公开(公告)号：US20130084027A1

公开(公告)日：2013-04-04

申请号：US13578542

申请日：2011-02-10

申请人： Shunichi Koga ,  Masayuki Tanaka ,  Masatoshi Okutomi

发明人： Shunichi Koga ,  Masayuki Tanaka ,  Masatoshi Okutomi

IPC分类号： G06K9/32

CPC分类号： G06K9/32 ,  G06T3/4053 ,  H04N1/3871 ,  H04N5/232

摘要： [Problem]An object of the present invention is to provide an image processing apparatus used for acquisition assistance of optimal low-resolution image set for super-resolution processing.[Means for solving the problem]The image processing apparatus of the present invention comprises a processing unit for computing displacement amounts between a basis image and each reference image, a processing unit for generating a plurality of deformed images based on the displacement amounts, the basis image and a plurality of reference images, a processing unit for setting a threshold of a parameter used at the time of image information selection, a processing unit for selecting image information used in the super-resolution processing from the reference image by using the threshold of the parameter, a processing unit for generating composed images and weighted images based on the basis image, the displacement amounts and the image information, a processing unit for generating high-resolution grid images by dividing the composed image by the weighted image, a processing unit for generating simplified interpolation images based on high-resolution grid images, a processing unit for generating assistance images, a display unit for displaying the assistance images, and a control unit that respectively controls a processing concerning the image input, a processing concerning the basis image selection, a processing concerning the reference image selection and a processing concerning the threshold setting of the parameter as necessary.

摘要翻译： 本发明的目的是提供一种用于超分辨率处理的最佳低分辨率图像集的获取辅助的图像处理装置。 解决问题的手段本发明的图像处理装置包括：处理单元，用于计算基础图像和每个参考图像之间的位移量;处理单元，用于基于位移量产生多个变形图像;基础 图像和多个参考图像，用于设置在图像信息选择时使用的参数的阈值的处理单元，用于从参考图像中选择用于超分辨率处理的图像信息的处理单元， 所述参数，用于基于所述基础图像生成合成图像和加权图像的处理单元，所述位移量和所述图像信息，用于通过将所述合成图像除以所述加权图像来生成高分辨率网格图像的处理单元，处理单元 用于生成基于高分辨率网格图像的简化插值图像的处理单元 生成辅助图像，用于显示辅助图像的显示单元和分别控制与图像输入有关的处理的控制单元，关于基础图像选择的处理，关于参考图像选择的处理以及关于阈值设置的处理 必要的参数。

公开(公告)号：US08294778B2

公开(公告)日：2012-10-23

申请号：US12323698

申请日：2008-11-26

申请人： Masatoshi Okutomi ,  Masao Shimizu ,  Takahiro Yano

发明人： Masatoshi Okutomi ,  Masao Shimizu ,  Takahiro Yano

IPC分类号： H04N5/228 ,  H04N5/232 ,  G03B13/00 ,  G06K9/62 ,  G06K9/64

CPC分类号： G02B7/365 ,  G06T7/37

摘要： An image processor includes a frequency transformation unit configured to perform frequency transformation processing with respect to a multiple image, and an inter-superimposed-image displacement acquisition unit that calculates a displacement amount between images forming superimposed images included in the multiple image by using a frequency-transformed image subjected to the frequency transformation processing by the frequency transformation unit.

摘要翻译： 一种图像处理器包括：频率变换单元，被配置为对多个图像执行频率变换处理;以及帧间叠加图像位移获取单元，其通过使用频率来计算形成包括在所述多个图像中的叠加图像的图像之间的位移量 经变频单元进行频率变换处理的变换图像。

公开(公告)号：US08180100B2

公开(公告)日：2012-05-15

申请号：US11659913

申请日：2005-08-11

申请人： Tomo Fujimaki ,  Masatoshi Okutomi

发明人： Tomo Fujimaki ,  Masatoshi Okutomi

IPC分类号： G06K9/00 ,  G06K9/36

CPC分类号： G06K9/00805 ,  G06T7/32 ,  G06T7/593 ,  G06T7/85 ,  G06T2207/10021 ,  G06T2207/20224 ,  G06T2207/30261 ,  G08G1/161

摘要： A rotation matrix and a translation vector between a basic camera and a reference camera are read out from a parameter storage section. At a projection conversion matrix calculating section, a projection conversion matrix capable of overlapping the road plane area included in images picked up by the basic camera and the reference camera is calculated by using the rotation matrix and the translation vector.

