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公开(公告)号：US07499638B2
公开(公告)日：2009-03-03
申请号：US11286278
申请日：2005-11-23
申请人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
发明人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
CPC分类号： G01S17/023 , G01C3/18 , G01S7/4802 , G01S17/936
摘要： The object recognition apparatus has an active range finder having a floodlight unit which floodlights a light onto a target object, and determines a distance up to a target object on the basis of a reflected light therefrom, a stereo camera to determine a distance up to the target object on the basis of image information from the target object, an object recognition unit which recognizes the target object on the basis of an output signal from the active range finder and an output signal from the stereo camera, and a fill light control unit which controls the floodlight unit to operate so as to irradiate a light floodlit by the floodlight unit as a fill light of the stereo camera.
摘要翻译： 物体识别装置具有主动测距装置，其具有泛光灯单元，其将光泛光到目标物体上，并基于来自其的反射光确定到达目标物体的距离;立体相机，用于确定直到 基于来自目标对象的图像信息的目标对象，基于来自有源测距仪的输出信号识别目标对象的对象识别单元和来自立体摄像机的输出信号，以及填充光控制单元， 控制泛光灯单元的操作，以便照射由泛光灯单元照明的照明灯，作为立体照相机的补光灯。
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2.发明授权公开(公告)号：US07259870B2
公开(公告)日：2007-08-21
申请号：US10803673
申请日：2004-03-18
申请人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
发明人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
IPC分类号： G01B11/24
CPC分类号： G01C11/06
摘要： A 3-dimensional image acquisition apparatus acquires images to be used for 3-dimensionally reconstructing an object by picking up the object by a camera twice or more in an image acquisition set including picking up at least once the object carrying a pattern projected onto it by a projection light source. The apparatus comprises a light projection information memory configured to store information on projection of light including information on the time for projecting light for the purpose of projecting the pattern in the image acquisition set, an image acquisition progress information memory configured to store information on the progress of image acquisition in the image acquisition set, and a controller configured to control the projection of light by the projection light source and the picking up by the camera on the basis of the stored information on projection of light and the stored information on the progress.
摘要翻译： 3维图像获取装置通过摄像机拍摄物体2次以上拍摄物体3次重构物体3次图像获取装置，该图像拍摄装置至少包含一次携带投射到其上的图案的物体 投影光源。 该装置包括光投射信息存储器，被配置为存储关于投影光的信息，包括用于投影光的时间的信息，用于将图案投影到图像获取集合中;图像获取进度信息存储器，被配置为存储关于进度的信息 以及控制器，被配置为基于所存储的关于光的投射的信息和所存储的关于进度的信息来控制由投影光源投射的光和由照相机拾取的光。
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3.发明授权Calibration pattern unit photographed by an imaging system to acquire an image for obtaining correction information 有权由成像系统拍摄的校准图案单元，以获取用于获得校正信息的图像公开(公告)号：US07138645B2
公开(公告)日：2006-11-21
申请号：US10650619
申请日：2003-08-28
CPC分类号： G01B11/2504 , G01B11/00
摘要： A calibration pattern unit which obtains correction information of an imaging system by imaging at the imaging system is formed by combining a plurality of three-dimensionally arranged planes. The calibration pattern unit comprises supporting members each of which has a predetermined surface corresponding to one of the planes, and a calibration pattern in which a predetermined pattern is formed on the predetermined surface of the supporting member. The supporting member can selectively set the calibration pattern unit to a first form for photographing when the correction information is obtained, and a second form for other purposes.
