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1. 发明授权

US08860861B2 Pixel, pixel forming method, imaging device and imaging forming method 有权
标题翻译：像素，像素形成方法，成像装置和成像方法
公开(公告)号：US08860861B2
公开(公告)日：2014-10-14
申请号：US13057221
申请日：2009-08-07
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： H04N3/14 , H04N5/335 , H01L27/00 , H01L27/148 , H01L27/14 , H01L27/146 , H04N5/3745 , H04N5/355
CPC分类号： H01L27/14609 , H01L27/14603 , H01L27/1461 , H04N5/3559 , H04N5/3745 , H04N5/37452
摘要： A pixel is provided with a photodiode region which includes a photoelectric conversion portion for receiving light and generating electrons, and a charge storage portion for storing electric charge. The pixel is configured in such a manner that an electron exclusion region is provided in the photodiode region with the diameter of a circle having the maximum diameter among circles that can exist in the surface of a region through which electrons can pass in the photodiode region as the width of an electron passage region in the photodiode region, and the width of the electron passage region is smaller than when the electron exclusion region is not provided.
摘要翻译：像素设置有包括用于接收光并产生电子的光电转换部分的光电二极管区域和用于存储电荷的电荷存储部分。像素被配置为使得在光电二极管区域中设置电子排除区域，其中电子可以通过光电二极管区域的区域的表面中可以存在的具有最大直径的圆的直径光电二极管区域中的电子通过区域的宽度和电子通过区域的宽度小于当不设置电子排斥区域时的宽度。

2. 发明授权

US08295587B2 Image processing apparatus, image processing method, image processing program and position detecting apparatus as well as mobile object having the same 失效
标题翻译：图像处理装置，图像处理方法，图像处理程序和位置检测装置以及具有其的移动对象
公开(公告)号：US08295587B2
公开(公告)日：2012-10-23
申请号：US12314198
申请日：2008-12-05
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G06K9/00
CPC分类号： G06T5/006 , G06T7/70 , G06T2207/10012 , G06T2207/10021 , G06T2207/30248
摘要： There is provided an image processing apparatus capable of reducing a memory amount to be used and a processing time in processing images captured stereoscopically in wide-angle. In order to find pixel positions of an object as information for use in detecting position of the object from images captured by two cameras that are capable of imaging the object in wide-angle and are disposed on a straight line, the image processing apparatus includes an image input means for inputting the images captured by the two cameras, an image projecting means for projecting the images inputted from the respective cameras on a cylindrical plane having an axial line disposed in parallel with the straight line on which the respective cameras are disposed while correcting distortions and a pixel position detecting means for detecting the pixel positions corresponding to the object in the image projected on the cylindrical plane.
摘要翻译：提供了一种图像处理装置，能够减少在广角范围内立体拍摄的图像处理中使用的存储量和处理时间。为了将物体的像素位置作为用于检测物体的位置的信息，用于从能够以广角成像物体并被设置在直线上的两个照相机拍摄的图像中，图像处理装置包括：图像输入装置，用于输入由两个相机拍摄的图像;图像投影装置，用于将从各个相机输入的图像投影在圆柱面上，该圆柱形平面具有与设置有各个相机的直线平行布置的轴线，同时校正畸变和像素位置检测装置，用于检测与投影在圆柱形平面上的图像中的物体相对应的像素位置。

3. 发明申请

US20110134298A1 PIXEL, PIXEL FORMING METHOD, IMAGING DEVICE AND IMAGING FORMING METHOD 有权
标题翻译：像素，像素形成方法，成像装置和成像方法
公开(公告)号：US20110134298A1
公开(公告)日：2011-06-09
申请号：US13057221
申请日：2009-08-07
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： H04N5/335 , H01L31/0352 , H01L31/18
CPC分类号： H01L27/14609 , H01L27/14603 , H01L27/1461 , H04N5/3559 , H04N5/3745 , H04N5/37452
摘要： A pixel is provided with a photodiode region which includes a photoelectric conversion portion for receiving light and generating electrons, and a charge storage portion for storing electric charge. The pixel is configured in such a manner that an electron exclusion region is provided in the photodiode region with the diameter of a circle having the maximum diameter among circles that can exist in the surface of a region through which electrons can pass in the photodiode region as the width of an electron passage region in the photodiode region, and the width of the electron passage region is smaller than when the electron exclusion region is not provided.
摘要翻译：像素设置有包括用于接收光并产生电子的光电转换部分的光电二极管区域和用于存储电荷的电荷存储部分。像素被配置为使得在光电二极管区域中设置电子排除区域，其中电子可以通过光电二极管区域的区域的表面中可以存在的具有最大直径的圆的直径光电二极管区域中的电子通过区域的宽度和电子通过区域的宽度小于当不设置电子排斥区域时的宽度。

