC分类号： H04N7/18

    CPC分类号： G01S17/89 ,  G01S7/4802 ,  G01S17/36

    摘要： Conventionally, there has been a danger that CCD saturation may occur because of the influence of the shot noise and the environment light if a higher resolution of a distance image showing the distance to an object present in a target space and a higher frame rate are achieved when the distance image is estimated by the TOF method, and the distance accuracy may degrade. An emission frequency selecting unit (7) receives light (S2) reflected from the object when a light source does not emit light and selects illumination light (S1) having an emission frequency insusceptible to the environment light according to the frequency analysis of the reflected light (S2). An image creating unit (6) selects a light source emitting the illumination light having the optimum emission frequency from among prepared light sources (9A to 9N), receives reflected light of the illumination light from the selected light source, and creates the distance image showing the distance to the object. The environment light can be mitigated during light reception, and the noise influence on the distance accuracy can be mitigated when a light-receiving element unit (2) exhibiting higher resolution is used.

    摘要翻译： 通常，存在如下情况：由于拍摄噪声和环境光的影响可能发生CCD饱和，如果示出与目标空间中存在的物体的距离更高的距离图像的分辨率和更高的帧速率 当通过TOF方法估计距离图像时，距离精度可能降低。 当光源不发光时，发射频率选择单元（7）接收从物体反射的光（S2），并根据反射光的频率分析选择具有对环境光不敏感的发射频率的照明光 （S2）。 图像创建单元（6）从准备的光源（9A至9N）中选择发射具有最佳发射频率的照明光的光源，接收来自所选择的光源的照明光的反射光，并创建显示 到物体的距离。 可以在光接收期间减轻环境光，并且当使用具有更高分辨率的光接收元件单元（2）时，可以减轻对距离精度的影响。

    DISTANCE ESTIMATION APPARATUS, DISTANCE ESTIMATION METHOD, STORAGE MEDIUM STORING PROGRAM, INTEGRATED CIRCUIT, AND CAMERA
    6.
    发明申请
    DISTANCE ESTIMATION APPARATUS, DISTANCE ESTIMATION METHOD, STORAGE MEDIUM STORING PROGRAM, INTEGRATED CIRCUIT, AND CAMERA 有权
    距离估计装置，距离估计方法，存储媒体存储程序，集成电路和摄像机

    公开(公告)号：US20100046802A1

    公开(公告)日：2010-02-25

    申请号：US12542886

    申请日：2009-08-18

    申请人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    发明人： Tatsumi Watanabe ,  Yasuhiro Kuwahara ,  Takeshi Ito ,  Bumpei Toji ,  Daisuke Sato ,  Shinya Kiuchi ,  Yoshiaki Owaki

    IPC分类号： G06K9/00 ,  H04N13/02

    CPC分类号： G01S17/89 ,  G01S17/36 ,  G06T7/564 ,  G06T2207/10028 ,  H04N2213/006

    摘要： Attempts to achieve a higher resolution and a higher frame rate of a distance image when a distance to an object within a target space is estimated using the TOF method would cause CCD saturation due to shot noise or environment light, and lower distance precision. A distance estimation apparatus illuminates an object with illumination light for distance estimation emitted from a light source that can emit light (electromagnetic wave) having a predetermined illumination frequency, receives reflected light of the illumination light, obtains information about the distance from the apparatus to the object, generates distance image data based on the distance information, extracts edge information of a color image formed using a visible light component obtained in synchronization with the reflected light, and corrects distance information of a target part of the distance image using distance information of a neighboring part of the target part based on the edge information.

    摘要翻译： 当使用TOF方法估计到目标空间内的对象的距离时，尝试实现更高分辨率和更高的距离图像的帧速率将导致由于镜头噪声或环境光而导致的CCD饱和度和较低的距离精度。 距离估计装置利用用于从能够发射具有预定照明频率的光（电磁波）发射的距离估计的照明光照射物体，接收照明光的反射光，获得关于从该装置到该装置的距离的信息 对象，基于距离信息生成距离图像数据，提取使用与反射光同步地获得的可见光分量形成的彩色图像的边缘信息，并且使用距离图像的距离信息来校正距离图像的距离信息 基于边缘信息的目标部分的相邻部分。

    IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, PROGRAM, RECORDING MEDIUM AND INTEGRATED CIRCUIT
    7.
    发明申请
    IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, PROGRAM, RECORDING MEDIUM AND INTEGRATED CIRCUIT 有权
    图像处理装置，图像处理方法，程序，记录介质和集成电路

    公开(公告)号：US20090128693A1

    公开(公告)日：2009-05-21

    申请号：US12300713

    申请日：2007-04-16

    申请人： Yoshiaki Owaki ,  Yasuhiro Kuwahara

    发明人： Yoshiaki Owaki ,  Yasuhiro Kuwahara

    IPC分类号： H04N7/01

    CPC分类号： G09G3/2066 ,  G09G3/2803 ,  G09G2320/0247 ,  G09G2320/0285 ,  G09G2360/02 ,  Y10S348/91

    摘要： Flicker occurs in a flicker-noticeable area consisting of pixels with no pixel value variations. An image processing device (100) includes a variance calculation unit (101) that obtains a variance of an area consisting of a target pixel and neighboring pixels included in a first frame, and changes, according to the variance, the rate at which an error generated at the target pixel through tone level restriction is distributed within the frame and between frames. The image processing device (100) includes an error diffusion unit (113) that distributes the error generated at the target pixel to the neighboring pixels included in the first frame based on an intra-frame error diffusion rate and an intra-frame error distribution weight, and distributes the error generated at the target pixel to a target pixel and neighboring pixels included in the second frame based on an inter-frame error diffusion rate and an inter-frame error distribution weight.

    摘要翻译： 闪烁发生在由没有像素值变化的像素组成的闪烁显着区域中。 一种图像处理装置（100）包括：方差计算单元（101），其获得由包括在第一帧中的目标像素和相邻像素组成的区域的方差，并根据差异改变错误率 通过音调电平限制在目标像素处生成的帧被分配在帧内和帧之间。 图像处理装置（100）包括误差扩散单元（113），该误差扩散单元（113）基于帧内误差扩散率和帧内误差分布权重将在目标像素处生成的误差分布到包括在第一帧中的相邻像素 并且基于帧间误差扩散率和帧间误差分布权重将在目标像素处产生的误差分布到包括在第二帧中的目标像素和相邻像素。