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公开(公告)号：US20200074212A1
公开(公告)日：2020-03-05
申请号：US16347127
申请日：2017-11-24
申请人： Seiya AMANO , Soichiro YOKOTA , Sukehiro KIMURA , Jun YOSHIDA , Yohichiroh OHBAYASHI , Shintaroh KIDA , Hiroki KUBOZONO , Daisuke OKADA , Tabito SUZUKI , Sadao TAKAHASHI
发明人： Seiya AMANO , Soichiro YOKOTA , Sukehiro KIMURA , Jun YOSHIDA , Yohichiroh OHBAYASHI , Shintaroh KIDA , Hiroki KUBOZONO , Daisuke OKADA , Tabito SUZUKI , Sadao TAKAHASHI
摘要： An information processing device includes: a first generation unit configured to generate first information in which a horizontal direction position and a depth direction position of an object are associated with each other from information in which a vertical direction position, the horizontal direction position, and the depth direction position of the object are associated with each other; a first detection unit configured to detect one region indicating the object based on the first information; a second generation unit configured to generate, from the information in which the vertical direction position, the horizontal direction position, and the depth direction position of the object are associated with each other, second information having separation performance higher than separation performance of the first information in which the horizontal direction position and the depth direction position of the object are associated with each other; a second detection unit configured to detect a plurality of regions indicating objects based on the second information; and an output unit configured to associate the one region detected based on the first information with the regions detected based on the second information, and to output the one region and the regions that are associated with each other.
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公开(公告)号：US20180357783A1
公开(公告)日：2018-12-13
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： G06T7/70 , H04N13/204 , G06T7/593
CPC分类号： G06T7/70 , B60R21/00 , G01B11/00 , G01C3/06 , G06K9/00805 , G06T7/00 , G06T7/593 , G06T2200/04 , G06T2207/10021 , G06T2207/10028 , G06T2207/30236 , G06T2207/30261 , G08G1/16 , 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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3.发明申请公开(公告)号：US20190003822A1
公开(公告)日：2019-01-03
申请号：US16122425
申请日：2018-09-05
申请人： Sadao TAKAHASHI , Seiya AMANO , Hiroyoshi SEKIGUCHI , Soichiro YOKOTA , Yuu YAMADA , Shinichi SUMIYOSHI
发明人： Sadao TAKAHASHI , Seiya AMANO , Hiroyoshi SEKIGUCHI , Soichiro YOKOTA , Yuu YAMADA , Shinichi SUMIYOSHI
摘要： An image processing apparatus includes processing circuitry configured to generate a first map formed of pixels that are associated with x coordinate information, distance information, and frequency values; search for a target pixel satisfying a predetermined condition among the pixels in the first map, the searching being performed from the pixels that are near towards the pixels that are far away as indicated by the distance information; and validate pixels surrounding the target pixel in the first map, together with the target pixel.
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公开(公告)号：US20170098132A1
公开(公告)日：2017-04-06
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
CPC分类号： G06K9/00805 , G06K9/00335 , G06K9/52 , G06K9/6215 , G06T7/194 , G06T7/285 , G06T7/73 , G06T2207/10021 , G06T2207/30261 , G08G1/16
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 back-ground model.
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5.发明申请OBJECT DETECTION APPARATUS, OBJECT DETECTION METHOD, OBJECT DETECTION PROGRAM AND DEVICE CONTROL SYSTEM FOR MOVEABLE APPARATUS 有权对象检测装置，对象检测方法，移动装置的对象检测程序和装置控制系统公开(公告)号：US20150294160A1
公开(公告)日：2015-10-15
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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公开(公告)号：US20180204345A1
公开(公告)日：2018-07-19
申请号：US15920569
申请日：2018-03-14
申请人： Naoki MOTOHASHI , Sadao TAKAHASHI
发明人： Naoki MOTOHASHI , Sadao TAKAHASHI
CPC分类号： G06T7/70 , G06K9/00791 , G06K9/00805 , G06T7/593 , G06T2207/30261 , G08G1/16
摘要： An image processing device includes an input unit, a detecting unit, a calculating unit, and a determining unit. The input unit is configured to receive a recognized image representing an object. The detecting unit is configured to detect at least one surface of the object from a corresponding recognized image corresponding to the recognized image, the corresponding recognized image being on a frequency image indicating frequencies on a plane, the frequencies being of distance values corresponding to pixels of the recognized image. The calculating unit is configured to calculate an angle of the at least one surface with respect to a predetermined direction. The determining unit is configured to determine, based on the at least one surface detected by the detecting unit and the angle calculated by the calculating unit, whether or not the recognized image is to be rejected.
