Honda Motor Co., Ltd.

Honda Giken Kogyo Kabushiki Kaisha

Shizuoka University

Chiaki Aoyama

Shoji Kawahito

Tomoyuki Sahata

Takaharu Sekine

A self-position estimation apparatus includes: a light reception unit that receives a light emission signal from a transmission apparatus via a pixel; and a position calculation unit that selects at least one, in accordance with the number of the light emission signals acquired by the light reception unit and which are used for a calculation of a self-position, from a plurality of algorithms in which the self-position is estimated and calculates the self-position by using the selected algorithm.

Self-position estimation apparatus and self-position estimation method

An image processing device is an image processing device including a control unit configured to control a scan frequency of a region of an imaging unit, and an analysis unit configured to analyze a captured image captured in the imaging unit, and the analysis unit is configured to analyze the captured image to detect an optical signal transmitted from a signal source, identify an attribute of the signal source on the basis of information included in the detected optical signal, and set a region including the signal source in the captured image in a region with a different scan frequency, and the control unit is configured to control a scan frequency of the imaging unit for each region that is set in the captured image.

Image processing device, image processing method, and image processing program which control a scan frequency of an imaging unit

An optical communication apparatus includes: a reception unit that receives, from a transmission apparatus which transmits a light signal including predetermined information, the transmitted light signal; a multipath removal unit that recognizes, when detecting a plurality of images having the same optical information in the received light signal, the light signal due to a reflection wave based on at least one of a luminance of the light signal, a size of an image corresponding to the light signal when receiving at the reception unit, and a propagation distance of the light signal and removes the light signal due to the reflection wave; and an control unit that acquires, from the light signal received by the reception unit, information based on the light signal obtained by removing the light signal due to the reflection wave by the multipath removal unit.

Optical communication apparatus, optical communication system, and optical communication method

In an inter-vehicle communication system, a first terminal included in a first vehicle includes a first control unit that receives a first relative phase between a third vehicle and a second vehicle transmitted by a second terminal included in the second vehicle and calculates, based on the received first relative phase and a second relative phase between the first vehicle and the second vehicle, a third relative phase between the first vehicle and the third vehicle, and the second terminal includes a second control unit that transmits the first relative phase to the first vehicle.

Inter-vehicle communication system and inter-vehicle communication method

An imaging apparatus includes: a light reception unit that receives a light emission signal from a transmission apparatus via a pixel; a detection unit that detects whether or not an output based on the light emission signal received by the light reception unit is a first threshold value or more; and a correction unit that corrects a luminance of the pixel when the output based on the light emission signal is the first threshold value or more based on a result detected by the detection unit.

Imaging apparatus and imaging method

A localization system includes: n+1 number of luminescent devices, where n is an integer greater than or equal to one; and a position measurement device moving in each direction of n number of axes, wherein the luminescent device includes a luminescent unit, the luminescent unit emitting a light for measurement having an intensity that varies at a predetermined time cycle, the luminescent unit also emitting a light for identification including an information representing a position of the luminescent device, the luminescent unit emitting the light for measurement and the light for identification in synchrony with a phase of those emitted by another luminescent device; and the position measurement device includes a light reception unit, a position obtaining unit, a phase computation unit, a standard luminescent device selection unit, a phase difference computation unit, and a position computation unit.

Localization system and localization method

With the distance between a reference plane and a line light source () maintained at a first distance, the line light source () is translated in two different directions, and the position of the line light source () for each individual pixel where the pixel has been photographed from an incident ray radiated from the line light source () is stored (STEP). With the distance between the reference plane and the line light source () maintained at a second distance different from the first distance, the line light source () is translated in two different directions, and the position of the line light source () for each individual pixel where the pixel has been photographed from an incident ray radiated from the line light source () is stored (STEP). A straight line with the minimum distance to the positions of the four line light sources is deduced as the trajectory (S) of the incident ray to each pixel (STEP).

Camera calibration method and camera calibration apparatus

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.

