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公开(公告)号：US09055284B2
公开(公告)日：2015-06-09
申请号：US13818473
申请日：2011-12-19
申请人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
发明人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
CPC分类号： H04N13/204 , G01C11/06 , G06T7/593 , G06T7/97 , G06T2207/10012 , G06T2207/20021
摘要： Provided is a stereo image processing apparatus wherein parallax can be calculated with high precision. A window-function shifting unit (411) sets a third window function, which is formed by shifting a second window function on the basis of the amount of deviation in sub-pixel units, onto an image cutting-out unit (412). The image cutting-out unit (412) applies the second window function to a position subjected to a cut-out, cuts out a unit partial target image from a standard image, applies the second window function or the third window function, and cuts out a unit partial reference image from a reference image. A peak-position detection unit (106) calculates the amount of deviation in sub-pixel units on the basis of the phase difference between a data string comprising brightness of the cut-out unit partial target image, and a data string comprising brightness of the cut-out unit partial reference image.
摘要翻译： 提供了可以高精度地计算视差的立体图像处理装置。 窗口功能移位单元（411）将通过基于子像素单位的偏差量将第二窗口功能移位到图像切出单元（412）上而形成的第三窗口功能。 图像切出单元（412）将第二窗口功能应用于经过切割的位置，从标准图像切出单位部分目标图像，应用第二窗口功能或第三窗口功能，并切出 来自参考图像的单位部分参考图像。 峰值位置检测单元（106）基于包括切出单位部分目标图像的亮度的数据串与包括亮度的数据串之间的相位差来计算子像素单位的偏差量 切出单位部分参考图像。
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公开(公告)号：US20130147922A1
公开(公告)日：2013-06-13
申请号：US13818473
申请日：2011-12-19
申请人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
发明人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
IPC分类号： H04N13/02
CPC分类号： H04N13/204 , G01C11/06 , G06T7/593 , G06T7/97 , G06T2207/10012 , G06T2207/20021
摘要： Provided is a stereo image processing apparatus wherein parallax can be calculated with high precision. A window-function shifting unit (411) sets a third window function, which is formed by shifting a second window function on the basis of the amount of deviation in sub-pixel units, onto an image cutting-out unit (412). The image cutting-out unit (412) applies the second window function to a position subjected to a cut-out, cuts out a unit partial target image from a standard image, applies the second window function or the third window function, and cuts out a unit partial reference image from a reference image. A peak-position detection unit (106) calculates the amount of deviation in sub-pixel units on the basis of the phase difference between a data string comprising brightness of the cut-out unit partial target image, and a data string comprising brightness of the cut-out unit partial reference image.
摘要翻译： 提供了可以高精度地计算视差的立体图像处理装置。 窗口功能移位单元（411）将通过基于子像素单位的偏差量将第二窗口功能移位到图像切出单元（412）上而形成的第三窗口功能。 图像切出单元（412）将第二窗口功能应用于经受切割的位置，从标准图像切出单位部分目标图像，应用第二窗口功能或第三窗口功能，并切出 来自参考图像的单位部分参考图像。 峰值位置检测单元（106）基于包括切出单位部分目标图像的亮度的数据串与包括亮度的数据串之间的相位差来计算子像素单位中的偏差量 切出单位部分参考图像。
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公开(公告)号：US09148653B2
公开(公告)日：2015-09-29
申请号：US13883141
申请日：2011-11-01
申请人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
发明人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
CPC分类号： H04N13/271 , G01C11/06 , G06T7/37 , G06T7/593 , G06T2207/10012 , G06T2207/20021 , G06T2207/20056 , G06T2207/30196 , G06T2207/30261
摘要： An image segmenting unit (401) in the stereo image processing device (100) extracts M (a natural number between 2 and N, inclusive) number of segmented target images wherein a first partial area within a target image has been segmented into N (a natural number of 2 or more), and also extracts M number of segmented reference images wherein a second partial area within a reference image has been segmented into N. An image concatenating unit (402) serially concatenates M data strings, each comprising a intensity value from each segmented target image, to form a first image data string and also serially concatenates M data strings, each comprising a intensity value from each segmented reference image, to form a second image data string. A filtering unit (403) and a peak position detection unit (104) calculate the disparity between the standard images and the reference images.