摘要翻译： 通过组合多个三维布置的平面来形成通过在成像系统成像获得成像系统的校正信息的校准图案单元。 校准图案单元包括每个具有对应于一个平面的预定表面的支撑构件，以及在支撑构件的预定表面上形成预定图案的校准图案。 支撑构件可以在获得校正信息时选择性地将校准图案单元设置为用于拍摄的第一形式，以及用于其他目的的第二形式。
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公开(公告)号：US07075735B2
公开(公告)日：2006-07-11
申请号：US10853003
申请日：2004-05-25
CPC分类号： G02B27/16 , G02B13/04 , G02B13/16 , G02B27/1073 , G02B27/14
摘要： The invention relates to a stereo imaging unit or system that can have a suitable degree of parallax and a wide angle of view even when used with an image pickup device smaller than film. The stereo imaging unit comprises a first entrance window 5L and a second entrance window 5R juxtaposed in the left-and-right direction, a plurality of reflecting surfaces 21L, 22L for guiding a light beam from the first entrance window 5L to a single image pickup device 4, a plurality of reflecting surfaces 21R, 22R for guiding a light beam from the second entrance window 5R to the image pickup device 4, a first negative lens group 1L for the light beam from the first entrance window 5L, a first positive lens group 3 located at an image side thereof via the longest air spacing in the lens system, a second lens group 1R for the light beam from the second entrance window 5R, and a second positive lens group 3 located on an image side thereof via the longest air spacing in the lens system, and satisfies conditions (1), (2), (3) and (4) for defining the focal lengths of the negative and positive lens groups in terms of the focal length of the overall lens system.
摘要翻译： 本发明涉及一种立体成像单元或系统，即使当与小于胶片的图像拾取装置一起使用时，该立体成像单元也可以具有适当的视差程度和宽视角。 立体成像单元包括沿左右方向并置的第一入口窗口5L和第二入口窗口5R，用于引导来自第一入口窗口5L的光束的多个反射面21L，22L 到单个图像拾取装置4，用于将来自第二入口窗口5R的光束引导到图像拾取装置4的多个反射表面21R，22R，用于来自第二入口窗口5的光束的第一负透镜组1L 第一入口窗口5L，通过透镜系统中最长的空气间隔位于其像侧的第一正透镜组3，来自第二入口窗口5R的光束的第二透镜组1R和第二入射窗口5 透镜组3通过透镜系统中最长的空气间隔位于图像侧，并且满足用于限定负透镜组和正透镜组的焦距的条件（1），（2），（3）和（4） 术语整个镜头系统的焦距。
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公开(公告)号：US20060072914A1
公开(公告)日：2006-04-06
申请号：US11286278
申请日：2005-11-23
申请人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
发明人： Kazuhiko Arai , Hidekazu Iwaki , Takashi Miyoshi
CPC分类号： G01S17/023 , G01C3/18 , G01S7/4802 , G01S17/936
摘要： The object recognition apparatus has an active range finder having a floodlight unit which floodlights a light onto a target object, and determines a distance up to a target object on the basis of a reflected light therefrom, a stereo camera to determine a distance up to the target object on the basis of image information from the target object, an object recognition unit which recognizes the target object on the basis of an output signal from the active range finder and an output signal from the stereo camera, and a fill light control unit which controls the floodlight unit to operate so as to irradiate a light floodlit by the floodlight unit as a fill light of the stereo camera.
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公开(公告)号：US07386226B2
公开(公告)日：2008-06-10
申请号：US11288647
申请日：2005-11-29
申请人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
发明人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
CPC分类号： H04N13/133
摘要： This stereo camera system is constituted of a stereo optical module which acquires a stereo image, a central control unit which evaluates an object as a target based on the stereo image acquired by the stereo optical module, and a communication line through which stereo image data output from the stereo optical module is input to the central control unit. Further, in this stereo camera system, an image output processing circuit which performs predetermined image processing with respect to the stereo image acquired by the stereo optical module is provided in the stereo optical module, whereby this image output processing circuit performs a correction arithmetic operation which corrects unbalance at the time of capturing the stereo image.
摘要翻译： 该立体摄像机系统由立体声光学模块取得立体图像，中央控制单元，其基于由立体光学模块获取的立体图像对象作为目标进行评估;以及通信线路，立体图像数据输出 从立体声光模块输入到中央控制单元。 此外，在该立体相机系统中，在立体光学模块中设置了对由立体光学模块获取的立体图像执行预定图像处理的图像输出处理电路，由此该图像输出处理电路执行校正算术运算， 纠正拍摄立体图像时的不平衡。
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7.发明申请Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system 审中-公开立体相机支持装置，立体相机支持方法，校准检测装置，校准校正装置和立体相机系统公开(公告)号：US20050237385A1
公开(公告)日：2005-10-27
申请号：US11169098
申请日：2005-06-28
申请人： Akio Kosaka , Takashi Miyoshi , Hidekazu Iwaki , Kazuhiko Arai
发明人： Akio Kosaka , Takashi Miyoshi , Hidekazu Iwaki , Kazuhiko Arai
CPC分类号： G06K9/00791 , G01B11/00 , G01C11/02 , G06K9/209 , G06T7/85
摘要： A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.
