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公开(公告)号：US10853963B2
公开(公告)日：2020-12-01
申请号：US16051882
申请日：2018-08-01
申请人： Sadao Takahashi , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
发明人： Sadao Takahashi , Yuji Takahashi , Shinichi Sumiyoshi , Yuu Yamada , Seiya Amano , Soichiro Yokota , Hiroyoshi Sekiguchi
IPC分类号： G06K9/00 , G06T7/70 , G08G1/16 , G01C3/06 , B60R21/00 , G01B11/00 , G06T7/00 , G06T7/593 , H04N13/204
摘要： An object detection device includes a map generator configured to generate, based on a distance image that includes distance information for each coordinate, a first map in which the coordinate in a horizontal direction of the distance image is associated with the distance information, and a second map in which the coordinate in the horizontal direction of the distance image is associated with the distance information, the second map having a lower resolution than the first map; and an object detector configured to detect an object based on the first map when a distance represented by the distance information is within a first range, and to detect an object based on the second map when a distance represented by the distance information is within a second range.
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公开(公告)号：US20190026569A1
公开(公告)日：2019-01-24
申请号：US16126496
申请日：2018-09-10
摘要： An image processing device includes: a generating unit that generates, based on a distance image, two-dimensional distribution information indicating a two-dimensional distribution of an object, in which a distance in a horizontal direction, a distance in a depth direction, and a frequency value corresponding to the distances are related; and a labeling unit that conducts a labeling process by conducting search on the two-dimensional distribution information multiple times, detecting a pixel having the frequency value that is more than a predetermined threshold during each search, and assigning a label that is different in each times of search, wherein the labeling unit conducts a first labeling process by selecting a pixel having the frequency value that is more than the threshold from pixels that abut a pixel being searched in a search direction and assigning the label when the label is not assigned to the pixel selected.
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公开(公告)号：US20180300562A1
公开(公告)日：2018-10-18
申请号：US16018173
申请日：2018-06-26
摘要： According to an embodiment, a processing device includes a generating unit, a detecting unit, and a determining unit. The generating unit is configured to generate two-dimensional distribution information of an object, the two-dimensional distribution information associating between at least a lateral direction distance and a depth direction distance of the object. The detecting unit is configured to detect a continuous area having continuity in a depth direction in the two-dimensional distribution information. The determining unit is configured to determine whether the continuous area represents a detection target.
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公开(公告)号：US20180268229A1
公开(公告)日：2018-09-20
申请号：US15986113
申请日：2018-05-22
申请人： Otoichi NAKATA , Shinichi Sumiyoshi , Naoki Motohashi , Sadao Takahashi , Soichiro Yokota , Toshifumi Yamaai
发明人： Otoichi NAKATA , Shinichi Sumiyoshi , Naoki Motohashi , Sadao Takahashi , Soichiro Yokota , Toshifumi Yamaai
IPC分类号： G06K9/00 , H04N13/128 , G08G1/16 , G06T7/593 , G05D1/02
摘要： An image processing apparatus includes an extracting unit configured to obtain a range image having pixel values corresponding to a distance of an object in a plurality of captured images obtained by capturing the object on a road surface so as to extract pixel values from the range image, a first generating unit configured to generate vertical direction distribution data indicating a frequency distribution of distance values in a vertical direction of the range image based on the extracted pixel values, a calculating unit configured to calculate a height of the road surface in the range image before generation of the vertical direction distribution data is completed, and a second generating unit configured to generate horizontal direction distribution data indicating a frequency distribution of distance values in a horizontal direction of the range image based on the extracted pixel values and the calculated height of the road surface.
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公开(公告)号：US10402664B2
公开(公告)日：2019-09-03
申请号：US15311946
申请日：2015-05-19
申请人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
发明人： Soichiro Yokota , Yaojie Lu , Jie Ren , Sadao Takahashi , Tomoko Ishigaki
摘要： A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.