摘要翻译： 立体图像处理装置（100）中的图像分割单元（401）提取目标图像中的第一部分区域已被分割为N（a）的M（分割目标图像的2和N之间的自然数） 自然数2以上），并且还提取M个分割参考图像，其中参考图像内的第二部分区域已被分割成N。图像连接单元（402）串行连接M个数据串，每个M个数据串包括强度值 从每个分割的目标图像形成第一图像数据串，并且还串行连接M个数据串，每个M个数据串包括来自每个分割的参考图像的强度值，以形成第二图像数据串。 滤波单元（403）和峰值位置检测单元（104）计算标准图像与参考图像之间的差异。
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公开(公告)号：US20130215232A1
公开(公告)日：2013-08-22
申请号：US13883141
申请日：2011-11-01
申请人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
发明人： Takuya Nanri , Kensuke Maruya , Hisashi Kurokawa
IPC分类号： H04N13/02
CPC分类号： H04N13/271 , G01C11/06 , G06T7/37 , G06T7/593 , G06T2207/10012 , G06T2207/20021 , G06T2207/20056 , G06T2207/30196 , G06T2207/30261
摘要： An image segmenting unit (401) in the stereo image processing device (100) extracts M (a natural number between 2 and N, inclusive) number of segmented target images wherein a first partial area within a target image has been segmented into N (a natural number of 2 or more), and also extracts M number of segmented reference images wherein a second partial area within a reference image has been segmented into N. An image concatenating unit (402) serially concatenates M data strings, each comprising a intensity value from each segmented target image, to form a first image data string and also serially concatenates M data strings, each comprising a intensity value from each segmented reference image, to form a second image data string. A filtering unit (403) and a peak position detection unit (104) calculate the disparity between the standard images and the reference images.
摘要翻译： 立体图像处理装置（100）中的图像分割单元（401）提取目标图像中的第一部分区域已被分割为N（a）的M（分割目标图像的2和N之间的自然数） 自然数2以上），并且还提取M个分割参考图像，其中参考图像内的第二部分区域已被分割成N。图像连接单元（402）串行连接M个数据串，每个M个数据串包括强度值 从每个分割的目标图像形成第一图像数据串，并且还串行连接M个数据串，每个M个数据串包括来自每个分割的参考图像的强度值，以形成第二图像数据串。 滤波单元（403）和峰值位置检测单元（104）计算标准图像与参考图像之间的差异。
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公开(公告)号：US20130129148A1
公开(公告)日：2013-05-23
申请号：US13813832
申请日：2011-08-03
申请人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
发明人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G01B11/00 , G01B11/24 , G01C21/3602 , G06K9/00805 , G06T7/11 , G06T7/174 , G06T2207/10012 , G06T2207/30261 , G08G1/166
摘要： An object detection device that can accurately identify an object candidate in captured stereo images as an object or a road surface. The object detection device (100) have a disparity map generator (120) that generates a disparity map based on the stereo images; a road surface estimator (130) that estimates a road surface based on the disparity map; an object candidate location extractor (140) that extracts an object candidate region above the road surface, based on the disparity map and the road surface; an object identifying region extractor (150) that extracts an object identifying region including a region around the object candidate region; a geometric feature extractor (160) that extracts a geometric feature of the object candidate based on the object identifying region; and an object identifying unit (170) that identifies whether the object candidate is an object or a road surface based on the geometric feature.