Pixel, pixel forming method, imaging device and imaging forming method

Charge generated in a photodiode is properly split for difference processing. An imaging element is constituted by a semiconductor such that a charge accumulation portion is connected to a light receiving portion using a buried photodiode and charge is split from the charge accumulation portion by a plurality of gates and is accumulated. An imaging device includes a control device performing control so as to accumulate charge that is generated by a photoelectric conversion at an exposure cycle synchronous with the light emission of a light source. The exposure cycle includes a first period for receiving reflection light from a subject illuminated by light from the light source and a second period for receiving light from the subject illuminated by an environmental light not including the light from the light source. The imaging device includes a charge accumulation region connected to each photoelectric conversion region, a first charge storage region for receiving charge generated in the photoelectric conversion regions during the first period via the charge accumulation portion, and a second charge storage region for receiving charge generated in the photoelectric conversion regions during the second period via the charge accumulation portion.

Charge accumulating and splitting imaging device

An image capturing device includes a photodetector including a plurality of pixels, each having a photoelectric conversion unit outputting electric charges depending on received light, charge accumulation units accumulating the electric charges, and a drain electrode that discards the electric charges, a finite impulse response filter which is applied to images, a controller controlling the pixels so as to distribute the electric charges that are output by the photoelectric conversion units to the charge accumulation units and to the drain electrodes at a distribution ratio depending on a weight coefficient of a corresponding delay period of the finite impulse response filter at each delay period, and reading the electric charges accumulated in the charge accumulation units after a whole delay period of the finite impulse response filter elapses, and an image processor generating the images based on the electric charges that are read by the controller.

Image capturing device and image capturing method

A reception device includes at least a light receiving unit, a phase calculation unit, and a demodulation unit. The light receiving unit receives intensity-modulated light from a transmission device. The transmission device executes phase modulation to a bit stream as an object to be transmitted and emits the intensity-modulated light which has an intensity changing at a preset time cycle and a phase changing in response to the phase modulation, and the phase is maintained during M cycles. The phase calculation unit detects the intensity of the intensity-modulated light p times per cycle of the intensity-modulated light and repeatedly calculates the phase of the intensity-modulated light on the basis of a result of the detection. The demodulation unit executes demodulation, which corresponds to the phase modulation, to the phase calculated by the phase calculation unit, and generates transmitted bit stream.

Reception device and reception method

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.

Image processing apparatus, image processing method, image processing program and position detecting apparatus as well as mobile object having the same

A position detection method and a position detection device for detecting with sufficient accuracy the position or the attitude of an object by using an image of the object captured by a single camera. The position detection method detects the position or the attitude of the object by using a measurement pixel position in images of multiple points on the object, which images are captured by the single camera and have a known positional relationship. The method has a step of acquiring, without consideration of non-pinhole camera properties of the camera and based on the positional relationship between the multiple points and on the measurement pixel position, a position matrix representing rotation and translation of the object, a step of obtaining, with consideration of the non-pinhole camera properties of the camera, a correction pixel position corresponding to the measurement pixel position, a step of adjusting the position matrix so that a difference between the correction pixel position and the measurement pixel position is within a permissible range, and a step of defining, as the estimated position of the object, the position corresponding to the adjusted position matrix.

Position detecting method and position detecting apparatus in consideration of non-pinhole characteristic of a camera

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.

Environment recognition method and apparatus for a three-dimensional vision sensor

A robot control information generator generates control information for operating a robot equipped with a camera and a hand to grasp an object based on a two-dimensional code on the object. The two-dimensional code includes position identifying patterns and an information pattern, the position within the two-dimensional code of each of the position-identifying patterns is specified beforehand, and the information pattern is generated by encoding of information. The robot control information generator comprises an image input unit, a pattern detection unit, a position/posture calculation unit, a decoding device, and a control information-generating unit which generates the control information based on the decoded information decoded by the decoding device and the position/posture information calculated by the position/posture calculation unit.

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Wako, Japan

Chiaki Aoyama