摘要翻译： 本发明的立体摄影机支援装置包括以支撑立体摄像机的方式构成的接合构件，以及控制装置，其通过接合构件控制支撑在车辆上的立体摄像机的姿势或位置。 控制装置控制立体摄像机相对于由立体摄像机获得的视频的姿态或位置，使得存在于视频中的被指定对象的轮廓中的最高级别位置中的轮廓部分位于帧 视频或其附近的上端，而不管车辆的姿势或位置的变化。
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8.发明申请Image pickup apparatus, and image pickup method and control method of the image pickup apparatus 审中-公开图像拾取装置，以及图像拾取装置的图像拾取方法和控制方法公开(公告)号：US20050007487A1
公开(公告)日：2005-01-13
申请号：US10737273
申请日：2003-12-16
IPC分类号： G01B11/00 , G01B11/25 , G03B7/093 , G03B7/28 , G03B15/00 , G03B15/02 , G03B15/03 , G03B15/05 , G03B19/02 , G03B35/08 , G06T1/00 , H04N5/235
CPC分类号： G01B11/25 , H04N13/254
摘要： An image pickup apparatus is capable of performing an image pickup with pattern projection on an object to obtain three-dimensional information on the object, and an image pickup without pattern projection. The image pickup apparatus comprises an exposure level determination section configured to determine a predetermined exposure level needed by an image pickup device of the image pickup apparatus, and a shutter speed determination section configured to determine a first shutter speed to achieve the predetermined exposure level determined by the exposure level determination section in the image pickup without pattern projection, and a second shutter speed not slower than the first shutter speed. The image pickup with pattern projection is conducted by use of the second shutter speed.
摘要翻译： 图像拾取装置能够在对象上执行图案投影的图像拾取以获得关于对象的三维信息，以及不具有图案投影的图像拾取。 图像拾取装置包括曝光水平确定部分，被配置为确定图像拾取装置的图像拾取装置所需的预定曝光水平，以及快门速度确定部分，其被配置为确定第一快门速度以实现由 没有图形投影的图像拾取中的曝光水平确定部分和不慢于第一快门速度的第二快门速度。 具有图案投影的图像拾取器通过使用第二快门速度进行。
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9.发明申请公开(公告)号：US20070252900A1
公开(公告)日：2007-11-01
申请号：US11821749
申请日：2007-06-25
申请人： Hidekazu Iwaki , Takashi Miyoshi , Kazuhiko Arai
发明人： Hidekazu Iwaki , Takashi Miyoshi , Kazuhiko Arai
IPC分类号： H04N5/235
CPC分类号： H04N5/272 , G06T7/564 , G06T17/10 , G06T2200/08 , H04N5/2256
摘要： A background lighting module illuminates an object from behind by visible light with respect to a photographing module to identify an area including the boundary between the object and the background portion in an image to be photographed by the photographing module. A controller controls a photographing operation including the exposure of the photographing module and the lighting intensity of the background lighting module. An image processing module processes the images photographed by the photographing module. The controller sets the exposure and lighting intensity to specific conditions so as to photograph a processing image where the background portion on the periphery of the object has a higher luminance than that of the silhouette portion of the object. The image processing module extracts the shape of the object by using the luminance difference between the silhouette area of the object and the background area on the periphery of the object.
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公开(公告)号：US07286698B2
公开(公告)日：2007-10-23
申请号：US10650590
申请日：2003-08-28
IPC分类号： G06K9/00
CPC分类号： G01B11/2504 , G06T7/80
摘要： A calibration pattern unit which obtains correction information of an imaging system by imaging at the imaging system comprises a calibration pattern which has a known geometric pattern formed on a plurality of three-dimensionally arranged planes, and a relative position and posture fixing section which fixes relative position and posture between the calibration pattern and the imaging system.
摘要翻译： 通过在成像系统成像获得成像系统的校正信息的校准图案单元包括具有形成在多个三维布置平面上的已知几何图案的校准图案，以及相对位置和姿势固定部， 校准图案与成像系统之间的位置和姿势。
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