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公开(公告)号：US11615709B2
公开(公告)日：2023-03-28
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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公开(公告)号：US11272166B2
公开(公告)日：2022-03-08
申请号：US16597382
申请日：2019-10-09
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma , Takamasa Ando , Tsuguhiro Korenaga , Toshiya Fujii
IPC: H04N13/282 , H04N13/106 , H04N13/189 , H04N13/207 , G02B27/46 , H04N13/218 , G02B23/02 , H04N13/271 , G06T7/11 , G06T7/70 , H04N13/00
Abstract: An imaging apparatus includes an imaging device, a first imaging optical system and a second imaging optical system that form respective input images from mutually different viewpoints onto the imaging device, and a first modulation mask and a second modulation mask that modulate the input images formed by the first imaging optical system and the second imaging optical system. The imaging device captures a superposed image composed of the two input images that have been formed by the first imaging optical system and the second imaging optical system, modulated by the first modulation mask and the second modulation mask, and optically superposed on each other, and the first modulation mask and the second modulation mask have mutually different optical transmittance distribution characteristics.
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23.发明授权公开(公告)号：US11233983B2
公开(公告)日：2022-01-25
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 , H04N13/00
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：US11183067B2
公开(公告)日：2021-11-23
申请号：US16795740
申请日：2020-02-20
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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公开(公告)号：US11056001B2
公开(公告)日：2021-07-06
申请号：US15608021
申请日：2017-05-30
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 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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Patent Agency Ranking
公开(公告)号：US10687052B2
公开(公告)日：2020-06-16
申请号：US15961026
申请日：2018-04-24
Inventor： Nobuhiko Wakai , Takeo Azuma , Kunio Nobori , Satoshi Sato , Mikiya Nakata
IPC: H04N7/18 , H04N17/00 , G06T7/80 , H04N13/246 , H04N13/239
Abstract: Three-dimensional point group data indicating three-dimensional coordinate sets of three-dimensional points included in a common imaging space of one or more cameras is received, one or more images captured by the one or more cameras are transmitted, the one or more transmitted images are received, initial camera parameters of each cameras are decided based on one or more mounting locations and one or more directions of the cameras, corresponding points in the one or more images are calculated for each of the three-dimensional points, based on the three-dimensional point group data and the initial camera parameters, and one or more camera parameters of the one or more cameras are calculated based on pixel values at the corresponding points in the one or more images.
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公开(公告)号：US10664995B2
公开(公告)日：2020-05-26
申请号：US15687761
申请日：2017-08-28
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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28.发明授权公开(公告)号：US10659677B2
公开(公告)日：2020-05-19
申请号：US16031465
申请日：2018-07-10
Inventor： Kunio Nobori , Nobuhiko Wakai , Satoshi Sato , Takeo Azuma
IPC: H04N5/232 , G06T7/80 , H04N13/122 , G06T7/70 , G06K9/00 , H04N13/239 , H04N17/00 , H04N13/00
Abstract: A camera parameter set calculation apparatus calculates three-dimensional coordinate sets based on a first image obtained by a first camera mounted on a mobile apparatus, a second image obtained by a second camera arranged on or in an object different from the mobile apparatus, a camera parameter set of the first camera, and a camera parameter set of the second camera, determines first pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the first image based on the first camera parameter set and second pixel coordinate pairs obtained by projecting the three-dimensional coordinate sets onto the second image based on the second camera parameter set, calculates an evaluation value based on pixel values at the first pixel coordinate pairs and pixel values at the second pixel coordinate pairs, and updates the camera parameter set of the first camera based on the evaluation value.
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公开(公告)号：US10607371B2
公开(公告)日：2020-03-31
申请号：US15950216
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 at least three cameras (a1) acquires three-dimensional coordinate set of a calibration point and image coordinate pair of the calibration point in each camera image, (a2) acquires camera parameters of each camera, (a3) calculates a view angle-corresponding length corresponding to a view angle of each pair of cameras viewing the calibration point, (a4) calculates a three-dimensional position of a measurement point corresponding to a three-dimensional position of the calibration point for each camera pair using parallax of the calibration point between the cameras in the camera pair, (a5) weights the three-dimensional position of each measurement point using the view angle-corresponding length corresponding to the measurement point, (a6) calculates a three-dimensional position of a unified point of the weighted measurement points, and (a7) 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：US10565449B2
公开(公告)日：2020-02-18
申请号：US16174688
申请日：2018-10-30
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma
IPC: H04N13/243 , G06K9/00 , H04N5/232 , G06T7/593
Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.
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