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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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22.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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Patent Agency Ranking
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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27.发明授权公开(公告)号：US10602125B2
公开(公告)日：2020-03-24
申请号：US15693915
申请日：2017-09-01
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：US10271058B2
公开(公告)日：2019-04-23
申请号：US15612427
申请日：2017-06-02
Inventor： Satoshi Sato , Kunio Nobori , Takeo Azuma , Ayako Maruyama , Nobuhiko Wakai
IPC: G06T3/40 , H04N1/41 , H04N1/64 , H04N9/04 , H04N19/186
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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公开(公告)号：US10032253B2
公开(公告)日：2018-07-24
申请号：US15413749
申请日：2017-01-24
Inventor： Satoshi Sato , Kunio Nobori , Takeo Azuma , Ayako Maruyama , Nobuhiko Wakai
Abstract: An imaging apparatus includes an optical imaging system that converges light from an object; an imaging device that includes a plurality of pixels, receives the converged light, and converts the received light to an electric signal; a filter unit that is disposed between the optical imaging system and the imaging device and includes a plurality of color filters having different light transmission rate characteristics; and a transmission data compressing circuit that codes the electric signal. An overall light transmission rate characteristic of the filter unit differs randomly in different pixels of the imaging device, and the transmission data compressing circuit weights and codes the electric signal of each of the pixels by using a reciprocal of a proportion of the overall light transmission rate characteristic of the filter unit corresponding to each of the plurality of pixels of the imaging device relative to a wavelength characteristic common among the pixels.
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公开(公告)号：US09635250B2
公开(公告)日：2017-04-25
申请号：US14754615
申请日：2015-06-29
Inventor： Satoshi Sato , Takeo Azuma , Hiroyuki Motoyama , Jun Ozawa
CPC classification number: H04N5/23229 , G09G2340/02 , G09G2370/18 , H04N5/232 , H04N5/347 , H04N5/357 , H04N5/374 , H04N5/378
Abstract: In an imaging device, a difference calculation unit calculates a differential signal between charge signals that have been accumulated and are held by first and charge holding units with different timings. A multiple sampling unit performs multiple sampling processing on the differential signal, and an analog digital conversion unit converts a signal that has undergone multiple sampling processing to a digital signal. That is, multiple sampling processing is performed on a differential signal with a higher sparsity than that of an image signal.
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