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6.发明申请OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM, AND DEVICE CONTROL SYSTEM MOUNTABLE TO MOVEABLE APPARATUS 审中-公开对象检测装置，对象检测方法，对象检测程序和可移动装置的装置控制系统公开(公告)号：US20160014406A1
公开(公告)日：2016-01-14
申请号：US14796608
申请日：2015-07-10
申请人： Sadao Takahashi , Soichiro Yokota
发明人： Sadao Takahashi , Soichiro Yokota
CPC分类号： G01S5/16 , G01S11/12 , G06K9/00791 , G06K9/44 , G06T7/246 , G06T7/73 , G06T2207/10021 , G06T2207/10028 , G06T2207/30252 , H04N5/225 , H04N7/188 , H04N2013/0081
摘要： An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images sequentially along a time line by using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a surface detection unit to detect a surface where the moveable apparatus moves thereon based on the disparity image, an object detection unit to detect an object existing on the surface based on the surface detected by the surface detection unit, an object tracking unit to track the object in the disparity image along the time line based on the object detected by the object detection unit, and a surface correction unit to correct the surface detected by the surface detection unit based on the object tracked by the object tracking unit.
摘要翻译： 一种物体检测装置，其可安装到可移动装置，用于通过使用安装到可移动装置的多个成像装置沿着时间线顺序地捕获多个图像来检测存在于可移动装置外部的物体，并从捕获的图像生成视差图像 包括表面检测单元，用于基于视差图像检测可移动设备在其上移动的表面;物体检测单元，用于基于由表面检测单元检测到的表面来检测存在于表面上的对象;物体跟踪单元，用于跟踪 基于由对象检测单元检测到的对象沿着时间线的视差图像中的对象;以及表面校正单元，用于基于由对象跟踪单元跟踪的对象来校正由表面检测单元检测到的表面。
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7.发明授权Object detection apparatus, object detection method, object detection program and device control system for moveable apparatus 有权物体检测装置，物体检测方法，物体检测程序和可移动装置的装置控制系统公开(公告)号：US09330320B2
公开(公告)日：2016-05-03
申请号：US14682496
申请日：2015-04-09
CPC分类号： G06K9/00791 , G06K9/46 , G06K2009/4666 , G06T7/20 , G06T7/70 , G06T11/206 , G06T2207/10012 , G06T2207/10021 , G06T2207/30256 , G06T2207/30261 , H04N13/204 , H04N13/239 , H04N2013/0081
摘要： An object detection apparatus mountable to a moveable apparatus for detecting an object existing outside the moveable apparatus by capturing a plurality of images using a plurality of imaging devices mounted to the moveable apparatus and generating a disparity image from the captured images includes a map generator to generate a map indicating a frequency profile of disparity values correlating a horizontal direction distance of the object with respect to a movement direction of the moveable apparatus, and a distance to the object in the movement direction of the moveable apparatus based on the disparity image, an isolated area detection unit to detect an isolated area based on the frequency profile, an isolated area divider to divide the isolated area into two or more isolated areas based on the frequency profile in the isolated area, and an object detector to detect an object based on the divided isolated area.
摘要翻译： 通过使用安装在可移动装置上的多个成像装置捕获多个图像并从所捕获的图像生成视差图像，可安装到可移动装置上的物体检测装置，用于检测存在于可移动装置外部的物体，包括生成 指示相对于可移动装置的移动方向的物体的水平方向距离和基于视差图像的可移动装置的移动方向上的物体的距离的视差值的频率分布的映射，孤立的 区域检测单元，用于基于所述频率分布来检测隔离区域;隔离区域划分器，用于基于所述隔离区域中的频率分布将所述隔离区域划分为两个或多个隔离区域;以及对象检测器，用于基于所述区域检测单元检测对象 划分隔离区。
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8.发明申请IMAGE PROCESSING APPARATUS, SOLID OBJECT DETECTION METHOD, SOLID OBJECT DETECTION PROGRAM, AND MOVING OBJECT CONTROL SYSTEM 审中-公开图像处理装置，固体物体检测方法，固体物体检测程序和移动物体控制系统公开(公告)号：US20160019429A1
公开(公告)日：2016-01-21
申请号：US14790322
申请日：2015-07-02
申请人： Tomoko ISHIGAKI , Soichiro Yokota , Xue Li , Sadao Takahashi
发明人： Tomoko ISHIGAKI , Soichiro Yokota , Xue Li , Sadao Takahashi
CPC分类号： G06K9/00805 , G01B11/002 , G01B11/026 , G06F16/583 , G06K9/00798 , G06T7/73 , G06T2207/10021 , G06T2207/30261
摘要： An image processing apparatus installed in a subject vehicle includes an imaging unit 100 that photographs images of a front area (imaging area) in the traveling direction of the subject vehicle and a stereo image processor that detects an object to be detected such as a pedestrian present in the imaging area. The stereo image processor detects a guardrail-analogous object based on a horizontal-parallax image, designates a detection area β based on the detected guardrail-analogous object, and detects the object present in the detection area β.
