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公开(公告)号：US11615552B2
公开(公告)日：2023-03-28
申请号：US17113425
申请日：2020-12-07
Inventor： Nobuhiko Wakai , Takeo Azuma , Kunio Nobori , Satoshi Sato , Ayako Maruyama
Abstract: A crossing point detector includes memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple parameters of a function model treating two-dimensional image coordinates as variables, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the function model and the square image, respectively, and computes the position of a crossing point of two straight lines expressed by the decided multiple parameters to thereby detect the crossing point with subpixel precision. The function model uses a curved surface that is at least first-order differentiable to express pixel values at respective positions in a two-dimensional coordinate system at the boundary between black and white regions.
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公开(公告)号：US11533455B2
公开(公告)日：2022-12-20
申请号：US17228525
申请日：2021-04-12
Inventor： Norihiro Imamura , Tsuguhiro Korenaga , Kunio Nobori , Takeo Azuma , Kazufumi Mizusawa
Abstract: An imaging apparatus in an embodiment includes lens optical systems each including a lens whose surface closest to the target object is shaped to be convex toward the target object, imaging regions which respectively face the lens optical systems and output a photoelectrically converted signal corresponding to an amount of light transmitting the lens optical systems and received by the imaging regions, and a light-transmissive cover which covers an exposed portion of the lens of each of the lens optical systems and a portion between the lens of one of the lens optical systems and the lens of another one of the lens optical systems adjacent to the one of the lens optical systems, the cover having a curved portion which is convex toward the target object. The optical axes of the lens optical systems are parallel to each other.
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公开(公告)号：US11277571B2
公开(公告)日：2022-03-15
申请号：US17136722
申请日：2020-12-29
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma , Nobuhiko Wakai , Mitsuru Harada , Shinichi Machida , Masumi Izuchi
Abstract: An image generation device includes: a voltage generator that generates a plurality of voltages each having a different voltage value; an image capturer that includes an organic photoconductive film, and performs imaging every time each of the plurality of voltages is applied; a luminance data obtainer that obtains a plurality of luminance data items corresponding to the plurality of voltages applied, each of the plurality of luminance data items being obtained from the imaging performed by the image capturer; and a color image generator that generates a color image based on the plurality of luminance data items.
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公开(公告)号：US10484668B2
公开(公告)日：2019-11-19
申请号：US15431770
申请日：2017-02-14
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma , Takamasa Ando , Tsuguhiro Korenaga , Toshiya Fujii
IPC: H04N13/282 , H04N13/106 , H04N13/189 , H04N13/207 , G06T7/70 , H04N13/00 , G06T7/11 , G02B27/46 , G02B23/02 , H04N13/271 , H04N13/218
Abstract: An imaging apparatus includes an imaging device, a first imaging optical system and a second imaging optical system that form respective input images from mutually different viewpoints onto the imaging device, and a first modulation mask and a second modulation mask that modulate the input images formed by the first imaging optical system and the second imaging optical system. The imaging device captures a superposed image composed of the two input images that have been formed by the first imaging optical system and the second imaging optical system, modulated by the first modulation mask and the second modulation mask, and optically superposed on each other, and the first modulation mask and the second modulation mask have mutually different optical transmittance distribution characteristics.
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公开(公告)号：US10157315B2
公开(公告)日：2018-12-18
申请号：US14555643
申请日：2014-11-27
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma
IPC: G06K9/00 , H04N5/232 , G06T7/593 , H04N13/243
Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.
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Patent Agency Ranking
公开(公告)号：US11354891B2
公开(公告)日：2022-06-07
申请号：US17064794
申请日：2020-10-07
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma
IPC: G06V20/10 , G06V20/58 , H04N13/243 , H04N5/232 , G06T7/593
Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.