4. 发明申请

US20100110280A1 ENVIRONMENT RECOGNITION APPARATUS 有权
标题翻译：环境识别装置
公开(公告)号：US20100110280A1
公开(公告)日：2010-05-06
申请号：US12526804
申请日：2008-01-15
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G06K9/46 , H04N5/238
CPC分类号： G05D1/0246 , G01S7/023 , G01S7/4802 , G01S17/89 , G05D2201/0217 , G06K9/2036
摘要： In an environment recognition apparatus including a light projector that intermittently projects a light pattern toward an object to be measured existing in an environmental space in accordance with a duty factor of a pulse train defining one frame, a camera that outputs a difference image between an image of the object taken at an exposure where the light pattern is projected and an image of the object taken at an exposure where the light pattern is not projected and the object is recognized based on the difference image, there is equipped with a timing controller that controls the projection timing by varying a pulse repetition period in the pulse train in one frame at random, thereby effectively avoiding the interference with the other while using a camera of ordinary sensitivity.
摘要翻译：在包括根据定义一帧的脉冲序列的占空因数在环境空间中存在于待测对象物上的光图案的光投影仪的环境识别装置中，输出图像之间的差分图像的相机在光图案被投射的曝光下拍摄的物体和基于差异图像识别光图案的曝光而拍摄的物体的图像，配备有控制器的控制器通过随机地在一帧中改变脉冲序列中的脉冲重复周期的投影定时，从而在使用普通灵敏度的相机时有效地避免与另一帧的干扰。

5. 发明授权

US07627197B2 Position measurement method, an apparatus, a computer program and a method for generating calibration information 失效
标题翻译：位置测量方法，装置，计算机程序和用于产生校准信息的方法
公开(公告)号：US07627197B2
公开(公告)日：2009-12-01
申请号：US10806547
申请日：2004-03-23
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G06K9/32 , G06K9/00 , G01B9/00
CPC分类号： G01C11/06 , G01B11/2518 , G01C15/00 , G01S3/784 , G01S17/42 , G06T7/73 , G06T7/80
摘要： A method for measuring a position of an object according to an image of the object captured by a camera unit. The method includes the following steps: calculating a discrepancy of an incident beam of light penetrating a lens system of the camera unit relative to an optical center of the lens system, and compensating the position of the object according to the discrepancy.
摘要翻译：一种用于根据由相机单元捕获的对象的图像来测量对象的位置的方法。该方法包括以下步骤：计算穿过相机单元的透镜系统的入射光束相对于透镜系统的光学中心的偏差，并根据差异补偿对象的位置。

6. 发明授权

US07405755B2 Frame grabber 有权
标题翻译：帧抓取器
公开(公告)号：US07405755B2
公开(公告)日：2008-07-29
申请号：US10947363
申请日：2004-09-23
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： H04N5/235
CPC分类号： H04N5/232 , H04N5/2256 , H04N5/2354
摘要： A frame grabber comprising image signal decoders to convert the analog image signal to digital image data, a multiplexer to select the image data stream sent from the image signal decoders, frame memories and a memory controller to control the digital image data in a unit of frame data to be transferred to an external main image processor unit further has a pulse generator, a pulse counter, a bus controller for transferring the frame data and a time stamping code generator to consolidate the same time base between the in-frame image data and other data used for robot controlling.
摘要翻译：包括图像信号解码器以将模拟图像信号转换为数字图像数据的帧采集器，多路复用器，用于选择从图像信号解码器发送的图像数据流，帧存储器和存储器控制器，以帧为单位来控制数字图像数据要传送到外部主图像处理器单元的数据还具有脉冲发生器，脉冲计数器，用于传送帧数据的总线控制器和时间戳产生器，以在帧内图像数据和其他图像数据之间合并相同的时基用于机器人控制的数据。

7. 发明授权

US07177013B2 Ranging apparatus, ranging method, and ranging program 失效
标题翻译：测距仪，测距方法和测距程序
公开(公告)号：US07177013B2
公开(公告)日：2007-02-13
申请号：US10813714
申请日：2004-03-31
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G01C3/00
CPC分类号： G01C3/18
摘要： A ranging apparatus which determines distances to objects by using planar positions of the objects in images which are obtained by cameras which take the images, plural distortion correction tables used to correct distortion of images taken by the cameras wherein the distortion correction are made for progressively determined ranging distances of a target object, a corrective computer which generates corrected images using the distortion correction tables, being corrected for eliminating distortion caused by optical systems of the cameras, corresponding to the progressively determined ranging distances in which the images are taken by the cameras, a selector which selects a most appropriately corrected image among the corrected images and a ranging computer which computes a distance to the object viewed in the selected corrected image.
摘要翻译：一种测距装置，其通过使用通过拍摄图像的摄像机获得的图像中的对象的平面位置来确定到物体的距离，用于校正由相机拍摄的图像的失真的多个失真校正表，其中进行失真校正以逐渐确定使用失真校正表生成校正图像的校正计算机的距离范围被校正，用于消除摄像机光学系统引起的失真，对应于摄像机拍摄图像的逐渐确定的测距距离，选择器，其选择校正图像中最适当校正的图像;以及测距计算机，其计算到在所选择的校正图像中观看的对象的距离。

