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1. 发明申请

US20210374990A1 IMAGE PROCESSING SYSTEM, IMAGE PROCESSING METHOD, AND STORAGE MEDIUM 有权
公开(公告)号：US20210374990A1
公开(公告)日：2021-12-02
申请号：US17330827
申请日：2021-05-26
申请人： OLYMPUS CORPORATION , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Naoyuki Miyashita , Masatoshi Okutomi , Sho Kagami
IPC分类号： G06T7/73 , H04N5/225 , G06T7/62 , G06T17/10
摘要： An image processing system, which estimates a position and a pose of a camera and performs three-dimensional reconstruction processing of an object having a cylindrical shape by using a photographed image acquired by photographing an inside of the object with the camera, includes a processor. The processor estimates a first center axis of the cylindrical shape by using a group of three-dimensional points obtained by reconstructing, in a three-dimensional space, a group of feature points extracted from the photographed image. In addition, the processor performs bundle adjustment for correcting the position and the pose of the camera and the coordinates of the group of three-dimensional points by using a condition for minimizing a total sum of differences between a radius of the cylindrical shape and respective distances from the first center axis to individual three-dimensional points that constitute the group of three-dimensional points.

2. 发明授权

US10249020B2 Image processing unit, imaging device, computer-readable medium, and image processing method 有权
公开(公告)号：US10249020B2
公开(公告)日：2019-04-02
申请号：US15479322
申请日：2017-04-05
申请人： TOKYO INSTITUTE OF TECHNOLOGY , OLYMPUS CORPORATION
发明人： Sunao Kikuchi , Yusuke Monno , Daisuke Kiku , Masayuki Tanaka , Masatoshi Okutomi
IPC分类号： G06T3/40 , G06T5/20 , H04N5/232 , H04N5/235 , H04N9/04 , H04N9/07 , H04N7/18
摘要： An image processing unit has an image acquisition part, a correlation determination part, a reference image generation part, and an interpolation image generation part. The image acquisition part acquires an original image. The correlation determination unit determines whether the correlation of an image component of a primary reference band with image components of respective bands other than the primary reference band is either high correlation or low correlation. The reference image generation part interpolates missing pixels in the image component of the primary reference band by switching the interpolation method based on the correlation determination result obtained by the correlation determination part. The interpolation image generation part interpolates, using the correlation determination result and the primary reference image, missing pixels in at least some of the image component of the primary reference band.

3. 发明授权

US09250121B2 Imaging apparatus with plural color filters and image processing 有权
标题翻译：具有多个滤色器和图像处理的成像设备
公开(公告)号：US09250121B2
公开(公告)日：2016-02-02
申请号：US14064612
申请日：2013-10-28
申请人： TOKYO INSTITUTE OF TECHNOLOGY , OLYMPUS CORPORATION
发明人： Masayuki Tanaka , Yusuke Monno , Masatoshi Okutomi , Sunao Kikuchi , Yasuhiro Komiya
IPC分类号： H04N5/335 , G01J1/04 , G02B5/20 , H01L27/146 , H04N9/04
CPC分类号： G01J1/0492 , G02B5/201 , H01L27/14621 , H01L27/14625 , H01L27/14643 , H01L27/14645 , H04N9/045
摘要： An imaging apparatus has a color filter array, an image sensor, and a differential information acquisition unit. In the color filter array, including five or more types of color filters are arranged in a two dimensional form. The image sensor has a plurality of pixels covered by the color filters, and the plurality of pixels generate pixel signals. The acquisition unit designates one of the pixels covered by the color filters of interest as a pixel of interest one pixel at a time in order. The acquisition unit calculates first differential information based on pixel signals generated by two of the pixels arranged on both sides of the pixel of interest along the first direction. The acquisition unit calculates second differential information based on pixel signals generated by two of the pixels arranged on both sides of the pixel of interest along the second direction.
摘要翻译：成像装置具有滤色器阵列，图像传感器和差分信息获取单元。在滤色器阵列中，包括五种或更多种类型的滤色器以二维形式布置。图像传感器具有由滤色器覆盖的多个像素，并且多个像素生成像素信号。采集单元依次指定由感兴趣的滤色器覆盖的像素之一作为感兴趣的像素，一次一个像素。所述获取单元基于沿着所述第一方向布置在所述感兴趣像素的两侧上的两个像素生成的像素信号来计算第一差分信息。获取单元基于沿着第二方向布置在感兴趣像素的两侧上的两个像素生成的像素信号来计算第二差分信息。

