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11.发明申请公开(公告)号：US20190325610A1
公开(公告)日：2019-10-24
申请号：US16458489
申请日：2019-07-01
Inventor： Nobuhiko WAKAI , Takeo AZUMA , Kunio NOBORI , Satoshi SATO , Ayako MARUYAMA
Abstract: A crossing point detector includes 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 function model treating two-dimensional image coordinates as variables, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the function 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 function model uses a curved surface that is at least first-order differentiable to express pixel values at respective positions in a two-dimensional coordinate system at the boundary between black and white regions.
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Patent Agency Ranking
公开(公告)号：US20210398430A1
公开(公告)日：2021-12-23
申请号：US17462310
申请日：2021-08-31
Inventor： Ayako MARUYAMA , Kunio NOBORI , Takeo AZUMA , Satoshi SATO , Nobuhiko WAKAI
Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.
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13.发明申请公开(公告)号：US20200177867A1
公开(公告)日：2020-06-04
申请号：US16782239
申请日：2020-02-05
Inventor： Kunio NOBORI , Nobuhiko WAKAI , Takeo AZUMA , Satoshi SATO , Ayako MARUYAMA , Mikiya NAKATA
IPC: H04N13/246 , H04N13/243
Abstract: A camera-parameter-set calculation apparatus includes a three-dimensional point group calculator that calculates a plurality of three-dimensional coordinates, based on first and second images respectively captured by first and second cameras and first and second camera parameter sets of the first and second cameras; an evaluation value calculator that determines a plurality of pixel coordinates in the second image, based on the plurality of three-dimensional coordinates and the second camera parameter set, determines a plurality of third pixel coordinates in a third image captured by a third camera, based on the plurality of three-dimensional coordinates and a third camera parameter set of the third camera, and calculates an evaluation value, based on pixel values at the plurality of second and third pixel coordinates in the second and third images; and a camera-parameter-set determiner that determines a fourth camera parameter set for the third camera, based on the evaluation value.
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公开(公告)号：US20190213746A1
公开(公告)日：2019-07-11
申请号：US16235149
申请日：2018-12-28
Inventor： Takeo AZUMA , Kunio NOBORI , Satoshi SATO , Nobuhiko WAKAI
Abstract: A disparity estimation device calculates, for each of first pixels of a first image and each of second pixels of a second image, a first census feature amount and a second census feature amount, calculates, for each of the first pixels, a first disparity value of the first pixel with integer accuracy, extracts, for each of the first pixels, reference pixels located in positions corresponding to the first disparity value and a near disparity value close to the first disparity value from the second pixels, calculates sub-pixel evaluation values based on the relationship between the pixel values of the first pixel and the neighboring pixel and the pixel values of each of the reference pixels and the neighboring pixel, and estimates a second disparity value of the first pixel with sub-pixel accuracy by equiangular fitting.
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公开(公告)号：US20190200027A1
公开(公告)日：2019-06-27
申请号：US16288613
申请日：2019-02-28
Inventor： Satoshi SATO , Kunio NOBORI , Takeo AZUMA , Ayako MARUYAMA , Nobuhiko WAKAI
IPC: H04N19/186 , H04N9/04 , H04N1/41 , H04N1/64 , G06T3/40
CPC classification number: H04N19/186 , G06T3/4015 , H04N1/41 , H04N1/64 , H04N9/045
Abstract: An imaging apparatus includes an imaging optical system that forms an optical signal, an imaging device that includes a plurality of pixels and that converts the optical signal formed on the plurality of pixels into an electrical signal, a color filter that is arranged between the imaging optical system and the imaging device and that has a different optical transmittance for each of the plurality of pixels and each of a plurality of wavelength ranges, and a transmission data compression circuit that compresses the electrical signal obtained by the imaging device. The sum of products of an optical transmittance group relating to a plurality of optical transmittances of the color filter for each of the plurality of pixels in the plurality of wavelength ranges and coefficients common to the plurality of pixels is the same between the plurality of pixels.
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16.发明申请公开(公告)号：US20190139261A1
公开(公告)日：2019-05-09
申请号：US16242291
申请日：2019-01-08
Inventor： Nobuhiko WAKAI , Kunio NOBORI , Takeo AZUMA , Satoshi SATO , Ayako MARUYAMA , Mikiya NAKATA
IPC: G06T7/80 , H04N13/239 , G01B11/24 , H04N13/246 , G01B21/04
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.
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