8. 发明申请

US20050093990A1 Frame grabber 有权
标题翻译：帧抓取器
公开(公告)号：US20050093990A1
公开(公告)日：2005-05-05
申请号：US10947363
申请日：2004-09-23
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： H04N5/04 , H04N5/222 , H04N5/225 , H04N5/232 , H04N5/235 , H04N5/228
CPC分类号： H04N5/232 , H04N5/2256 , H04N5/2354
摘要： A frame grabber comprising image signal decoders to convert the analog image signal to digital image data, a multiplexer to select the image data stream sent from the image signal decoders, frame memories and a memory controller to control the digital image data in a unit of frame data to be transferred to an external main image processor unit further has a pulse generator, a pulse counter, a bus controller for transferring the frame data and a time stamping code generator to consolidate the same time base between the in-frame image data and other data used for robot controlling.
摘要翻译：包括图像信号解码器以将模拟图像信号转换为数字图像数据的帧采集器，多路复用器，用于选择从图像信号解码器发送的图像数据流，帧存储器和存储器控制器，以帧为单位来控制数字图像数据要传送到外部主图像处理器单元的数据还具有脉冲发生器，脉冲计数器，用于传送帧数据的总线控制器和时间戳产生器，以在帧内图像数据和其他图像数据之间合并相同的时基用于机器人控制的数据。

9. 发明授权

US06721679B2 Distance measuring apparatus and distance measuring method 失效
标题翻译：距离测量仪和距离测量方法
公开(公告)号：US06721679B2
公开(公告)日：2004-04-13
申请号：US09984040
申请日：2001-10-26
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G01B1102
CPC分类号： G01S7/4811 , G01S17/42 , G01S17/89
摘要： A distance measuring apparatus is provided which utilizes a light-section method capable of measuring both close objects and far away objects without adjusting the dynamic range of an imaging camera. The apparatus comprises: an image acquisition section for imaging reflected light which has been emitted from the apparatus, has passed through a slit, and has then been reflected off the surface of a target object; an emission control section for controlling the emission time of the slit light during the time an image is being scanned by the image acquisition section, and for changing the intensity of the received light in the image acquisition section; and a distance calculation section for calculating the distance to the object based on the image taken by the image acquisition section and a positional relationship between a light emission position of the slit light and an image position.
摘要翻译：提供一种距离测量装置，其利用能够在不调整成像照相机的动态范围的情况下测量近距离物体和遥远物体的光截面方法。该装置包括：图像获取部，用于对从装置发射的已经穿过狭缝的反射光进行成像，然后从目标物体的表面反射出来; 发射控制部分，用于在图像获取部分扫描图像期间控制狭缝光的发射时间，并改变图像获取部分中接收光的强度; 以及距离计算部分，用于基于由图像获取部分拍摄的图像以及狭缝光的发光位置与图像位置之间的位置关系来计算到对象的距离。

10. 发明授权

US5398292A Edge detecting apparatus 失效
标题翻译：边缘检测装置
公开(公告)号：US5398292A
公开(公告)日：1995-03-14
申请号：US49524
申请日：1993-04-20
申请人： Chiaki Aoyama
发明人： Chiaki Aoyama
IPC分类号： G06T7/60 , G06T5/00 , G06K9/48 , G06K9/56 , G06K9/68
CPC分类号： G06T7/0083 , G06T2207/10016 , G06T2207/20061 , G06T2207/30256
摘要： Edge detecting masks each having a sensing directivity to a specific direction are arranged with each directivity direction shifted by a given angular interval from the neighboring masks. A sum-of-products computation is performed between weighting elements in each of the so-arranged masks and image data indicating the brightness or tint of respective pixels. A selecting device selects a mask which exhibits the maximum sum-of-products output value among others and also selects two or three more masks before and behind the selected mask according to the interpolation method employed. An estimate computing device performs interpolation using the angles and output values of the selected edge detecting masks to estimate a true edge direction.
摘要翻译：每个具有针对特定方向的感测方向性的边缘检测掩模被布置，其中每个方向性方向从相邻掩模偏移给定的角度间隔。在每个如此布置的掩模中的加权元素和指示各个像素的亮度或色调的图像数据之间执行产品总和计算。选择装置根据所采用的插值方法，选择展示最大产品和输出值输出值的掩码，并根据所选择的掩模选择两个或三个以上的掩模。估计计算装置使用所选择的边缘检测掩模的角度和输出值来执行插值以估计真实边缘方向。

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