摘要翻译： 从参数存储部分读出基本相机和参考相机之间的旋转矩阵和平移矢量。 在投影转换矩阵计算部分，通过使用旋转矩阵和平移矢量来计算能够重叠由基本相机拾取的图像和参考相机中包括的道路平面区域的投影转换矩阵。

公开(公告)号：US20100103175A1

公开(公告)日：2010-04-29

申请号：US12443844

申请日：2007-10-25

申请人： Masatoshi Okutomi ,  Kaoru Ikeda ,  Masao Shimizu

发明人： Masatoshi Okutomi ,  Kaoru Ikeda ,  Masao Shimizu

IPC分类号： G06T17/00

CPC分类号： G06T3/4053 ,  G06T2207/10012 ,  H04N13/243

摘要： The present invention provides a method for generating a high-resolution virtual-focal-plane image which is capable of generating a virtual-focal-plane image with an arbitrary desired resolution simply and rapidly by using multi-view images.The method of the present invention comprises a disparity estimating process step for estimating disparities by performing the stereo matching for multi-view images consisting of multiple images with different capturing positions and obtaining a disparity image; a region selecting process step for selecting an image among multi-view images as a basis image, setting all remaining images as reference images, and selecting a predetermined region on the basis image as a region of interest; a virtual-focal-plane estimating process step for estimating a plane in the disparity space for the region of interest based on the disparity image, and setting the estimated plane as a virtual-focal-plane; and an image integrating process step for obtaining image deformation parameters used for deforming each reference image to the basis image for the virtual-focal-plane, and generating the virtual-focal-plane image by deforming multi-view images with obtained image deformation parameters.

摘要翻译： 本发明提供了一种用于生成能够通过使用多视点图像简单且快速地产生具有任意期望分辨率的虚拟焦平面图像的高分辨率虚拟焦平面图像的方法。 本发明的方法包括视差估计处理步骤，用于通过对由具有不同拍摄位置的多个图像组成的多视点图像执行立体匹配来估计不同，并获得视差图像; 区域选择处理步骤，用于选择多视点图像中的图像作为基础图像，将所有剩余图像设置为参考图像，并且选择基础图像上的预定区域作为关注区域; 虚拟焦平面估计处理步骤，用于基于视差图像估计感兴趣区域的视差空间中的平面，并将估计平面设置为虚拟焦平面; 以及图像合成处理步骤，用于获得用于使每个参考图像变形为虚拟焦平面的基础图像的图像变形参数，以及通过使获得的图像变形参数变形多视图图像来生成虚拟焦平面图像。

公开(公告)号：US20090207288A1

公开(公告)日：2009-08-20

申请号：US11994564

申请日：2006-06-01

申请人： Masayuki Tanaka ,  Masatoshi Okutomi

发明人： Masayuki Tanaka ,  Masatoshi Okutomi

IPC分类号： H04N5/335

CPC分类号： H04N9/045 ,  H04N5/2355 ,  H04N2209/045

摘要： The present invention provides a signal readout method of solid-state imaging device which can simultaneously readouts the signals having different properties that can generate multiple images obtained by capturing the same subject under different capturing conditions from one solid-state imaging device.A signal readout method of solid-state imaging device that is applied to a solid-state imaging device with a color filter array (CFA) and multiple pixels, the method characterized in that a pixel mixture of a different number of pixels is performed for every readout signal in the solid-state imaging device, and a signal after the pixel mixture is readout. The signal after the pixel mixture means a first signal after the pixel mixture that is obtained by performing the pixel mixture of predetermined L pixels (L≦n×m) within (n×m) pixels (n and m are natural numbers) consisting of n pixels in a vertical direction and m pixels in a horizontal direction of the solid-state imaging device, and a second signal after the pixel mixture that is obtained by down sampling pixel signals of (n×m) pixels without performing pixel mixture of (n×m) pixels.

