公开(公告)号：US20170356756A1

公开(公告)日：2017-12-14

申请号：US15440388

申请日：2017-02-23

Applicant: Kabushiki Kaisha Toshiba

Inventor： Tsuyoshi TAKATANI ,  Tsuyoshi TASAKI

IPC: G01C22/00 ,  G01C3/08 ,  G01C19/5776 ,  G06T7/73

CPC classification number: G01C22/00 ,  G01C3/08 ,  G01C19/5776 ,  G06T7/248 ,  G06T7/73 ,  G06T2207/30252

Abstract: According to an embodiment, an information processing device includes an internal sensor, a first derivation unit, a second derivation unit, a reliability calculation unit, a movement amount calculation unit. The internal sensor monitors monitor information including acceleration of a moving object. The first derivation unit derives a first movement amount of the moving object from the monitor information. The second derivation unit derives a second movement amount of the moving object using surrounding information of the moving object monitored by an external sensor. The reliability calculation unit calculates reliability of the second movement amount. The movement amount calculation unit calculates a current movement amount of the moving object using the first movement amount and the second movement amount when the reliability meets a specific criterion, and calculates the first movement amount as the current movement amount when the reliability does not meet the specific criterion.

公开(公告)号：US20170069090A1

公开(公告)日：2017-03-09

申请号：US15251184

申请日：2016-08-30

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Mayu OKUMURA ,  Tsuyoshi TASAKI ,  Tsuyoshi TAKATANI ,  Manabu NISHIYAMA

IPC: G06T7/00

CPC classification number: G06K9/00 ,  G06K9/00785 ,  G06K9/00805 ,  G06T3/4038

Abstract: An image processing device obtains first images capturing a street, on which a target vehicle is running, from a plurality of directions, and position information indicating positions at which the first images are taken, and associates a background object in a second image with a background object in a third image. The second image is an image which the target object is detected from and the third image is an image which is taken by an imaging device having a common imaging range with the second image among imaging devices mounted on the target vehicle. An output image is generated to include the position information indicating a position at which the second image is taken, the image of the detection rectangle which is clipped from the second image and includes the target object and the background object, and the first image of surroundings of the target vehicle.

Abstract translation: 图像处理装置从多个方向获取拍摄目标车辆所在的街道的第一图像，以及指示拍摄第一图像的位置的位置信息，并将第二图像中的背景对象与背景相关联 对象在第三个图像。 第二图像是从目标对象被检测到的图像，第三图像是由安装在目标车辆上的成像装置中的与第二图像具有共同成像范围的成像装置拍摄的图像。 产生输出图像以包括指示第二图像的位置的位置信息，从第二图像剪切并包括目标对象和背景对象的检测矩形的图像以及周围的第一图像 的目标车辆。

公开(公告)号：US20170082430A1

公开(公告)日：2017-03-23

申请号：US15259362

申请日：2016-09-08

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Tsuyoshi TASAKI ,  Tsuyoshi TAKATANI ,  Mayu OKUMURA ,  Manabu NISHIYAMA

IPC: G01C9/06 ,  G01C21/26 ,  G01S17/93 ,  G01C21/28

CPC classification number: G01S17/936 ,  G01C21/165 ,  G01C21/28 ,  G01S7/4808 ,  G01S17/58 ,  G01S17/89 ,  G06K9/00805 ,  G08G1/166

Abstract: According to an embodiment, a device includes processing circuitry. The processing circuitry performs three-dimensional measurement of surroundings of a mobile object to obtain a three-dimensional point group. The processing circuitry calculates movement information. The processing circuitry makes a threshold value based on time series differences in the movement information. The processing circuitry extracts, from the three-dimensional group, three-dimensional points having distance to the mobile object in a moving direction of the mobile object to be equal to or smaller than the threshold value. The processing circuitry divides space, in which the three-dimensional points are present, into divided spaces in the moving direction. The processing circuitry selects a representative point for the divided space from among three-dimensional points included in the divided space. The processing circuitry estimates, as a surface for motion on which the mobile object moves, a surface which approximates the representative points.

公开(公告)号：US20160284098A1

公开(公告)日：2016-09-29

申请号：US15075309

申请日：2016-03-21

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Mayu OKUMURA ,  Tomoki WATANABE ,  Tsuyoshi TASAKI ,  Tsuyoshi TAKATANI

IPC: G06T7/20 ,  G06K9/62 ,  H04N5/247 ,  G06K9/46

CPC classification number: H04N5/247 ,  G06T7/292 ,  G06T7/41

Abstract: According to an embodiment, an image processing device includes an image acquirer, a tracker, an extractor, a feature amount acquirer, and an association controller. The image acquirer is configured to acquire a time series of images from each imaging device. The tracker is configured to track a position of an object in the time series of images. The extractor is configured to extract, from the time series of images, an observed value corresponding to a feature value in each of regions into which the time series of images is divided depending on a distance from the imaging device. The feature amount acquirer is configured to acquire a feature amount based on a deviation value of the observed value in a feature value distribution for the region. The association controller is configured to associate the tracked objects among multiple time series of images acquired from the imaging devices by using the feature amount.

