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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：US11948462B2
公开(公告)日：2024-04-02
申请号：US18110462
申请日：2023-02-16
Inventor： Ayako Maruyama , Kunio Nobori , Takeo Azuma , Satoshi Sato , Nobuhiko Wakai
CPC classification number: G08G1/166 , B60R1/003 , G01S13/931 , G06T5/005 , G06T7/70 , G06T11/00 , G08G1/165 , H04N7/181 , B60R2300/105 , B60R2300/303 , G06T2207/30252
Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.
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公开(公告)号：US11636615B2
公开(公告)日：2023-04-25
申请号：US17161060
申请日：2021-01-28
Inventor： Satoshi Sato , Takeo Azuma , Nobuhiko Wakai , Kohsuke Yoshioka , Noritaka Shimizu , Yoshinao Kawai , Takaaki Amada , Yoko Kawai , Takeshi Murai , Hiroki Takeuchi
Abstract: A depth acquisition device includes a memory and a processor. The processor performs: acquiring timing information indicating a timing at which a light source irradiates a subject with infrared light; acquiring, from the memory, an infrared light image generated by imaging a scene including the subject with the infrared light according to the timing indicated by the timing information; acquiring, from the memory, a visible light image generated by imaging a substantially same scene as the scene of the infrared light image, with visible light from a substantially same viewpoint as a viewpoint of imaging the infrared light image at a substantially same time as a time of imaging the infrared light image; detecting a flare region from the infrared light image; and estimating a depth of the flare region based on the infrared light image, the visible light image, and the flare region.
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公开(公告)号：US11615709B2
公开(公告)日：2023-03-28
申请号：US17462310
申请日：2021-08-31
Inventor： Ayako Maruyama , Kunio Nobori , Takeo Azuma , Satoshi Sato , Nobuhiko Wakai
Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.
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公开(公告)号：US11272166B2
公开(公告)日：2022-03-08
申请号：US16597382
申请日：2019-10-09
Inventor： Kunio Nobori , Satoshi Sato , Takeo Azuma , Takamasa Ando , Tsuguhiro Korenaga , Toshiya Fujii
IPC: H04N13/282 , H04N13/106 , H04N13/189 , H04N13/207 , G02B27/46 , H04N13/218 , G02B23/02 , H04N13/271 , G06T7/11 , G06T7/70 , H04N13/00
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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10.发明授权公开(公告)号：US11233983B2
公开(公告)日：2022-01-25
申请号：US16782239
申请日：2020-02-05
Inventor： Kunio Nobori , Nobuhiko Wakai , Takeo Azuma , Satoshi Sato , Ayako Maruyama , Mikiya Nakata
IPC: H04N13/246 , H04N13/243 , H04N13/00
Abstract: A camera-parameter-set calculation apparatus includes a three-dimensional point group calculator that calculates a plurality of three-dimensional coordinates, based on first and second images respectively captured by first and second cameras and first and second camera parameter sets of the first and second cameras; an evaluation value calculator that determines a plurality of pixel coordinates in the second image, based on the plurality of three-dimensional coordinates and the second camera parameter set, determines a plurality of third pixel coordinates in a third image captured by a third camera, based on the plurality of three-dimensional coordinates and a third camera parameter set of the third camera, and calculates an evaluation value, based on pixel values at the plurality of second and third pixel coordinates in the second and third images; and a camera-parameter-set determiner that determines a fourth camera parameter set for the third camera, based on the evaluation value.
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