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    DISPARITY DERIVING APPARATUS, MOVABLE APPARATUS, ROBOT, METHOD OF DERIVING DISPARITY, METHOD OF PRODUCING DISPARITY, AND STORAGE MEDIUM
    1.
    发明申请
    DISPARITY DERIVING APPARATUS, MOVABLE APPARATUS, ROBOT, METHOD OF DERIVING DISPARITY, METHOD OF PRODUCING DISPARITY, AND STORAGE MEDIUM 有权
    差异传送装置，可移动装置，机器人，传播方式，产生差异的方法和存储介质

    公开(公告)号：US20150279045A1

    公开(公告)日：2015-10-01

    申请号：US14662519

    申请日：2015-03-19

    申请人： Wei ZHONG ,  Kiichiroh SAITOH

    发明人： Wei ZHONG ,  Kiichiroh SAITOH

    IPC分类号： G06T7/00 ,  G06K9/62 ,  H04N13/02

    CPC分类号： G06T7/593 ,  G06K9/00791 ,  G06K9/00818 ,  G06K9/6212 ,  G06T7/97 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20032 ,  G06T2207/20228 ,  G06T2207/30236 ,  G06T2207/30252 ,  G06T2207/30261 ,  H04N13/239 ,  H04N13/296 ,  H04N2013/0081 ,  H04N2013/0088

    摘要： A disparity deriving apparatus for deriving disparity of an object includes a calculator to calculate costs between a first reference area in a reference image and each one of corresponding areas corresponding to the first reference area in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a comparison image; a synthesizer to synthesize the costs of the first reference area and the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis costs; and a correction unit to apply a spatial filter to a local region, composed of a plurality of areas, in the first reference image to correct a disparity value of the local region.

    摘要翻译： 用于导出对象的视差的视差导出装置包括计算器，用于计算参考图像中的第一参考区域和对应于比较图像中的第一参考区域的对应区域中的每一个之间的成本，以及第二参考区域， 围绕参考图像中的第一参考区域，以及在比较图像中对应于第二参考区域的每个对应区域; 合成器，用于将第一参考区域和第二参考区域的成本合成为综合成本; 导出单元，用于基于合成的综合成本导出在第一参考区域中捕获的对象的视差值; 以及校正单元，用于将空间滤波器应用于由第一参考图像中的多个区域组成的局部区域，以校正局部区域的视差值。

    DISPARITY VALUE DERIVING DEVICE, EQUIPMENT CONTROL SYSTEM, MOVABLE APPARATUS, AND ROBOT
    2.
    发明申请
    DISPARITY VALUE DERIVING DEVICE, EQUIPMENT CONTROL SYSTEM, MOVABLE APPARATUS, AND ROBOT 有权
    差异值传送设备，设备控制系统，可移动设备和机器人

    公开(公告)号：US20150248594A1

    公开(公告)日：2015-09-03

    申请号：US14628905

    申请日：2015-02-23

    申请人： Wei ZHONG ,  Yoshikazu Watanabe ,  Soichiro Yokota ,  Kiichiroh Saitoh ,  Ryohsuke Tamura

    发明人： Wei ZHONG ,  Yoshikazu Watanabe ,  Soichiro Yokota ,  Kiichiroh Saitoh ,  Ryohsuke Tamura

    IPC分类号： G06K9/62 ,  B60R11/04 ,  G06K9/46

    CPC分类号： G06K9/6215 ,  B60R11/04 ,  G06K9/46 ,  G06K9/4661 ,  G06K2009/4666 ,  G06T7/593 ,  G06T2207/10021 ,  G06T2207/30261 ,  Y10S901/46

    摘要： A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.

