公开(公告)号：US10508911B2

公开(公告)日：2019-12-17

申请号：US15762120

申请日：2016-09-15

Applicant: Sony Corporation

Inventor： Shingo Tsurumi ,  Masashi Eshima ,  Takaaki Kato ,  Tatsuki Kashitani ,  Akihiko Kaino ,  Masaki Fukuchi ,  Takuto Motoyama ,  Suguru Aoki

IPC: G06T1/00 ,  G06T7/55 ,  G01C11/02 ,  G01C11/30 ,  G01C21/36 ,  G01C3/08 ,  H04N5/225 ,  H04N5/232 ,  B60Q9/00 ,  B60R1/00

Abstract: The present technique relates to an apparatus and a method for measurement, and a program each of which enables distance estimation to be more simply carried out with higher accuracy.A three-dimensional measurement apparatus has a rotation control portion controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism portion to a focal point position of the photographing portion is a constant distance; and a distance calculating portion calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated.

公开(公告)号：US20180274915A1

公开(公告)日：2018-09-27

申请号：US15762120

申请日：2016-09-15

Applicant: Sony Corporation

Inventor： Shingo Tsurumi ,  Masashi Eshima ,  Takaaki Kato ,  Tatsuki Kashitani ,  Akihiko Kaino ,  Masaki Fukuchi ,  Takuto Motoyama ,  Suguru Aoki

IPC: G01C3/08 ,  H04N5/232 ,  G06T7/55

Abstract: The present technique relates to an apparatus and a method for measurement, and a program each of which enables distance estimation to be more simply carried out with higher accuracy.A three-dimensional measurement apparatus has a rotation control portion controlling rotation of a photographing portion by a rotation mechanism in such a way that the photographing portion is rotated with a center of rotation as an axis in a state in which a distance from the center of rotation of the rotation mechanism portion to a focal point position of the photographing portion is a constant distance; and a distance calculating portion calculating a distance to an object on a space on the basis of a plurality of photographed images obtained through photographing in positions different from one another by the photographing portion in a state in which the photographing portion is rotated.

公开(公告)号：US09762889B2

公开(公告)日：2017-09-12

申请号：US14262093

申请日：2014-04-25

Applicant: SONY CORPORATION

Inventor： Chao Huang ,  Takuto Motoyama ,  Yalcin Incesu

IPC: H04N13/00 ,  G06K9/32 ,  G06K9/00 ,  H04N21/488

CPC classification number: H04N13/183 ,  G06K9/00208 ,  G06K9/3266 ,  H04N21/4884 ,  H04N2013/0081

Abstract: A right image and a left image is provided. Then a disparity estimation map relating to both images is provided and a left subtitle detection map for the left image and a right subtitle detection map for the right image are generated. Each map indicates subtitle areas within an image. For said subtitle areas and based on said disparity estimation map a subtitle disparity value for X and Y directions common for all subtitle areas is determined. Said left and right subtitle maps and said subtitle X and Y disparity values are used in an image interpolation process.

公开(公告)号：US11543513B2

公开(公告)日：2023-01-03

申请号：US15762604

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Yasuhiro Sutou ,  Hideki Oyaizu ,  Takuto Motoyama ,  Toshio Yamazaki

IPC: G01S13/93 ,  G01B11/00 ,  G01C3/08 ,  G01S13/86 ,  G06T7/55 ,  G08G1/16

Abstract: A likelihood calculation unit calculates, from information obtained by each of movement detection methods including a movement detection method for detecting a movement amount of an object using an image and one or more different movement detection methods, movement amount likelihoods with regard to which the movement amount of an object is each of a plurality of movement amounts. An integration unit integrates the movement amount likelihoods according to the plurality of movement detection methods to determine integration likelihoods individually of the plurality of movement amounts. The present technology can be applied, for example, to a case in which a movement amount of an object is determined and a driver who drives an automobile is supported using the movement amount.

公开(公告)号：US20210124013A1

公开(公告)日：2021-04-29

申请号：US17139290

申请日：2020-12-31

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Hideki Oyaizu ,  Kenichi Kawasaki

IPC: G01S7/40 ,  G08G1/16 ,  G01S13/93 ,  G01S13/86 ,  G06T7/73 ,  H04N13/246 ,  H04N13/239 ,  G01C3/08 ,  G01C3/14 ,  G01S13/931 ,  G06K9/00

Abstract: A signal processing apparatus including a first position calculation unit that calculates a three-dimensional position of a target on a first coordinate system from a stereo image captured by a stereo camera, a second position calculation unit that calculates a three-dimensional position of the target on a second coordinate system from a sensor signal of a sensor capable of obtaining position information of at least one of a lateral direction and a longitudinal direction and position information of a depth direction, a correspondence detection unit that detects a correspondence relationship between the target on the first coordinate system and the target on the second coordinate system, and a positional relationship information estimating unit that estimates positional relationship information of the first coordinate system and the second coordinate system on the basis of the detected correspondence relationship.