4. 发明授权

US09188480B2 Color filter array and image sensor 有权
标题翻译：滤色片阵列和图像传感器
公开(公告)号：US09188480B2
公开(公告)日：2015-11-17
申请号：US14068151
申请日：2013-10-31
申请人： TOKYO INSTITUTE OF TECHNOLOGY , OLYMPUS CORPORATION
发明人： Masayuki Tanaka , Yusuke Monno , Masatoshi Okutomi , Sunao Kikuchi , Yasuhiro Komiya
IPC分类号： G02B5/20 , G01J1/04 , H01L27/146 , H04N9/04
CPC分类号： G01J1/0492 , G02B5/201 , H01L27/14621 , H01L27/14625 , H01L27/14643 , H01L27/14645 , H04N9/045
摘要： The color filter array 21a comprises seven or more types of color filters including a first color filter. The seven or more types color filters have different spectral sensitivity characteristics. The seven or more types of color filters are arranged in a two-dimensional form. Among the seven or more types of color filters, at least two types of color filters are designated as a color filter of interest. Two color filters arranged at a first interval on both sides of the color filter of interest along a first direction are of the same type. Two color filters arranged at a second interval on both sides of the color filter of interest along a second direction that is different from the first direction are of the same type. Among the color filters, at least one type of color filter have a density higher than that of the other types of color filters, thereby realizing acquisition of highly accurate gradient information from a multiband color filter array.
摘要翻译：滤色器阵列21a包括七种或更多种类型的包括第一滤色器的滤色器。七种或更多种类型的滤色器具有不同的光谱灵敏度特性。七种或更多种类型的滤色器以二维形式布置。在七种或更多种类型的滤色器中，至少两种类型的滤色器被指定为感兴趣的滤色器。沿着第一方向在感兴趣的滤色器的两侧以第一间隔布置的两个滤色器是相同的。沿着与第一方向不同的第二方向在感兴趣的滤色器的两侧上以第二间隔布置的两个滤色镜是相同的。在滤色器中，至少一种类型的滤色器的密度高于其他类型的滤色器，从而实现从多频带滤色器阵列获取高精度的梯度信息。

5. 发明授权

US08896689B2 Environment recognition apparatus 有权
标题翻译：环境识别装置
公开(公告)号：US08896689B2
公开(公告)日：2014-11-25
申请号：US13693719
申请日：2012-12-04
申请人： Honda Motor Co., Ltd. , Tokyo Institute of Technology
发明人： Minami Asatani , Masatoshi Okutomi , Shigeki Sugimoto
IPC分类号： H04N13/02 , G06T7/00
CPC分类号： H04N13/243 , G06T7/73 , G06T2207/10012 , G06T2207/10028
摘要： An apparatus capable of improving the estimation accuracy of information on a subject including a distance up to the subject is provided. According to an environment recognition apparatus 1 of the present invention, a first cost function is defined as a decreasing function of an object point distance Z. Thus, the longer the object point distance Z is, the lower the first cost of a pixel concerned is evaluated. This reduces the contribution of the first cost of a pixel highly probable to have a large measurement or estimation error of the object point distance Z to the total cost C. Thereby, the estimation accuracy of a plane parameter ^q representing the surface position and posture of the subject is improved.
摘要翻译：提供了能够提高包括到被摄体的距离的被摄体的信息的估计精度的装置。根据本发明的环境识别装置1，第一成本函数被定义为物点距离Z的递减函数。因此，物点距离Z越长，相关像素的第一代价越低评估。这降低了像素的第一成本对物点距离Z的测量值或估计误差大的概率与总成本C有很大的关系。因此，表示表面位置和姿势的平面参数^ q的估计精度的主题得到改善。

6. 发明授权

US10943339B2 Image compositing system, image compositing method, and image compositing program recording medium 有权
公开(公告)号：US10943339B2
公开(公告)日：2021-03-09
申请号：US16344214
申请日：2017-10-26
申请人： NEC Corporation , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Takashi Shibata , Masatoshi Okutomi , Masayuki Tanaka
IPC分类号： G06T5/20 , G06T5/00 , G06T5/50
摘要： The present invention enables a high-quality filtered image to be generated even from multimodal and multispectral images containing positional deviations. An image perturbation part generates a perturbed guide image group comprising first to K-th perturbed guide images obtained by deforming a guide image. A filtering part generates a filtered image group comprising first to K-th filtered images by applying first to K-th filtering processing to a target image by using the perturbed guide image group. A reliability calculation part calculates a reliability group comprising first to K-th reliabilities for the first to K-th filtered images of the filtered image group on the basis of first to K-th correlation values between the first to K-th perturbed guide images and the target image. A weight optimization part generates, on the basis of the first to K-th reliabilities, a weight group comprising first to K-th weights to be respectively used when compositing the first to K-th filtered images. An output image compositing part composites an output image from the weight group and the filtered image group.

7. 发明授权

US10699455B2 Image processing system, image processing method, and image processing program recording medium 有权
公开(公告)号：US10699455B2
公开(公告)日：2020-06-30
申请号：US15772239
申请日：2016-09-14
申请人： NEC CORPORATION , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Takashi Shibata , Masayuki Tanaka , Masatoshi Okutomi
IPC分类号： G06T11/60 , H04N1/40 , H04N1/409 , H04N1/58 , G06T5/00 , G06T5/50 , G11B27/031 , G11B27/28
摘要： An image processing system in which, in order to easily analyze input images acquired by sensors, output image quality is improved so that is suitable for a user. It includes: a gradient calculation unit that calculates a desired gradient based on input images; an indication function calculation unit that calculates an indication function for the input images, the indication function defining a range that can be taken by an output image and pixel values of a reference image; a pixel value renewal unit that renews pixel values of one of the input images so as to approximate the desired gradient to produce a renewed image; and a pixel value constraint unit that updates pixel values of the renewed image so as to fall within the range that can be taken by the output image and to approximate the pixel values of the reference image, to thereby obtain the output image.