摘要翻译： 本发明提供了一种固态成像装置的信号读出方法，其可以同时读出具有不同属性的信号，这些信号可以产生通过在不同拍摄条件下从一个固态成像装置捕获相同被摄体而获得的多个图像。 一种固态成像装置的信号读出方法，其应用于具有滤色器阵列（CFA）和多个像素的固态成像装置，该方法的特征在于，对每个像素执行不同数量的像素的像素混合 在固态成像装置中的读出信号，以及像素混合后的信号被读出。 像素混合后的信号是指在通过在（n×m）个像素（n和m是自然数）内由n个像素组成的预定的L个像素（L <= n×m）中的像素混合执行的像素混合之后的第一信号， 在固态摄像装置的水平方向上的垂直方向和m个像素以及通过对（n×m）像素的像素信号进行下采样而不执行（n×m）像素的像素混合而获得的像素混合之后的第二信号。

公开(公告)号：US20080310705A1

公开(公告)日：2008-12-18

申请号：US12056502

申请日：2008-03-27

申请人： Minami Asatani ,  Masatoshi Okutomi ,  Shigeki Sugimoto

发明人： Minami Asatani ,  Masatoshi Okutomi ,  Shigeki Sugimoto

IPC分类号： B25J9/00 ,  G06K9/20

CPC分类号： B62D57/032 ,  G05D1/0246 ,  G05D2201/0217 ,  G06K9/00201 ,  G06T7/70

摘要： A robot capable of performing appropriate movement control while reducing arithmetic processing for recognizing the shape of a floor. The robot sets a predetermined landing position of steps of the legs on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot. An image projection areas is set, and is projected on each image captured by cameras mounted on the robot for each predetermined landing position in the vicinity of each of the predetermined landing positions. Shape parameters representing the shape of an actual floor partial area are estimated, forming an actual floor whose image is captured in each partial image area, of based on the image of the partial image area generated by projecting the set image projection area on the images captured by the cameras for each partial image area.

摘要翻译： 能够进行适当的移动控制的机器人，同时减少用于识别地板的形状的算术处理。 机器人在机器人运动期间，将当前假想地板上的腿的步骤的预定着陆位置设置为当前假想地板，其是由用于机器人的当前运动控制的楼板形状信息表示的楼层。 设置图像投影区域，并且在每个预定着陆位置附近的每个预定着陆位置处投影到安装在机器人上的照相机捕获的每个图像上。 基于通过将设置的图像投影区域投影到捕获的图像而生成的部分图像区域的图像，估计表示实际楼层部分区域的形状的形状参数，形成其图像被捕获在每个部分图像区域中的实际楼层 通过每个部分图像区域的相机。

公开(公告)号：US20060038891A1

公开(公告)日：2006-02-23

申请号：US10543846

申请日：2003-10-08

申请人： Masatoshi Okutomi ,  Tomomasa Goto

发明人： Masatoshi Okutomi ,  Tomomasa Goto

IPC分类号： H04N5/228

CPC分类号： H04N9/045 ,  H04N2209/046

摘要： A limitation in the physical resolution of an image sensor offers a motivation to improve the resolution of an image. Super-resolution is mainly applied to gray scale images, and it has not been thoroughly investigated yet that a high resolution color image is reconstructed from an image sensor having a color filter array. An object of the invention is to directly reconstruct a high resolution color image from color mosaic obtained by an image sensor having a color filter array. A high resolution color image reconstruction method according to the invention is based on novel technique principles of color image reconstruction that an increase in resolution and demosaicing are performed at the same time. The verification and effective implement of the invention are also described.

公开(公告)号：US08964843B2

公开(公告)日：2015-02-24

申请号：US12689395

申请日：2010-01-19

申请人： Eiji Furukawa ,  Masatoshi Okutomi ,  Masayuki Tanaka

发明人： Eiji Furukawa ,  Masatoshi Okutomi ,  Masayuki Tanaka

IPC分类号： H04N11/04 ,  H04N7/12 ,  G06K9/36 ,  G06K9/40 ,  H04N5/14 ,  H04N7/01 ,  H04N19/159 ,  G06T3/40 ,  H04N19/51 ,  H04N19/139 ,  H04N19/59 ,  H04N19/105 ,  H04N19/176 ,  H04N19/61 ,  H04N19/20 ,  H04N19/182

CPC分类号： H04N19/00218 ,  G06T3/4007 ,  H04N19/105 ,  H04N19/139 ,  H04N19/159 ,  H04N19/176 ,  H04N19/182 ,  H04N19/20 ,  H04N19/513 ,  H04N19/521 ,  H04N19/573 ,  H04N19/59 ,  H04N19/61

摘要： An image processing method includes: a frame selection step for selecting a base frame and a reference frame; an image displacement amount calculation step for calculating an image displacement amount between the reference frame and the base frame; a weighting coefficient generation step for generating a weighting coefficient using at least one of an encoding type of the reference frame and the motion information of the encoded moving image data; and an image quality improvement step for improving an image quality of the base frame using the image displacement amount calculated in the image displacement amount calculation step and the weighting coefficient generated in the weighting coefficient generation step.