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公开(公告)号：US10984287B2
公开(公告)日：2021-04-20
申请号：US16399120
申请日：2019-04-30
Inventor： Satoshi Sato , Takeo Azuma , Kunio Nobori , Nobuhiko Wakai
Abstract: A learning device includes a memory and a processing circuit. The processing circuit: (a) obtains, from the memory, a first computational imaging image which includes an object, the first computational imaging image including a plurality of first pixels; (b) obtains, from the memory, a captured image which includes the object, the captured image including a plurality of second pixels; (c) obtains an identification result of identifying the object included in the captured image; (d) generates, with reference to correspondences between the plurality of first pixels and the plurality of second pixels, an identification model for identifying the first computational imaging image based on the identification result of identifying the object included in the captured image; and (e) outputs the identification model to an image identification device which identifies a second computational imaging image.
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公开(公告)号：US10757395B2
公开(公告)日：2020-08-25
申请号：US15961011
申请日：2018-04-24
Inventor： Kunio Nobori , Nobuhiko Wakai , Satoshi Sato , Takeo Azuma , Mikiya Nakata
IPC: H04N13/246 , H04N5/232 , G06T7/73 , G06T7/80 , H04N13/239 , B60R1/00 , H04N13/243
Abstract: A camera parameter set calculation method including (a1) acquiring a first image captured by a first camera and a second image captured by a second camera, (a2) acquiring camera parameter sets of the first and second cameras, (a3) extracting, from the first image, a predetermined portion having assumed three-dimensional position information, (a4) calculating three-dimensional coordinate sets corresponding to the predetermined portion on a basis of the assumed three-dimensional position information, the first image, and the first camera parameter set, (a5) determining first pixel coordinate pairs and second pixel coordinate pairs corresponding to the predetermined portion in the first image and second image, respectively, on the basis of the three-dimensional coordinate sets, (a6) calculating an evaluation value on the basis of pixel values at the first pixel coordinate pairs and pixel values at the second coordinate pairs, (a7) updating the camera parameter sets on the basis of the evaluation value.
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公开(公告)号：US10757370B2
公开(公告)日：2020-08-25
申请号：US15843845
申请日：2017-12-15
Inventor： Norihiro Imamura , Tsuguhiro Korenaga , Kunio Nobori , Takeo Azuma , Kazufumi Mizusawa
Abstract: An imaging apparatus in an embodiment includes lens optical systems each including a lens whose surface closest to the target object is shaped to be convex toward the target object, imaging regions which respectively face the lens optical systems and output a photoelectrically converted signal corresponding to an amount of light transmitting the lens optical systems and received by the imaging regions, and a light-transmissive cover which covers an exposed portion of the lens of each of the lens optical systems and a portion between the lens of one of the lens optical systems and the lens of another one of the lens optical systems adjacent to the one of the lens optical systems, the cover having a curved portion which is convex toward the target object. The optical axes of the lens optical systems are parallel to each other.
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10.发明授权公开(公告)号：US10708511B2
公开(公告)日：2020-07-07
申请号：US16124435
申请日：2018-09-07
Inventor： Satoshi Sato , Sanshiro Shishido , Katsuya Nozawa , Takeo Azuma , Masaaki Yanagida , Takeyoshi Tokuhara , Kunio Nobori
IPC: H04N7/18 , H04N5/235 , G06T7/521 , G06T7/246 , G01S7/481 , G01S17/58 , G01S17/89 , G01C3/08 , H04N5/353 , H04N5/3745 , H01L27/146
Abstract: A three-dimensional motion obtaining apparatus includes: a light source; a charge amount obtaining circuit that includes pixels and obtains, for each of the pixels, a first charge amount under a first exposure pattern and a second charge amount under a second exposure pattern having an exposure period that at least partially overlaps an exposure period of the first exposure pattern; and a processor that controls a light emission pattern for the light source, the first exposure pattern, and the second exposure pattern. The processor estimates a distance to a subject for each of the pixels on the basis of the light emission pattern and on the basis of the first charge amount and the second charge amount of each of the pixels obtained by the charge amount obtaining circuit, and estimates an optical flow for each of the pixels on the basis of the first exposure pattern, the second exposure pattern, and the first charge amount and the second charge amount obtained by the charge amount obtaining circuit.
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