公开(公告)号：US20050162638A1

公开(公告)日：2005-07-28

申请号：US11007258

申请日：2004-12-09

申请人： Yousuke Suzuki ,  Hitoshi Yamada ,  Ryoichi Sugawara ,  Naoki Sano

发明人： Yousuke Suzuki ,  Hitoshi Yamada ,  Ryoichi Sugawara ,  Naoki Sano

IPC分类号： G01B11/24 ,  G01C3/08 ,  G01S7/487 ,  G01S17/02 ,  G01S17/88 ,  G01S17/89 ,  H01L27/146 ,  H01L27/00

CPC分类号： G01C3/08 ,  G01S7/4863 ,  G01S7/4876 ,  G01S17/026 ,  G01S17/88 ,  G01S17/89 ,  H01L27/146

摘要： First image data including a first pixel value according to the intensity of background light is obtained by means of only exposure. Second image data including a second pixel value according to the intensity of the light reflected or scattered by an object is obtained by so controlling light emission and exposure as to receive part of the reflected or scattered light over the whole exposure period. The part of the reflected or scattered light corresponds to the flat period of emitted pulsed light. Third image data including a third pixel value according to the distance to the object is obtained by so controlling light emission and exposure as to receive the part of the reflected or scattered light for a time according to the distance. The first pixel value is subtracted from each of the second and third pixel values so that the influence of the background light can be excluded. The ratio between the subtraction results is calculated so that the influences of factors that vary the intensity of the reflected or scattered light can be cancelled.

摘要翻译： 通过仅曝光获得包括根据背景光的强度的第一像素值的第一图像数据。 通过控制发光和曝光以在整个曝光期间接收反射或散射光的一部分，获得包括根据被物体反射或散射的光的强度的第二像素值的第二图像数据。 反射或散射光的一部分对应于发射脉冲光的平坦周期。 通过控制发光和曝光来获得根据距离物体的距离的第三像素值的第三图像数据，以便根据距离接收反射或散射光的一部分一段时间。 从第二和第三像素值的每一个中减去第一像素值，从而可以排除背景光的影响。 计算减法结果之间的比例，以便可以消除改变反射或散射光强度的因素的影响。

公开(公告)号：US07230685B2

公开(公告)日：2007-06-12

申请号：US11007258

申请日：2004-12-09

申请人： Yousuke Suzuki ,  Hitoshi Yamada ,  Ryoichi Sugawara ,  Naoki Sano

发明人： Yousuke Suzuki ,  Hitoshi Yamada ,  Ryoichi Sugawara ,  Naoki Sano

IPC分类号： G01C3/08

CPC分类号： G01C3/08 ,  G01S7/4863 ,  G01S7/4876 ,  G01S17/026 ,  G01S17/88 ,  G01S17/89 ,  H01L27/146

摘要： First image data including a first pixel value according to the intensity of background light is obtained by means of only exposure. Second image data including a second pixel value according to the intensity of the light reflected or scattered by an object is obtained by so controlling light emission and exposure as to receive part of the reflected or scattered light over the whole exposure period. The part of the reflected or scattered light corresponds to the flat period of emitted pulsed light. Third image data including a third pixel value according to the distance to the object is obtained by so controlling light emission and exposure as to receive the part of the reflected or scattered light for a time according to the distance. The first pixel value is subtracted from each of the second and third pixel values so that the influence of the background light can be excluded. The ratio between the subtraction results is calculated so that the influences of factors that vary the intensity of the reflected or scattered light can be cancelled.

摘要翻译： 通过仅曝光获得包括根据背景光的强度的第一像素值的第一图像数据。 通过控制发光和曝光以在整个曝光期间接收反射或散射光的一部分，获得包括根据被物体反射或散射的光的强度的第二像素值的第二图像数据。 反射或散射光的一部分对应于发射脉冲光的平坦周期。 通过控制发光和曝光来获得根据距离物体的距离的第三像素值的第三图像数据，以便根据距离接收反射或散射光的一部分一段时间。 从第二和第三像素值的每一个中减去第一像素值，从而可以排除背景光的影响。 计算减法结果之间的比例，以便可以消除改变反射或散射光强度的因素的影响。

