公开(公告)号：US12101583B2

公开(公告)日：2024-09-24

申请号：US17059353

申请日：2019-03-13

Applicant: SONY CORPORATION

Inventor： Hajime Mihara ,  Shun Kaizu ,  Teppei Kurita ,  Yasutaka Hirasawa

IPC: H04N9/31 ,  G01J4/04 ,  G02B27/28 ,  G06T5/70 ,  H04N23/81 ,  H04N25/11 ,  H04N25/671

CPC classification number: H04N9/3167 ,  G01J4/04 ,  G02B27/283 ,  G06T5/70 ,  H04N23/81 ,  H04N25/11 ,  H04N25/671

Abstract: An information generation unit 30 acquires, from a polarization imaging unit 20, observation values in which polarization directions are at least three or more directions (m≥3). A noise amount calculation unit 35-1 calculates an amount of noise on the basis of an observation value in a first polarization direction. Similarly, noise amount calculation units 35-2 to 35-m calculate amounts of noise on the basis of observation values in second to m-th polarization directions. A polarization model estimation unit 36 estimates a polarization model by using the observation values for the respective polarization directions and the amounts of noise calculated by the noise amount calculation units 35-1 to 35-m. Thus, it is possible to calculate a polarization model that is robust against noise.

公开(公告)号：US10812735B2

公开(公告)日：2020-10-20

申请号：US16340604

申请日：2017-10-26

Applicant: SONY CORPORATION

Inventor： Yasutaka Hirasawa ,  Yuhi Kondo ,  Hideki Oyaizu ,  Shun Kaizu ,  Teppei Kurita ,  Tuo Zhuang ,  Ying Lu ,  Hajime Mihara

IPC: H04N5/238 ,  H04N5/217 ,  H04N5/232 ,  H04N5/225

Abstract: An image processing device and a method that enable removal of reflection component light from images captured from various directions are provided. The image processing device includes: an image input unit that acquires at least three types of images formed with polarization images of different polarizing directions or non-polarization images; an angle input unit that outputs reflection angles that are the angles between the image capturing directions of the acquired images and the plane direction corresponding to the normal direction of the reflecting surface, to an intensity transmittance and intensity reflectance calculation unit; a calculation unit that calculates the respective intensity transmittances and the respective intensity reflectances of S waves and P waves, using the reflection angles; and a reflection component separation unit that removes the reflected light component from the images acquired by the image input unit, using the respective intensity transmittances and the respective intensity reflectances of the S waves and P waves. These processes enable removal of reflected light components from captured images having various reflection angles.

公开(公告)号：US12038750B2

公开(公告)日：2024-07-16

申请号：US17250305

申请日：2019-06-25

Applicant: SONY CORPORATION

Inventor： Hajime Mihara ,  Andrew Shin ,  Tetsuya Narita ,  Kazuo Hongo ,  Masanobu Nakamura

IPC: G05D1/00

CPC classification number: G05D1/0214 ,  G05D1/0251 ,  G05D1/106

Abstract: The present technology relates to a control device, a control method, and a program that enable the action of a movable body to be planned in accordance with the value of a peripheral object. The control device according to an embodiment of the present technology estimates a value of an object at the periphery of a movable body on the basis of sensor data detected by the movable body, and plans an action of the movable body on the basis of the value of the object estimated. The present technology is applicable to robots capable of acting autonomously.

公开(公告)号：US11663831B2

公开(公告)日：2023-05-30

申请号：US16770908

申请日：2018-10-12

Applicant: SONY CORPORATION

Inventor： Hajime Mihara ,  Shun Kaizu ,  Teppei Kurita ,  Yuhi Kondo ,  Yasutaka Hirasawa

IPC: G06K9/46 ,  G06V10/60 ,  G06V10/56 ,  G06V10/145 ,  G06V10/147 ,  G06V10/10 ,  G06V10/30

CPC classification number: G06V10/60 ,  G06V10/10 ,  G06V10/145 ,  G06V10/147 ,  G06V10/30 ,  G06V10/56

Abstract: A polarized image acquisition section 11a acquires a polarized image of a target object having one or more polarization directions. A polarization parameter acquisition section 12-1 calculates the average brightness α of a polarization model on the basis of a non-polarized image subjected to sensitivity correction. Further, the polarization parameter acquisition section 12-1 calculates the amplitude β of the polarization model on the basis of the calculated average brightness α, pre-stored information regarding the zenith angle θ of the normal line of the target object, a refractive index r, and reflectance property information indicative of whether a subject is diffuse reflection or specular reflection. A polarization model detection section 13-1 is able to detect the polarization properties of the target object through the use of an image polarized in one or more polarization directions, by calculating the phase ϕ of the polarization model on the basis of a polarized image of the target object having one or more polarization directions, the average brightness α, and the amplitude β of the polarization model.