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公开(公告)号：US20190279386A1
公开(公告)日：2019-09-12
申请号：US16347959
申请日：2017-09-13
申请人： Naoki MOTOHASHI , Sadao TAKAHASHI
发明人： Naoki MOTOHASHI , Sadao TAKAHASHI
IPC分类号： G06T7/593 , H04N13/204 , G06T3/60 , G06T3/20
摘要： An information processing device includes a disparity information input unit configured to acquire disparity image data indicating a disparity image including a disparity; a V map generating unit configured to generate a V map indicating a frequency of the disparity for each of coordinates of the disparity image by voting the disparity at a position corresponding to the coordinate of each of pixels of the disparity image based on the disparity image data; a shape estimating unit configured to estimate a road surface shape based on the V map; a height table generating unit configured to generate a height table indicating a relationship between the disparity and a height of a road surface based on the estimated road surface shape; and a correcting unit configured to correct, based on rolling information on rolling of a stereo camera that acquires the disparity, information used to generate information indicating the road surface shape so as to cancel out an influence of the rolling.
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8.发明申请公开(公告)号：US20180365846A1
公开(公告)日：2018-12-20
申请号：US16113242
申请日：2018-08-27
摘要： An image processing apparatus includes: a distance histogram information generating means configured to generate distance histogram information representing a frequency distribution of distance values in each of a plurality of row regions obtained by division of a captured image in an up-down direction; and a movement surface information processing means configured to: extract a group of distance values matching a feature represented by distance values of the movement surface for each of a plurality of segments obtained by segmentation of the distance histogram information according to the distance values; execute, for a segment where a group of distance values extracted does not satisfy a predetermined error condition, processing of generating information on the movement surface using the group of distance values; and execute, for a segment where a group of distance values extracted satisfies the predetermined error condition, predetermined error processing without using the group of distance values.
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9.发明申请公开(公告)号：US20190005691A1
公开(公告)日：2019-01-03
申请号：US16127934
申请日：2018-09-11
摘要： An image processing apparatus includes processing circuitry configured to generate a map formed of pixels that indicate information including left and right position information, distance information, and frequency values associated with the pixels; detect a pixel block formed of a plurality of the pixels having a common feature amount in the map; and generate a detection frame defining a search target region used for detecting a body from the distance information, based on the information indicated by the pixels forming the detected pixel block.
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公开(公告)号：US20110216215A1
公开(公告)日：2011-09-08
申请号：US13042714
申请日：2011-03-08
申请人： Go MARUYAMA , Sadao TAKAHASHI , Toshimichi HAGIYA , Jun WATANABE , Shin AOKI
发明人： Go MARUYAMA , Sadao TAKAHASHI , Toshimichi HAGIYA , Jun WATANABE , Shin AOKI
IPC分类号： H04N5/228
CPC分类号： H04N17/002 , G06T7/80 , G06T2207/10012 , G06T2207/30204 , G06T2207/30268 , H04N5/2258 , H04N5/3572
摘要： An image pickup apparatus comprises a lens array with a plurality of lenses, a part of which lenses makes one or more stereo lens pairs; an image pickup device for taking a multifaceted compound-eye image consisting of a set of monocular images formed by the plural lenses; and a computing unit for computing range imagery from one or more pairs of the monocular images formed by said one or more stereo lens pairs. The computing unit includes imaging position determination means for determining from the monocular images an image pickup position of each of one or more subjects whose relative positional relationships with respect to the image pickup apparatus are known by dividing the multifaceted compound-eye image into the monocular images, and image distortion parameter determination means for determining an image distortion parameter based upon a determination result of the imaging position determination means.
摘要翻译： 图像拾取装置包括具有多个透镜的透镜阵列，其中一部分透镜构成一个或多个立体透镜对; 图像拾取装置，用于拍摄由多个透镜形成的一组单目图像组成的多面复合眼图像; 以及计算单元，用于从由所述一个或多个立体镜对组成的一对或多对单眼图像计算范围图像。 计算单元包括成像位置确定装置，用于从单目图像确定通过将多面复合眼图像划分为单目图像而将相对于图像拾取装置的相对位置关系的一个或多个被摄体中的每一个的图像拾取位置 以及图像失真参数确定装置，用于基于成像位置确定装置的确定结果来确定图像失真参数。
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