公开(公告)号：US20070146682A1

公开(公告)日：2007-06-28

申请号：US11546243

申请日：2006-10-12

申请人： Yoshihide Tachino ,  Hitoshi Yamada ,  Ryoichi Sugawara

发明人： Yoshihide Tachino ,  Hitoshi Yamada ,  Ryoichi Sugawara

IPC分类号： G01C3/08

CPC分类号： G01S17/89 ,  G01S7/4811 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/487

摘要： A method for producing a range data includes: irradiating a pulse light toward an object during a first time period; receiving a reflected pulse light during the first time period and a second time period; calculating a ratio between a first or second received light amount and a total received light amount, wherein the first received light amount is a light amount received during the first time period, wherein the second received light amount is a light amount received during the second time period, and wherein the total received light amount is a sum of the first and second received light amounts; and producing the range data based on the ratio.

摘要翻译： 用于产生范围数据的方法包括：在第一时间段期间朝向物体照射脉冲光; 在第一时间段和第二时间段期间接收反射的脉冲光; 计算第一或第二接收光量与总接收光量之间的比率，其中第一接收光量是在第一时间段期间接收的光量，其中第二接收光量是在第二时间期间接收到的光量 周期，并且其中所述总接收光量是所述第一和第二接收光量的总和; 并根据该比例生成范围数据。

公开(公告)号：US07436495B2

公开(公告)日：2008-10-14

申请号：US11546243

申请日：2006-10-12

申请人： Yoshihide Tachino ,  Hitoshi Yamada ,  Ryoichi Sugawara

发明人： Yoshihide Tachino ,  Hitoshi Yamada ,  Ryoichi Sugawara

IPC分类号： G01C3/08

CPC分类号： G01S17/89 ,  G01S7/4811 ,  G01S7/4863 ,  G01S7/4865 ,  G01S7/487

摘要： A method for producing a range data includes: irradiating a pulse light toward an object during a first time period; receiving a reflected pulse light during the first time period and a second time period; calculating a ratio between a first or second received light amount and a total received light amount, wherein the first received light amount is a light amount received during the first time period, wherein the second received light amount is a light amount received during the second time period, and wherein the total received light amount is a sum of the first and second received light amounts; and producing the range data based on the ratio.

摘要翻译： 用于产生范围数据的方法包括：在第一时间段期间朝向物体照射脉冲光; 在第一时间段和第二时间段期间接收反射的脉冲光; 计算第一或第二接收光量与总接收光量之间的比率，其中第一接收光量是在第一时间段期间接收的光量，其中第二接收光量是在第二时间期间接收到的光量 周期，并且其中所述总接收光量是所述第一和第二接收光量的总和; 并根据该比例生成范围数据。

公开(公告)号：US09092875B2

公开(公告)日：2015-07-28

申请号：US13699811

申请日：2012-04-10

申请人： Hitoshi Yamada ,  Pongsak Lasang ,  Sheng Mei Shen

发明人： Hitoshi Yamada ,  Pongsak Lasang ,  Sheng Mei Shen

IPC分类号： G06T7/00 ,  G06T7/20

CPC分类号： G06T7/2006 ,  G06T7/246 ,  G06T7/571 ,  G06T2207/10016 ,  G06T2207/10148 ,  G06T2207/20201

摘要： A motion estimation apparatus according to an aspect of the present invention is a motion estimation apparatus for estimating, using a set of multi-focus images which correspond to a single scene and have different focuses, motion for each of the first regions included in the scene, including: a cost value computing unit configured to compute, using the set of multi-focus images, for each of the first regions, a cost value indicating a difference between a blur amount of the first region and a standard blur amount determined for each of distances in a depth direction; and a motion estimation unit configured to estimate, using the cost value, the motion of the first region corresponding to the cost value.

摘要翻译： 根据本发明的一个方面的运动估计装置是一种运动估计装置，用于使用与单个场景相对应且具有不同焦点的一组多焦点图像来估计包括在场景中的每个第一区域的运动 包括：成本值计算单元，被配置为针对所述第一区域中的每个区域计算使用所述一组多焦点图像，所述成本值指示所述第一区域的模糊量与为每个所述第一区域确定的标准模糊量之间的差异 深度方向的距离; 以及运动估计单元，被配置为使用所述成本值来估计与所述成本值对应的所述第一区域的运动。