摘要翻译： 安装在本车辆中的图像处理装置包括摄像单元100，其拍摄本车辆的行进方向上的前方区域（摄像区域）的图像，以及检测被检测体的立体图像处理装置， 在成像区域。 立体图像处理器基于水平视差图像来检测护栏类似对象，指定检测区域＆bgr; 基于检测到的护栏类似对象，并检测存在于检测区域＆bgr中的对象。
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9.发明授权Architecture for mixed media reality retrieval of locations and registration of images 有权用于混合媒体现实检索位置和图像注册的架构公开(公告)号：US08825682B2
公开(公告)日：2014-09-02
申请号：US12210511
申请日：2008-09-15
申请人： Hidenobu Kishi , Sadao Takahashi , Takahiro Furukawa , Berna Erol , Jonathan J. Hull , Jorge Moraleda , Jamey Graham
发明人： Hidenobu Kishi , Sadao Takahashi , Takahiro Furukawa , Berna Erol , Jonathan J. Hull , Jorge Moraleda , Jamey Graham
CPC分类号： G06F17/30 , G06F15/16 , G06F17/00 , G06F17/30247 , G06F17/30876 , G06K9/00463 , G06K9/34 , G06K9/38 , G06K9/6227 , G06K9/6256 , G06K15/00 , H04L67/02 , H04N1/00244 , H04N1/00307 , H04N1/32765 , H04N1/32776
摘要： A MMR system for publishing comprises a plurality of mobile devices, an MMR gateway, an MMR matching unit and an MMR publisher. The mobile devices send retrieval requests including image queries and other contextual information. The MMR gateway processes the retrieval request from the mobile devices and then generates an image query that is passed on to the MMR matching unit. The MMR matching unit receives an image query from the MMR gateway and sends it to one or more of the recognition units to identify a result including a document, the page and the location on the page. The MMR matching unit includes an image registration unit that receives new content from the MMR publisher and updates the index table of the MMR matching unit. A method for automatically registering images and other data with the MMR matching unit, a method for dynamic load balancing and a method for image-feature-based queue ordering are also included.
摘要翻译： 用于发布的MMR系统包括多个移动设备，MMR网关，MMR匹配单元和MMR发布者。 移动设备发送检索请求，包括图像查询和其他上下文信息。 MMR网关处理来自移动设备的检索请求，然后生成传递到MMR匹配单元的图像查询。 MMR匹配单元从MMR网关接收图像查询，并将其发送到一个或多个识别单元，以识别包括文档，页面和页面上的位置的结果。 MMR匹配单元包括从MMR发布者接收新内容并更新MMR匹配单元的索引表的图像注册单元。 还包括用于使用MMR匹配单元自动注册图像和其他数据的方法，用于动态负载平衡的方法和用于基于图像特征的队列排序的方法。
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公开(公告)号：US20110134282A1
公开(公告)日：2011-06-09
申请号：US12959711
申请日：2010-12-03
申请人： Nobuhiro MORITA , Go Maruyama , Sadao Takahashi , Jun Watanabe , Toshimichi Hagiya , Shin Aoki , Ikuo Maeda
发明人： Nobuhiro MORITA , Go Maruyama , Sadao Takahashi , Jun Watanabe , Toshimichi Hagiya , Shin Aoki , Ikuo Maeda
CPC分类号： G02B27/0012 , G02B3/0043 , G02B13/001 , H04N5/2254 , H04N5/23212
摘要： An imaging device includes a lens array including multiple lenses facing a subject; an image sensor obtaining a compound-eye image including single-eye images of the subject formed by the lenses; and a computing unit processing the compound-eye image obtained by the image sensor. The lenses have different radii of curvature and substantially the same back focal length, and the computing unit extracts an in-focus image from the compound-eye image.
摘要翻译： 一种成像装置包括：透镜阵列，包括面向被摄体的多个透镜; 获得包括由所述透镜形成的被摄体的单眼图像的复眼图像的图像传感器; 以及处理由图像传感器获得的复眼图像的计算单元。 透镜具有不同的曲率半径和基本上相同的后焦距，并且计算单元从复眼图像中提取对焦图像。
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