摘要翻译： 能够将作为对象或路面的拍摄立体图像中的候选对象精确地识别的物体检测装置。 物体检测装置（100）具有基于立体图像生成视差图的视差图生成器（120） 基于视差图来估计路面的路面估计器（130）; 基于视差图和路面，提取路面上方的对象候补区域的对象候选位置提取器（140）; 对象识别区域提取器（150），其提取包括所述对象候选区域周围的区域的对象识别区域; 基于对象识别区域提取对象候选的几何特征的几何特征提取器（160）; 以及基于几何特征来识别对象候选是对象还是路面的对象识别单元（170）。
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公开(公告)号：US08922623B2
公开(公告)日：2014-12-30
申请号：US13258987
申请日：2010-03-05
申请人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
发明人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
CPC分类号： H04N13/128 , G01B11/26 , G01C11/06 , G06T7/285 , G06T7/32 , G06T7/74 , G06T2207/10012 , G06T2207/20228 , H04N2013/0081
摘要： A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position. In this way, there is provided a stereo image processor that has improved accuracy of disparity calculation and analytical resolution and that requires less computation for disparity calculation and is capable of fast processing.
摘要翻译： 立体图像处理器（1）在图像匹配部分（6）中分别对包括在基本图像和比较图像中的相同对象的部分图像进行图像匹配，并且检测基本图像和基准图像之间的像素精度部分位移 基于图像匹配结果的比较图像。 接下来，在第二匹配部分（8）中的反相滤波处理部分（9）中，使用反相相位滤波器对来自比较图像的像素值进行滤波，使用来自基本图像的顺序的像素值作为滤波器系数 给定了具有最小像素精度部分位移的相同对象的部分图像，其被反转。 然后，在峰值检测部（10）中，检测出反相滤波器的滤波的输出值为最大的峰值位置，基于图像和比较图像之间的子像素精度部分位移，基于 峰值位置。 以这种方式，提供了具有提高的视差计算和分析分辨率的精度的立体图像处理器，并且需要较少的视差计算的计算并且能够快速处理。
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公开(公告)号：US08867790B2
公开(公告)日：2014-10-21
申请号：US13813832
申请日：2011-08-03
申请人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
发明人： Takuya Nanri , Kensuke Maruya , Hirofumi Nishimura
CPC分类号： G06K9/00201 , G01B11/00 , G01B11/24 , G01C21/3602 , G06K9/00805 , G06T7/11 , G06T7/174 , G06T2207/10012 , G06T2207/30261 , G08G1/166
摘要： An object detection device that can accurately identify an object candidate in captured stereo images as an object or a road surface. The object detection device (100) have a disparity map generator (120) that generates a disparity map based on the stereo images; a road surface estimator (130) that estimates a road surface based on the disparity map; an object candidate location extractor (140) that extracts an object candidate region above the road surface, based on the disparity map and the road surface; an object identifying region extractor (150) that extracts an object identifying region including a region around the object candidate region; a geometric feature extractor (160) that extracts a geometric feature of the object candidate based on the object identifying region; and an object identifying unit (170) that identifies whether the object candidate is an object or a road surface based on the geometric feature.
摘要翻译： 能够将作为对象或路面的拍摄立体图像中的候选对象精确地识别的物体检测装置。 物体检测装置（100）具有基于立体图像生成视差图的视差图生成器（120） 基于视差图来估计路面的路面估计器（130）; 基于视差图和路面，提取路面上方的对象候补区域的对象候选位置提取器（140）; 对象识别区域提取器（150），其提取包括所述对象候选区域周围的区域的对象识别区域; 基于对象识别区域提取对象候选的几何特征的几何特征提取器（160）; 以及基于几何特征来识别对象候选是对象还是路面的对象识别单元（170）。
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公开(公告)号：US20120026295A1
公开(公告)日：2012-02-02
申请号：US13258987
申请日：2010-03-05
申请人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
发明人： Hirofumi Nishimura , Takuya Nanri , Kensuke Maruya
IPC分类号： H04N13/02
CPC分类号： H04N13/128 , G01B11/26 , G01C11/06 , G06T7/285 , G06T7/32 , G06T7/74 , G06T2207/10012 , G06T2207/20228 , H04N2013/0081
摘要： A stereo image processor (1) performs image matching, in an image matching section (6), on partial images of the same object included in a base image and a comparative image respectively and detects pixel-precision partial displacement between the base image and the comparative image based on a result of the image matching. Next, in an inverted phase filter processing section (9) in a second matching section (8), pixel values from the comparative image are filtered with an inverted phase filter using, as a filter coefficient, pixel values from the base image with the order thereof reversed, given the partial images of the same object that have minimum pixel-precision partial displacement. Then, in a peak detecting section (10), a peak position where an output value of the filtering with the inverted phase filter is maximum is detected and sub-pixel-precision partial displacement between the base image and the comparative image is detected based on the peak position. In this way, there is provided a stereo image processor that has improved accuracy of disparity calculation and analytical resolution and that requires less computation for disparity calculation and is capable of fast processing.