公开(公告)号：US10670697B2

公开(公告)日：2020-06-02

申请号：US15761195

申请日：2016-09-16

Applicant: SONY CORPORATION

Inventor： Toshio Yamazaki ,  Kenichi Kawasaki ,  Ryo Sawai ,  Shingo Tsurumi ,  Akihiko Kaino ,  Takuto Motoyama

IPC: G01S7/40 ,  G01S13/93 ,  G06T1/00 ,  G06T7/80 ,  H04N13/246 ,  G01C3/08 ,  G01S13/86 ,  G01S13/931 ,  G06K9/00 ,  G06K9/62 ,  G08G1/09 ,  G08G1/16

Abstract: Provided are signal processing apparatus, a signal processing method, and an object detection system that enable an object detection to be accurately performed. A stereo camera performs imaging by a right camera and a left camera to acquire a stereo image. A millimeter wave radar acquires a radar image in which a position of an object is detected in a radiation range of millimeter waves based on millimeter waves. Further, by communication via a communication apparatus with a target of which positional information is known, it is determined whether or not the target is reliable, and in a case where it is determined that the target is reliable, calibration processing is performed for eliminating a deviation in coordinate systems generated in the stereo image and the radar image in which the target is detected.

公开(公告)号：US11373418B2

公开(公告)日：2022-06-28

申请号：US16634580

申请日：2018-07-25

Applicant: Sony Corporation

Inventor： Takuto Motoyama ,  Hideki Oyaizu ,  Yasuhiro Sutou ,  Toshio Yamazaki ,  Kentaro Doba

IPC: G06V20/56 ,  G06T7/10 ,  G06T7/50 ,  G06T7/70 ,  G06T7/20

Abstract: An information processing apparatus capable of detecting a plane constituting a movement-enabling region. A normal direction of a plane constituting a road surface is detected on the basis of polarized images in multiple polarizing directions acquired by a polarization camera. A laser ranging sensor measures a distance to a point on the road surface so as to measure a position of the point. The plane constituting the road surface is identified on the basis of information regarding the normal direction of the plane constituting the road surface and information regarding the position of the point on the road surface.

公开(公告)号：US11061111B2

公开(公告)日：2021-07-13

申请号：US16866312

申请日：2020-05-04

Applicant: SONY CORPORATION

Inventor： Toshio Yamazaki ,  Kenichi Kawasaki ,  Ryo Sawai ,  Shingo Tsurumi ,  Akihiko Kaino ,  Takuto Motoyama

IPC: G01S7/40 ,  G01S13/93 ,  G01S13/86 ,  G01S13/931 ,  G06T1/00 ,  G06T7/80 ,  H04N13/246 ,  G01C3/08 ,  G06K9/00 ,  G06K9/62 ,  G08G1/09 ,  G08G1/16

Abstract: The present disclosure relates to a signal processing apparatus, a signal processing method, and an object detection system. A stereo camera performs imaging by a right camera and a left camera to acquire a stereo image and a millimeter wave radar acquires a radar image in which a position of an object is detected in a radiation range of millimeter waves by using millimeter waves. Then, by communication via a communication apparatus with a target in which positional information is known, it is determined whether or not the target is reliable, and in a case where it is determined that the target is reliable, calibration processing is performed for eliminating a deviation in coordinate systems generated in the stereo image and the radar image in which the target is detected.

公开(公告)号：US10753757B2

公开(公告)日：2020-08-25

申请号：US15761232

申请日：2016-09-16

Applicant: SONY CORPORATION

Inventor： Shingo Tsurumi ,  Masashi Eshima ,  Akihiko Kaino ,  Takaaki Kato ,  Masaki Fukuchi ,  Suguru Aoki ,  Takuto Motoyama

IPC: G01C21/36 ,  G06T1/00 ,  B60R21/00 ,  G01C21/28 ,  G01S13/931 ,  G08G1/16 ,  G08G1/0967 ,  G01S5/00 ,  G01S13/86 ,  G01S17/931 ,  B60W40/10 ,  G01C21/30

Abstract: An information processing apparatus and an information processing method enables enhancement of accuracy in recognition of locations of a moving body. The information processing apparatus is arranged on a moving body and includes an own-location recognition block that recognizes, based on an image taken from the moving body, a first own location of the moving body. A moving body recognition block recognizes a relative location of another moving body relative to the moving body in the image taken from the moving body, and a communication block executes communication with the another moving body to obtain the absolute location of the another moving body, An own location computation block computes, based on the absolute location of the another moving body and the relative location of the another moving body, a second own location of the moving body.

公开(公告)号：US10591594B2

公开(公告)日：2020-03-17

申请号：US15762309

申请日：2016-09-16

Applicant: Sony Corporation

Inventor： Hideki Oyaizu ,  Takuto Motoyama ,  Yasuhiro Sutou ,  Toshio Yamazaki

IPC: G06K9/00 ,  G01S13/89 ,  G01S13/86 ,  G01C3/06 ,  G01B11/00 ,  G06T1/00 ,  G08G1/16 ,  G06T7/593 ,  G01C3/08 ,  G01S13/931 ,  G06K9/46 ,  G01S13/93

Abstract: The present technology relates to an information processing apparatus, an information processing method, and a program for suppressing the occurrence of false recognition.A road surface region estimating section estimates a road surface region in a first image captured of a predetermined imaging range. A non-polarized region extracting section extracts a non-polarized region from a second image captured of the imaging range. A low-confidence level region estimating section estimates a low-confidence level region for an object with a low first confidence level obtained by a first sensor within a measurement range of the first sensor in the imaging range on the basis of information indicating the road surface region and the non-polarized region. A weight calculating section calculates a weight on the first confidence level on the basis of the first confidence level, a second confidence level of the object obtained by a second sensor in the imaging range, and information indicating the low-confidence level region. A presence likelihood calculating section calculates presence likelihood of the object at different distances within the imaging range on the basis of the first confidence level, the second confidence level, and information indicating the weight. The present technology is applicable to a vehicle-mounted distance estimating apparatus.