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公开(公告)号：US10388030B2
公开(公告)日：2019-08-20
申请号：US15803784
申请日：2017-11-05
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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公开(公告)号：US10237519B2
公开(公告)日：2019-03-19
申请号：US15226759
申请日：2016-08-02
Inventor： Satoshi Sato , Kunio Nobori , Takamasa Ando , Takeo Azuma , Nobuhiko Wakai
Abstract: An imaging apparatus includes an image-forming optical system that forms an image by using optical signals; an imaging device that includes a plurality of pixels, receives, with the plurality of pixels, the optical signals used to form the image, and converts the optical signals into electric signals; and a color filter that is located between the image-forming optical system and the imaging device and has a light transmittance which differs according to positions on the color filter corresponding to the plurality of pixels and according to a plurality of wavelength bands.
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公开(公告)号：US10212401B2
公开(公告)日：2019-02-19
申请号：US15841513
申请日：2017-12-14
Inventor： Satoshi Sato , Takeo Azuma , Kunio Nobori , Hisashi Watanabe , Takamasa Ando , Nobuhiko Wakai
IPC: H04N9/04 , H01L27/146 , G02F1/1335 , G02B5/04 , G02B5/20 , G02B5/02 , H04N9/73 , H04N9/083
Abstract: An imaging system serving as an image generation device is provided with: a random optical filter array that has a plurality of types of optical filters and a scattering unit; photodiodes that receive light transmitted through the random optical filter array; an AD conversion unit that converts the light received by the photodiodes, into digital data; and a color image generation circuit that generates an image, using the digital data and modulation information of the random optical filter array, in which the scattering unit is located between the plurality of types of optical filters and the photodiodes, and in which the scattering unit includes a material having a first refractive index, and a material having a second refractive index that is different from the first refractive index.
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公开(公告)号：US11758247B2
公开(公告)日：2023-09-12
申请号：US17154533
申请日：2021-01-21
Inventor： Takeo Azuma , Satoshi Sato , Nobuhiko Wakai , Kohsuke Yoshioka , Noritaka Shimizu , Yoshinao Kawai , Takaaki Amada , Yoko Kawai , Takeshi Murai , Hiroki Takeuchi
IPC: G06T7/521 , H04N23/11 , H04N13/271 , G01S17/10 , G01S17/89
CPC classification number: H04N23/11 , G01S17/10 , G01S17/89 , G06T7/521 , H04N13/271 , G06T2207/10028
Abstract: A depth acquisition device includes memory and processor performing: acquiring, from the memory, intensities of infrared light emitted from a light source and measured by imaging with 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, a visible light image generated by imaging, with visible light, a substantially same scene with a substantially same viewpoint and at a substantially same timing as those of imaging the infrared light image; 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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公开(公告)号：US11514595B2
公开(公告)日：2022-11-29
申请号：US17157175
申请日：2021-01-25
Inventor： Satoshi Sato , Takeo Azuma , Nobuhiko Wakai , Kohsuke Yoshioka , Noritaka Shimizu , Yoshinao Kawai , Takaaki Amada , Yoko Kawai , Takeshi Murai , Hiroki Takeuchi
Abstract: A depth acquisition device includes a memory and a processor. The processor performs; acquiring timing information indicating a timing at which a light source irradiates a subject with infrared light; acquiring an infrared light image stored in the memory, the infrared light image being generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring a visible light image stored in the memory, the visible light image being generated by imaging a substantially same scene as that of the infrared light image, with visible light from a substantially same viewpoint and at a substantially same imaging time of those of the infrared light image; detecting a dust region showing dust from the infrared light image; and estimating a depth of the dust region based on the infrared light image, the visible light image, and the dust region.
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Patent Agency Ranking
16.发明授权公开(公告)号：US11373324B2
公开(公告)日：2022-06-28
申请号：US17152231
申请日：2021-01-19
Inventor： Takeo Azuma , Satoshi Sato , Nobuhiko Wakai , Kohsuke Yoshioka , Noritaka Shimizu , Yoshinao Kawai , Takaaki Amada , Yoko Kawai , Takeshi Murai , Hiroki Takeuchi
Abstract: A depth acquisition device includes a memory and a processor performing: acquiring, from the memory, intensities of infrared light measured by imaging with infrared light emitted from a light source and reflected on a 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, 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; 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 corresponding lower reflection region in the depth image 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：US11195061B2
公开(公告)日：2021-12-07
申请号：US16415002
申请日：2019-05-17
Inventor： Satoshi Sato , Masahiko Saito , Takeo Azuma , Kunio Nobori , Nobuhiko Wakai
Abstract: An image generation apparatus includes a processing circuit and a memory storing at least one computational image. The at least one computational image is a light-field image, a compressive sensing image, or a coded image. The processing circuit (a1) identifies a position of an object in the at least one computational image using a classification device, (a2) generates, using the at least one computational image, a display image in which an indication for highlighting the position of the object is superimposed, and (a3) outputs the display image.
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公开(公告)号：US10769814B2
公开(公告)日：2020-09-08
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 , G01B21/04 , G01B11/24 , H04N13/246 , H04N13/239 , H04N5/232
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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公开(公告)号：US10728525B2
公开(公告)日：2020-07-28
申请号：US15960983
申请日：2018-04-24
Inventor： Takeo Azuma , Nobuhiko Wakai , Kunio Nobori , Satoshi Sato
IPC: H04N13/239 , H04N13/243 , H04N13/271 , H04N13/00
Abstract: An image capturing apparatus: calculates, for each of pairs of images, based on the pairs of images and camera parameters, position information including information specifying a three-dimensional position of a measurement point with respect to a pair of pixels respectively included in the pair of images, and information specifying a position of each of the pair of pixels; performs, based on the position information and the camera parameters, weighted addition on the information specifying the three-dimensional position of the measurement point in each of the pair of images, with information using an effective baseline length or a viewing angle, with respect to the three-dimensional position, of a pair of the cameras corresponding to the pair of images; and outputs position information of the measurement point to which a weighted addition value is applied.
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公开(公告)号：US10664998B2
公开(公告)日：2020-05-26
申请号：US15950220
申请日：2018-04-11
Inventor： Nobuhiko Wakai , Takeo Azuma , Kunio Nobori , Satoshi Sato
Abstract: 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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