Ricoh Company, Ltd.

Seiya Amano

Soichiro Yokota

Hiroyoshi Sekiguchi

Yuu Yamada

Sadao Takahashi

Shinichi Sumiyoshi

Yuji Takahashi

Tadashi Nakamura

Hiroyuki Satoh

Daisuke Okada

Jun Yoshida

Genki Watanabe

Jun Kishiwada

Hiroki Kubozono

Tabito Suzuki

Keito Sawada

Shintaroh Kida

Sukehiro Kimura

Kazuma Matsuura

Yohichiroh Ohbayashi

Hiroki Mima

A measuring device and a measuring system. The measuring device includes circuitry to obtain at least one pair of stereo captured images captured by a stereo camera, detect two or more feature points from each one of the at least one pair of stereo captured images, and measure a disparity error using a distance between a pair of feature points of the two or more feature points on each one of the at least one pair of stereo captured images, where an equation is satisfied. In the equation, Sdenotes the distance, &#x394; denotes a detection error between the pair of imaging devices. Moreover, Edenotes precision of measurement of a disparity error in disparity between a pair of images of the at least one pair of stereo captured images, and d denotes the disparity. The stereo camera including a pair of imaging devices.

Measuring device and measuring system

A distance-measuring apparatus, a mobile object, a distance-measuring method, and a distance-measuring system. The distance-measuring apparatus and the distance-measuring method include performing matching for a plurality of images obtained by a plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis, emitting a laser beam where at least one of a laser-beam resolution in a horizontal direction and a laser-beam resolution in a vertical direction exceeds two degrees, obtaining a reflected signal obtained when the laser beam is reflected by an object, detecting a peak that corresponds to reflection from the object from the reflected signal, calculating second distance information based on a length of time taken to observe the peak after the laser beam is emitted in the emitting, and integrating the first distance information and the second distance information with each other. The mobile object includes the distance-measuring apparatus.

Distance-measuring apparatus, mobile object, distance-measuring method, and distance measuring system

An image processing apparatus includes processing circuitry configured to generate a first map formed of pixels that are associated with x coordinate information, distance information, and frequency values; search for a target pixel satisfying a predetermined condition among the pixels in the first map, the searching being performed from the pixels that are near towards the pixels that are far away as indicated by the distance information; and validate pixels surrounding the target pixel in the first map, together with the target pixel.

Image processing apparatus, device control system, imaging apparatus, image processing method, and recording medium

Disclosed is an image processing apparatus that includes one or more processors; and a memory storing instructions, which when executed by the one or more processors, cause the one or more processors to: generate distribution data indicating a frequency distribution of horizontal distance values of a range image based on the range image having pixel values according to distance of an object in a plurality of captured images; detect an object based on the distribution data with respect to a range image; predict a predicted position of the object in a current frame based on the distribution data with respect to range images of a plurality of previous frames; and integrate a plurality of objects detected by the detector based on the predicted position to track an integrated object in subsequent frames.

Image processing apparatus, imaging device, moving body device control system, image information processing method, and program product

According to an embodiment, an information processing apparatus includes a calculating unit and a discarding unit. The calculating unit is configured to calculate a distance between two objects, detected based on distance information on the objects that are overlapped in detection areas of the objects, in a depth direction in the detection areas. The discarding unit is configured to determine whether each of the two objects in the detection areas is to be discarded by using a method that corresponds to the distance calculated by the calculating unit.

Information processing apparatus, object recognition apparatus, device control system, movable body, image processing method, and computer-readable recording medium

An object detection device includes a map generator configured to generate, based on a distance image that includes distance information for each coordinate, a first map in which the coordinate in a horizontal direction of the distance image is associated with the distance information, and a second map in which the coordinate in the horizontal direction of the distance image is associated with the distance information, the second map having a lower resolution than the first map; and an object detector configured to detect an object based on the first map when a distance represented by the distance information is within a first range, and to detect an object based on the second map when a distance represented by the distance information is within a second range.

Object detection device, device control system, and medium

According to an embodiment, an image processing apparatus includes a first extracting unit, a second extracting unit, and a detecting unit. The first extracting unit is configured to extract a first region in which an object is represented, from a distance image that is drawn using distance information, based on the distance information of the object calculated from an image of the object captured by an image capturing unit. The second extracting unit is configured to extract a contour direction that is a direction along which pixels forming a contour of the first region are arrayed. The detecting unit is configured to detect a first surface facing the image capturing unit from the first region, based on the contour direction extracted by the second extracting unit.

Image processing apparatus, object recognition apparatus, equipment control system, image processing method, and computer-readable recording medium

An image processing device includes a first extracting unit, a second extracting unit, a face detecting unit, a first apex detecting unit, and a decider. The first extracting unit is configured to extract, based on distance information regarding an object, a first area representing the object. The second extracting unit is configured to extract contour directions of a contour of the first area. The face detecting unit is configured to detect a first face in the first area, based on the contour directions extracted by the second extracting unit. The first apex detecting unit is configured to detect a first apex indicating a boundary of the first face. The decider is configured to decide on a principal face of the object represented by the first area, based on at least the first face and the first apex.

Image processing device, object recognizing device, device control system, image processing method, and computer-readable medium

An image processing device includes: a predicting unit configured to, from a position of an object in a previous frame with respect to a current frame, predict a position of the object in the current frame and identify a prediction area; a first matching unit configured to perform template matching in the prediction area in the current frame using a first template regarding the object in the previous frame, to detect the object, when the object is present in a first distance area; and a second matching unit configured to perform template matching in the prediction area in the current frame using a second template which is different than the first template and which is regarding the object in the previous frame, to detect the object, when the object is present in a second distance area which is farther than the first distance area.

Image processing device, object recognizing device, device control system, moving object, image processing method, and computer-readable medium

An image processing device includes: a first generating unit configured to generate, based on a distance image generated from a plurality of taken images imaged by a plurality of imaging units in a travelling direction, and made from distance values corresponding to the travelling direction, a first image indicating a frequency distribution associating actual distances in a direction orthogonal to the travelling direction with the distance values; a second generating unit configured to generate, based on the distance image, a second image indicating a frequency distribution associating a horizontal direction of the distance image with the distance values; a first processing unit configured to detect a face of an object represented by the first image, using at least the first image; and a second processing unit configured to identify a type of the face of the object using at least the second image.

An optical system, which may include a fish-eye lens including a whole view angle larger than 180 degrees, includes in order from an object-side to an imaging-side, a first lens group including a negative focal distance, an aperture, and a second lens group including a positive focal distance. An infrared cutting coat is coated on a lens surface that includes curvature of a lens among lenses included in the second lens group.

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Kanagawa, Japan

Seiya Amano