公开(公告)号：US09070042B2

公开(公告)日：2015-06-30

申请号：US13583646

申请日：2012-01-11

申请人： Hitoshi Yamada ,  Sheng Mei Shen ,  Bo Li ,  Chin Phek Ong

发明人： Hitoshi Yamada ,  Sheng Mei Shen ,  Bo Li ,  Chin Phek Ong

IPC分类号： G06K9/46 ,  G06K9/00 ,  G06T7/00

CPC分类号： G06K9/4642 ,  G06K9/4671 ,  G06T7/33 ,  G06T2207/10012 ,  G06T2207/20021

摘要： To enhance the accuracy of image alignment performed to reduce a vertical disparity between a first image and a second image that are images of the same object captured from different viewpoints, an image processing apparatus according to an aspect of the present invention includes: a division unit which divides each of the first image and the second image into a plurality of sub-regions; and an extraction unit which performs feature point extraction on each of the sub-regions, wherein the extraction unit performs the feature point extraction in such a manner that a value indicating a degree of variation among the sub-regions in total number of extracted feature points is less than or equal to a predetermined value.

摘要翻译： 为了提高图像对准的准确性，为了减少作为从不同视点拍摄的同一物体的图像的第一图像和第二图像之间的垂直视差，本发明的图像处理装置包括：分割单元 其将所述第一图像和所述第二图像中的每一个划分为多个子区域; 以及提取单元，其对每个子区域执行特征点提取，其中提取单元以指示提取的特征点的总数中的子区域之间的变化程度的值来执行特征点提取 小于或等于预定值。

公开(公告)号：US09068831B2

公开(公告)日：2015-06-30

申请号：US13812038

申请日：2012-05-24

申请人： Yusuke Monobe ,  Hitoshi Yamada

发明人： Yusuke Monobe ,  Hitoshi Yamada

IPC分类号： G06K9/00 ,  G01C11/06 ,  H04N5/232 ,  H04N5/235 ,  G01C3/32 ,  G06T5/00 ,  G06T5/50 ,  G06T7/20 ,  G02B7/38

CPC分类号： G01C11/06 ,  G01C3/32 ,  G02B7/38 ,  G06T5/003 ,  G06T5/50 ,  G06T7/20 ,  G06T2207/20201 ,  H04N5/23254 ,  H04N5/23267 ,  H04N5/2355

摘要： An image processing apparatus measures a subject distance using a plurality of captured images acquired by capturing the same subject in a plurality of imaging states in succession of time. The image processing apparatus includes a target motion amount estimation unit that estimates a target motion amount representing an amount of shift in subject position between first and second images among the captured images. The first image is captured in a first imaging state and a second image is captured in a second imaging state different from the first imaging state. A corrected image generation unit generates a corrected image by performing motion compensation on the second image based on the target motion amount, and an image processing unit performs image processing such as measuring a subject distance or generating an HDR image, using the first image and the corrected image.

摘要翻译： 图像处理装置使用通过在多个成像状态中连续地捕获同一被摄体而获取的多个拍摄图像来测量被摄体距离。 图像处理装置包括目标运动量估计单元，其估计表示拍摄图像中的第一图像和第二图像之间的被摄体位置的偏移量的目标运动量。 以第一成像状态捕获第一图像，并且以与第一成像状态不同的第二成像状态捕获第二图像。 校正图像生成单元通过基于目标运动量对第二图像执行运动补偿来生成校正图像，并且图像处理单元使用第一图像和/或图像处理单元来执行诸如测量被摄体距离或生成HDR图像的图像处理， 校正图像。

公开(公告)号：US09001222B2

公开(公告)日：2015-04-07

申请号：US13521133

申请日：2011-11-08

申请人： Hitoshi Yamada ,  Jun Ohmiya

发明人： Hitoshi Yamada ,  Jun Ohmiya

IPC分类号： H04N5/232 ,  G06T7/20

CPC分类号： H04N5/23254 ,  G06T7/246 ,  G06T2207/10016 ,  G06T2207/20164 ,  H04N5/23248 ,  H04N5/23267

摘要： An image processing device of the present invention includes: a motion amount estimating unit which estimates, using feature points extracted from each of a first picture and a second picture, a motion amount indicating an amount of displacement of the second picture with respect to the first picture, the second picture being captured temporally after the first picture; a determining unit which determines, using the feature points, whether or not correction is made using the motion amount estimated by the motion amount estimating unit; and a picture correcting unit which corrects the displacement of the second picture with respect to the first picture using the motion amount so as to correct the displacement between the pictures, in the case where the determining unit determines that the correction is made using the motion amount.

