Ricoh Company, Ltd.

Kiichiroh Saitoh

Soichiro Yokota

Tadashi Nakamura

Shin Aoki

Naoki Kikuchi

Jun Yoshida

Wei Zhong

Yoshikazu Watanabe

Ryohsuke Tamura

Satoshi Sawaguchi

Tetsuo Yamashita

Kagehiro Nagao

Fumiko Sakoh

Junichiro Asaba

An image processing apparatus includes: an acquisition unit that acquires a plurality of first images that correspond to a plurality of spatial frequencies on a one-to-one basis; and a generation unit that generates a second image by synthesizing the first images acquired by the acquisition unit.

Image processing apparatus, system, image processing method, calibration method, and computer-readable recording medium

A distance measuring device includes a first measurer, a second distance measurer, and circuitry. The first distance measurer measures a distance to a target object; and outputs first distance information indicating a measured distance when the distance measurement is performed under a condition that satisfies a distance measurement condition, but outputs the first distance information indicating a predetermined value when the distance measurement is performed under a condition that does not satisfy the distance measurement condition. The second distance measurer measures a distance to the target object and outputs second distance information indicating the measured distance. When the first distance information indicates the predetermined value and the second distance information satisfies a predetermined condition, the circuitry makes alteration such that the distance measurement condition is relaxed. When the distance measurement condition is altered, the first distance measurer measures a distance to the target object again.

Distance measuring device, moving system, and distance measurement method

A disparity value deriving device includes a calculator configured to calculate costs of candidates for a corresponding region in a comparison image that corresponds to a reference region in a reference image, based on luminance values of the regions. The device also includes a changer configured to change a cost exceeding a threshold to a value higher than the threshold; a synthesizer configured to synthesize a cost of a candidate for a corresponding region for one reference region after the change and a cost of a candidate for a corresponding region for another reference region after the change; and a deriving unit configured to derive a disparity value based on a position of the one reference region and a position of the corresponding region in the comparison image for which the cost after the synthesis is smallest.

Disparity value deriving device, movable apparatus, robot, disparity value producing method, and computer program

A disparity deriving apparatus for deriving disparity of an object includes a calculator to calculate costs between a first reference area in a reference image and each one of corresponding areas corresponding to the first reference area in the comparison image, and costs between a second reference area, surrounding the first reference area in the reference image, and each one of corresponding areas corresponding to the second reference area in a comparison image; a synthesizer to synthesize the costs of the first reference area and the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis costs; and a correction unit to apply a spatial filter to a local region, composed of a plurality of areas, in the first reference image to correct a disparity value of the local region.

Disparity deriving apparatus, movable apparatus, robot, method of deriving disparity, method of producing disparity, and storage medium

A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.

Disparity value deriving device, equipment control system, movable apparatus, and robot

A disparity deriving apparatus for deriving disparity of an object based on a captured reference image of the object and a captured comparison image of the object includes a calculator to calculate costs between a first reference area in the reference image and each one of corresponding areas in the comparison image, and costs between a second reference area and each one of corresponding areas corresponding to the second reference area in the comparison image; a synthesizer to synthesize the costs of the first reference area, and the costs of the second reference area as synthesis costs; a deriving unit to derive a disparity value of the object captured in the first reference area based on the synthesized synthesis cost; and an output unit to output the derived disparity value and a specific cost of the first reference area identified by the derived disparity value.

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Kanagawa, Japan

Kiichiroh Saitoh