    摘要翻译： 视差值导出装置包括获取单元，被配置为获取从第一成像位置捕获的参考图像中的参考区域与包括与参考区域的对应区域的指定范围中的多个区域中的每一个之间的匹配度， 从第二成像位置拍摄的比较图像; 合成器，被配置为合成参考图像中的预定参考区域附近的参考区域的匹配度和参考图像中的预定参考区域的匹配度; 以及导出单元，其被配置为基于由所述合成器获得的合成匹配度，导出在所述预定参考区域中捕获其图像的对象的视差值和与所述预定参考区域相对应的区域。

    DISPARITY DERIVING APPARATUS, MOVABLE APPARATUS, ROBOT, METHOD OF DERIVING DISPARITY, METHOD OF PRODUCING DISPARITY, PROGRAM, AND STORAGE MEDIUM
    5.
    发明申请
    DISPARITY DERIVING APPARATUS, MOVABLE APPARATUS, ROBOT, METHOD OF DERIVING DISPARITY, METHOD OF PRODUCING DISPARITY, PROGRAM, AND STORAGE MEDIUM 有权
    差异传送装置，可移动装置，机器人，传播方式，产生差异的方法，程序和存储介质

    公开(公告)号：US20150269738A1

    公开(公告)日：2015-09-24

    申请号：US14661393

    申请日：2015-03-18

    申请人： Kiichiroh SAITOH

    发明人： Kiichiroh SAITOH

    IPC分类号： G06T7/00 ,  G01S17/93 ,  G01S17/02

    CPC分类号： G06T7/593 ,  G01S17/026 ,  G01S17/936 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20228 ,  G06T2207/30252

    摘要： A disparity deriving apparatus for deriving disparity of an object based on a captured reference image of the object and a captured comparison image of the object includes a calculator to calculate costs between a first reference area in the reference image and each one of corresponding areas in the comparison image, and costs between a second reference area and each one of corresponding areas corresponding to the second reference area in the comparison image; a synthesizer to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis cost; and an output unit to output the derived disparity value and a specific cost of the first reference area identified by the derived disparity value.

    摘要翻译： 用于基于所拍摄的对象的参考图像和对象的捕获的参考图像导出对象的视差的视差导出装置包括：计算器，用于计算参考图像中的第一参考区域和所述对象区域中的每一个之间的成本 比较图像和第二参考区域与对应于比较图像中的第二参考区域的每个对应区域之间的成本; 合成器将第一参考区域的成本和第二参考区域的成本合成为综合成本; 导出单元，用于基于合成的合成成本来导出在第一参考区域中捕获的对象的视差值; 以及输出单元，用于输出导出的视差值和由导出的视差值识别的第一参考区域的特定成本。

    Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, program, and storage medium
    9.
    发明授权
    Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, program, and storage medium 有权
    视差导出装置，可移动装置，机器人，导出差异的方法，产生视差的方法，程序和存储介质

    公开(公告)号：US09595110B2

    公开(公告)日：2017-03-14

    申请号：US14661393

    申请日：2015-03-18

    申请人： Kiichiroh Saitoh

    发明人： Kiichiroh Saitoh

    IPC分类号： G06K9/00 ,  G06T7/00 ,  G01S17/02 ,  G01S17/93

    CPC分类号： G06T7/593 ,  G01S17/026 ,  G01S17/936 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20228 ,  G06T2207/30252

    摘要： A disparity deriving apparatus for deriving disparity of an object based on a captured reference image of the object and a captured comparison image of the object includes a calculator to calculate costs between a first reference area in the reference image and each one of corresponding areas in the comparison image, and costs between a second reference area and each one of corresponding areas corresponding to the second reference area in the comparison image; a synthesizer to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis cost; and an output unit to output the derived disparity value and a specific cost of the first reference area identified by the derived disparity value.

    摘要翻译： 用于基于所拍摄的对象的参考图像和对象的捕获的参考图像导出对象的视差的视差导出装置包括：计算器，用于计算参考图像中的第一参考区域和所述对象区域中的每一个之间的成本 比较图像和第二参考区域与对应于比较图像中的第二参考区域的每个对应区域之间的成本; 合成器将第一参考区域的成本和第二参考区域的成本合成为综合成本; 导出单元，用于基于合成的合成成本来导出在第一参考区域中捕获的对象的视差值; 以及输出单元，用于输出导出的视差值和由导出的视差值识别的第一参考区域的特定成本。