摘要翻译： 一种图像处理方法包括：帧选择步骤，用于选择基本帧和参考帧; 图像位移量计算步骤，用于计算参考帧和基本帧之间的图像位移量; 加权系数生成步骤，用于使用所述参考帧的编码类型和所述编码的运动图像数据的运动信息中的至少一个来生成加权系数; 以及图像质量改进步骤，用于使用在图像位移量计算步骤中计算的图像位移量和在加权系数生成步骤中生成的加权系数来提高基本帧的图像质量。

公开(公告)号：US20110170784A1

公开(公告)日：2011-07-14

申请号：US12737083

申请日：2009-03-12

申请人： Masayuki Tanaka ,  Masatoshi Okutomi ,  Yoichi Yaguchi

发明人： Masayuki Tanaka ,  Masatoshi Okutomi ,  Yoichi Yaguchi

IPC分类号： G06K9/46

CPC分类号： G06T3/4069 ,  G06T7/194 ,  G06T7/215 ,  G06T7/246 ,  G06T7/33 ,  G06T2207/10016 ,  H04N19/523 ,  H04N19/54 ,  H04N19/543

摘要： [Problem]An object of the present invention is to provide an image registration processing apparatus that is capable of performing a robust and high-accuracy registration processing with respect to an entire image between images including multiple motions.[Means for Solving the Problem]The image registration processing apparatus according to the present invention comprises a feature point extraction processing unit that extracts feature points of a basis image and an input image that include multiple motions respectively, a feature point-based registration processing unit that performs a matching processing between basis image feature points and input image feature points and an initial motion parameter estimation processing after deleting outliers from matched feature points respectively, a single-motion region extraction processing unit that extracts a single-motion region based on an initial motion parameter and by using a similarity and a local displacement between images, a region-based registration processing unit that estimates a motion parameter with subpixel accuracy based on the initial motion parameter and the single-motion region, and a feature point deletion processing unit that deletes feature points included in the single-motion region from the basis image feature points and the input image feature points.

摘要翻译： 本发明的目的是提供一种能够对包括多个运动的图像之间的整个图像执行鲁棒且高精度的注册处理的图像注册处理装置。 解决问题的手段根据本发明的图像注册处理装置包括特征点提取处理单元，其分别提取基本图像的特征点和包括多个运动的输入图像，特征点注册处理单元 在从匹配的特征点分别删除异常值之后，进行基本图像特征点和输入图像特征点之间的匹配处理以及初始运动参数估计处理，单个运动区域提取处理单元，基于初始运动区域提取单个运动区域 运动参数，并且通过使用图像之间的相似度和局部位移，基于区域的注册处理单元，其基于初始运动参数和单运动区域来估计具有子像素精度的运动参数，以及特征点删除处理单元， 删除单个中包含的功能点 - 基图像特征点和输入图像特征点的运动区域。

公开(公告)号：US07932944B2

公开(公告)日：2011-04-26

申请号：US11994566

申请日：2006-06-01

申请人： Masayuki Tanaka ,  Masatoshi Okutomi

发明人： Masayuki Tanaka ,  Masatoshi Okutomi

IPC分类号： H04N9/083

CPC分类号： H04N9/045 ,  H04N2209/045

摘要： The pixel mixture method of the present invention for mixing several pixels on a solid-state image sensing device, which is applied to an imaging device having the solid-state image sensing device with a color filter array (CFA) and multiple pixels, comprising: a pixel mixture operating step for performing a pixel mixture operation based on a pixel mixture operation equation for the several pixels that are adjacent spatially; a color conversion matrix generating step for generating a color conversion matrix based on the kind of colors of a color space after mixture and the pixel mixture operation equation; and a desired color space converting step for converting the color space after mixture into a desired color space based on the generated color conversion matrix.

摘要翻译： 本发明的像素混合方法用于混合固态图像感测装置上的多个像素，其应用于具有彩色滤光器阵列（CFA）的固态图像感测装置的成像装置和多个像素，所述多个像素包括： 像素混合操作步骤，用于基于空间相邻的几个像素的像素混合运算方程执行像素混合运算; 颜色转换矩阵生成步骤，用于根据混合后的色彩空间的种类和像素混合运算方程产生颜色转换矩阵; 以及期望的颜色空间转换步骤，用于基于所生成的颜色转换矩阵将混合后的颜色空间转换成期望的颜色空间。