摘要翻译： 立体图像处理器（1）在图像匹配部分（6）中分别对包括在基本图像和比较图像中的相同对象的部分图像进行图像匹配，并且检测基本图像和基准图像之间的像素精度部分位移 基于图像匹配结果的比较图像。 接下来，在第二匹配部分（8）中的反相滤波处理部分（9）中，使用反相相位滤波器对来自比较图像的像素值进行滤波，使用来自基本图像的顺序的像素值作为滤波器系数 给出了具有最小像素精度部分位移的相同对象的部分图像，其被反转。 然后，在峰值检测部（10）中，检测出反相滤波器的滤波的输出值为最大的峰值位置，基于图像和比较图像之间的子像素精度部分位移，基于 峰值位置。 以这种方式，提供了具有提高的视差计算和分析分辨率的精度的立体图像处理器，并且需要较少的视差计算的计算并且能够快速处理。
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公开(公告)号：US20130259391A1
公开(公告)日：2013-10-03
申请号：US13820206
申请日：2012-01-10
IPC分类号： G06T7/00
CPC分类号： G06T7/75 , G06K9/6215 , G06T7/73 , G06T2207/10016 , G06T2207/10024 , G06T2207/20076 , G06T2207/30196
摘要： This posture state estimation device is capable of estimating with high accuracy the posture state of an object. The posture state estimation device (100) is a device for estimating the posture state of an object having a plurality of sections connected by joints on the basis of image data that images the object, and has a section candidate extraction unit (140) for extracting a section candidate for a section from the image data, a complementary section candidate extraction unit (160) which estimates that a portion of an unextracted section for which a section candidate has not been extracted is being shadowed by an already extracted section for which a section candidate has been extracted in order to extract a section candidate of the unextracted section, and a posture state estimation unit (170) for estimating the posture state of the object on the basis of the extracted section candidate.
摘要翻译： 该姿势状态估计装置能够高精度地估计被摄体的姿势状态。 姿势状态估计装置（100）是用于基于对被摄体进行成像的图像数据来估计具有由关节连接的多个部分的物体的姿势状态的装置，并具有用于提取的部分候选提取部（140） 来自图像数据的部分候选者，补充部分候选提取单元（160），其估计尚未提取部分候选的未提取部分的一部分被已经提取的部分遮蔽， 已经提取候选者以提取未提取部分的部分候选，以及姿势状态估计单元（170），用于基于所提取的部分候选来估计对象的姿势状态。
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公开(公告)号：US08085298B2
公开(公告)日：2011-12-27
申请号：US11571764
申请日：2005-07-06
申请人： Tomohide Ishigami , Kensuke Maruya , Susumu Okada
发明人： Tomohide Ishigami , Kensuke Maruya , Susumu Okada
CPC分类号： H04N7/181 , G08B13/19641 , G08B13/19682 , G08B13/19689 , G08B13/19691 , H04N5/23203
摘要： A camera control device capable of easily performing control even if more than one camera is provided. A common operation section performs a map operation and a camera operation with the same operation device. An operation management section switches between the map operation and the camera operation depending on the scale (display magnification) of a map and the imaging magnification of a camera to be operated. To perform the map operation, the operation management section sends an operation signal to a map control section, and to perform the camera operation, it sends an operation signal to a camera control section.
摘要翻译： 即使提供多于一个的照相机也能够容易地进行控制的照相机控制装置。 常用操作部分使用相同的操作装置执行地图操作和相机操作。 操作管理部分根据地图的比例（显示倍率）和要操作的相机的成像倍率来在地图操作和相机操作之间切换。 为了执行地图操作，操作管理部分将操作信号发送到地图控制部分，并且执行相机操作，它向相机控制部分发送操作信号。
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