Abstract translation: 根据实施例，图像处理装置包括图像获取器，跟踪器，提取器，特征量获取器和关联控制器。 图像获取器被配置为从每个成像装置获取时间序列的图像。 跟踪器被配置为在图像的时间序列中跟踪对象的位置。 提取器被配置为从图像的时间序列中提取与根据距离成像装置的距离来分割图像的时间序列的每个区域中的特征值相对应的观察值。 特征量获取器被配置为基于该区域的特征值分布中的观测值的偏差值来获取特征量。 关联控制器被配置为通过使用特征量将从成像装置获取的多个时间序列的图像中的跟踪对象相关联。

公开(公告)号：US20190251316A1

公开(公告)日：2019-08-15

申请号：US16398110

申请日：2019-04-29

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Mayu OKUMURA ,  Tsuyoshi TASAKI ,  Tsuyoshi TAKATANI ,  Manabu NISHIYAMA

IPC: G06K9/00 ,  G06T3/40

CPC classification number: G06K9/00 ,  G06K9/00785 ,  G06K9/00805 ,  G06T3/4038

Abstract: An example image processing device obtains first images capturing a street, on which a target vehicle is running, from a plurality of directions, and position information indicating positions at which the first images are taken, and associates a background object in a second image with a background object in a third image. The second image is an image which the target object is detected from and the third image is an image which is taken by an imaging device having a common imaging range with the second image among imaging devices mounted on the target vehicle. An output image is generated to include the position information indicating a position at which the second image is taken, the image of the detection rectangle which is clipped from the second image and includes the target object and the background object, and the first image of surroundings of the target vehicle.

公开(公告)号：US20170061203A1

公开(公告)日：2017-03-02

申请号：US15245754

申请日：2016-08-24

Applicant: Kabushiki Kaisha Toshiba

Inventor： Tsuyoshi TAKATANI ,  Tsuyoshi TASAKI ,  Mayu OKUMURA ,  Manabu NISHIYAMA ,  Yuma SANO

IPC: G06K9/00 ,  G06K9/62

CPC classification number: G06K9/00369 ,  G06K9/00805

Abstract: According to an embodiment, a detection device includes a camera, a memory, and processor circuitry. The camera is connected to an internal bus and configured to acquire an image including an area in which a mobile body is movable. The memory is connected to the internal bus and configured to store data and a program. The processor circuitry is connected to the internal bus and configured to detect at least the area, a mark on the area, and a person, from the image, calculate a first distance between the person and a position of the device when the person is in the area, and set a range according to a result of the detection and the first distance.

Abstract translation: 根据实施例，检测装置包括相机，存储器和处理器电路。 相机连接到内部总线并被配置为获取包括移动体可移动的区域的图像。 存储器连接到内部总线并配置为存储数据和程序。 所述处理器电路连接到所述内部总线，并且被配置为至少检测所述区域的区域，所述区域上的标记以及从所述图像中的人员，当所述人处于所述内部总线时，计算所述人与所述设备的位置之间的第一距离 并根据检测结果和第一距离设定范围。

公开(公告)号：US20170345161A1

公开(公告)日：2017-11-30

申请号：US15444645

申请日：2017-02-28

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Tsuyoshi TAKATANI ,  Tsuyoshi TASAKI ,  Manabu NISHIYAMA

IPC: G06T7/246 ,  G06T7/73 ,  G06K9/46

CPC classification number: G06T7/246 ,  G06K9/00214 ,  G06K9/4671 ,  G06T7/73 ,  G06T2207/10016

Abstract: According to one embodiment, an information processing apparatus includes processing circuitry. The processing circuitry acquires a measurement value including an acceleration, corrects the measurement value to reduce a drift in the measurement value, acquires a first image and a second image, detects feature points in the first and the second images, identify a corresponding point among the feature points in the second image, which corresponds to one of the feature points in the first image, and estimate a relative displacement of a moving object between a time at which the first image is taken and a time at which the second image is taken, based on the corrected measurement value, the feature point in the first image and the corresponding point in the second image.

公开(公告)号：US20160078288A1

公开(公告)日：2016-03-17

申请号：US14853159

申请日：2015-09-14

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Tsuyoshi TAKATANI

IPC: G06K9/00 ,  G06T7/20 ,  G06T7/00

CPC classification number: G06K9/00348 ,  G06K2209/40 ,  G06T7/246 ,  G06T7/73 ,  G06T2207/30196 ,  G06T2207/30241 ,  G06T2207/30244

Abstract: A moving body position estimating device includes an acquisition unit and a processor. The acquisition unit acquires information including first data relating to a first image and second data relating to a second image including a difference between the first image and the second image accompanying a movement of a moving body. The processor implements estimating, based on the information, a direction of a rotation accompanying the movement; detecting, based on the direction of the rotation, first feature points inside a first region inside the first image and second feature points inside a second region inside the first image; and determining first corresponding points inside a third region inside the second image and estimating a change of a position of the moving body based on each of the first feature points and each of the first corresponding points.

Abstract translation: 移动体位置估计装置包括获取单元和处理器。 获取单元获取包括与第一图像相关的第一数据的信息，以及伴随运动物体的移动的包括第一图像和第二图像之间的差异的第二图像的第二数据。 处理器实现基于该信息估计伴随运动的旋转的方向; 基于旋转方向检测第一图像内的第一区域内的第一特征点和第一图像内部的第二区域内的第二特征点; 以及确定所述第二图像内的第三区域内的第一对应点，并且基于所述第一特征点和所述第一对应点中的每一个来估计所述移动体的位置的变化。