8. 发明申请

US20140072214A1 IMAGE PROCESSING SYSTEM 审中-公开
标题翻译：图像处理系统
公开(公告)号：US20140072214A1
公开(公告)日：2014-03-13
申请号：US14117018
申请日：2012-04-27
申请人： TOKYO INSTITUTE OF TECHNOLOGY
发明人： Masayuki Tanaka , Masatoshi Okutomi , Yusuke Monno
IPC分类号： G06T3/40
CPC分类号： G06T3/4007 , G06T3/4015 , H04N9/045
摘要： An image processing system includes a reception unit, a derivative calculation unit, a reference image creation unit, and an interpolated image creation unit. The reception unit receives an original image signal formed by a plurality of pixel signals in which any of first through mth (m being an integer three or greater) color signal components is lacking. The derivative calculation unit calculates a derivative for the pixel signals using two pixels sandwiching a pixel corresponding to the pixel signals. The reference image creation unit creates a primary reference image using the first color signal component, which has the largest number of elements among the pixel signals of the original image signal. The interpolated image creation unit creates an interpolated image by interpolating all of the color signal components using the primary reference image. At least one of the primary reference image and the interpolated image is created using the derivative. As a result, the occurrence of false colors is suppressed while using a multiband color filter.
摘要翻译：图像处理系统包括接收单元，导数计算单元，参考图像创建单元和内插图像创建单元。接收单元接收由多个像素信号形成的原始图像信号，其中缺少第一至第m（m为整数三个或更大）的任何一个。导数计算单元使用夹着与像素信号对应的像素的两个像素来计算像素信号的导数。参考图像创建单元使用原始图像信号的像素信号中具有最大数量的元素的第一颜色信号分量来创建主参考图像。内插图像创建单元通过使用主参考图像内插所有颜色信号分量来创建内插图像。使用导数创建主参考图像和内插图像中的至少一个。结果，在使用多频带滤色器的同时抑制伪色的发生。

9. 发明申请

US20130141546A1 ENVIRONMENT RECOGNITION APPARATUS 有权
标题翻译：环境识别装置
公开(公告)号：US20130141546A1
公开(公告)日：2013-06-06
申请号：US13693719
申请日：2012-12-04
申请人： HONDA MOTOR CO., LTD. , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Minami Asatani , Masatoshi Okutomi , Shigeki Sugimoto
IPC分类号： H04N13/02
CPC分类号： H04N13/243 , G06T7/73 , G06T2207/10012 , G06T2207/10028
摘要： An apparatus capable of improving the estimation accuracy of information on a subject including a distance up to the subject is provided. According to an environment recognition apparatus 1 of the present invention, a first cost function is defined as a decreasing function of an object point distance Z. Thus, the longer the object point distance Z is, the lower the first cost of a pixel concerned is evaluated. This reduces the contribution of the first cost of a pixel highly probable to have a large measurement or estimation error of the object point distance Z to the total cost C. Thereby, the estimation accuracy of a plane parameter ̂q representing the surface position and posture of the subject is improved.
摘要翻译：提供了能够提高包括到被摄体的距离的被摄体的信息的估计精度的装置。根据本发明的环境识别装置1，第一成本函数被定义为物点距离Z的递减函数。因此，物点距离Z越长，相关像素的第一代价越低评估。这降低了将物体点距离Z的测量或估计误差大的总体成本C高度可能的像素的第一成本的贡献。因此，表示表面位置和姿势的平面参数q的估计精度主题得到改善。

10. 发明授权

US11010876B2 Image processing system, image processing method, and computer-readable recording medium 有权
公开(公告)号：US11010876B2
公开(公告)日：2021-05-18
申请号：US15738189
申请日：2016-06-10
申请人： NEC Corporation , TOKYO INSTITUTE OF TECHNOLOGY
发明人： Takashi Shibata , Masayuki Tanaka , Masatoshi Okutomi
IPC分类号： G06T5/00 , G06T5/50 , H04N1/60 , H04N5/33 , H04N1/387 , G06F17/16 , H04N5/225 , H04N5/232 , H04N5/345 , H04N5/367
摘要： An image processing system includes: a weight determination circuitry configured to determine a band containing important information from among a group of images, which are acquired by a plurality of sensors, and to express a degree of importance of the band as a weight; a calculation circuitry configured to calculate, using the weight, an amount calculated based on a gradient of an image based on a gradient of each image, that is calculated based on the group of images, in order to restrict a gradient of an output image; and an image optimization circuitry configured to compose the output image using the amount calculated based on the gradient of the image.

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