摘要翻译： 本发明的图像处理装置包括：运动量估计单元，其使用从第一图像和第二图像中的每一个提取的特征点来估计指示第二图像相对于第一图像的位移量的运动量 图片，第二张照片在第一张照片之后被暂时捕获; 确定单元，其使用所述特征点来确定是否使用由所述运动量估计单元估计的运动量进行校正; 以及图像校正单元，其使用所述运动量来校正所述第二图像相对于所述第一图像的位移，以便校正图像之间的位移，在所述确定单元确定使用所述运动量进行所述校正的情况下 。

公开(公告)号：US08798387B2

公开(公告)日：2014-08-05

申请号：US13521169

申请日：2011-11-08

申请人： Hitoshi Yamada ,  Jun Ohmiya

发明人： Hitoshi Yamada ,  Jun Ohmiya

IPC分类号： G06K9/40 ,  G06K9/20 ,  G06K9/32 ,  H04N5/232 ,  G06T7/20 ,  G06T7/00 ,  H04N5/14 ,  G06T5/00

CPC分类号： H04N5/23254 ,  G06T5/006 ,  G06T7/246 ,  G06T7/33 ,  G06T2207/10016 ,  G06T2207/20164 ,  G06T2207/20201 ,  H04N5/145 ,  H04N5/23248 ,  H04N5/23258

摘要： An image processing device including: a motion amount estimating unit estimating a first motion amount indicating a displacement amount of a second picture with respect to a first picture; an area setting unit setting an area to be used for post-processing for each of the first picture and a first corrected picture, using feature points extracted from the first picture and the second picture; a post-processing unit generating a first cutout picture from the first picture and a second cutout picture from the first corrected picture and estimating a second motion amount indicating a displacement amount of the second cutout picture with respect to the first cutout picture; and a motion amount obtaining unit obtaining a motion amount indicating a displacement amount between the first picture and the second picture, from the estimated first motion amount and the estimated second motion amount.

摘要翻译： 一种图像处理装置，包括：运动量估计单元，估计指示第二图像相对于第一图像的位移量的第一运动量; 区域设置单元，使用从第一图像和第二图像提取的特征点，设置用于第一图像和第一校正图像中的每一个的后处理的区域; 后处理单元，从第一图像生成第一切割图像，从第一修正图像生成第二切割图像，并且估计指示第二切出图像相对于第一切除图像的位移量的第二运动量; 以及运动量获取单元，根据估计的第一运动量和估计的第二运动量，获得指示第一图像和第二图像之间的位移量的运动量。

公开(公告)号：US08681230B2

公开(公告)日：2014-03-25

申请号：US13521083

申请日：2011-11-08

申请人： Jun Ohmiya ,  Hitoshi Yamada

发明人： Jun Ohmiya ,  Hitoshi Yamada

IPC分类号： H04N5/228

CPC分类号： G06T7/33 ,  G06T7/248 ,  G06T2207/10016 ,  G06T2207/20164 ,  G06T2207/30244

摘要： The picture processing device of the present invention includes: a rotational motion distance calculating unit which calculates a rotational motion distance of a second picture with respect to a first picture; a cutout picture generating unit which (i) generates a first cutout picture from the first picture, and (ii) and generates a second cutout picture from a first corrected picture, the first corrected picture being generated from the second picture whose rotational displacement amount, in a combination of directions in three axes, is corrected; a parallel motion amount calculating unit which calculates a parallel motion amount of a second cutout picture with respect to the first cutout picture; and a motion amount determining unit which determines a motion amount of the second picture with respect to the first picture.

摘要翻译： 本发明的图像处理装置包括：旋转运动距离计算单元，其计算第二图像相对于第一图像的旋转运动距离; 切割图像生成单元，其从（i）从第一图像生成第一切割图像，和（ii）从第一修正图像生成第二切割图像，从第二图像生成第一修正图像，其旋转位移量， 在三轴方向的组合中进行校正; 平行运动量计算单元，其计算相对于所述第一剪切图像的第二切割图像的平行运动量; 以及运动量确定单元，其确定第二图像相对于第一图片的运动量。