Ricoh Company, Ltd.

Hitachi, Ltd.

Hitachi Automotive Systems, Ltd.

Soichiro Yokota

Hiroyoshi Sekiguchi

Sadao Takahashi

Yuu Yamada

Shinichi Sumiyoshi

Mirai Higuchi

Tadashi Nakamura

Shoji Muramatsu

Tatsuhiko Monji

Kenichiroh Saisho

Yuji Takahashi

Shuichi Suzuki

Mitsuru Nakajima

Shin Aoki

Daisuke Okada

Naoki Kikuchi

Seiya Amano

Tomoko Ishigaki

Kiichiroh Saitoh

Haike Guan

Hirokazu Takenaka

Yoshikazu Watanabe

Jun Kishiwada

Jun Yoshida

Shigeaki Imai

Tamon Sadasue

Yaojie Lu

Wei Zhong

Kazuma Matsuura

Takeshi Shima

Satoshi Sawaguchi

Genki Watanabe

Toshifumi Yamaai

Tetsuo Yamashita

Keita Katagiri

Naoki Motohashi

Otoichi Nakata

Hiroki Kubozono

Kagehiro Nagao

Yasuhiro Kajiwara

Hideomi Fujimoto

Yuuta Yoshino

Morihiko Sakano

Tabito Suzuki

Ryohsuke Tamura

Keito Sawada

Fumiko Sakoh

Jie Ren

Shintaroh Kida

Sukehiro Kimura

Eita Watanabe

Reiko Kuromizu

Takefumi Takizawa

Hiromi Yoshikawa

Yohichiroh Ohbayashi

Kiichiroh Saito

Junichiro Asaba

A light signal detection device includes a light receiving optical system configured to receive a reflection signal reflected from an object when irradiation light emitted from an irradiation unit hits the object and reflects from the object; and circuitry configured to binarize the received reflection signal using a first threshold value, based on a determination of whether the reflection signal is equal to or greater than the first threshold value; binarize the received reflection signal using a second threshold value set with a given value similar to a noise signal value, based on a determination of whether the reflection signal is equal to or greater than the second threshold value; and measure a time difference between a time of emitting the irradiation light from the irradiation unit and a time of receiving a reflection signal equal to or greater than the first threshold value or the second threshold value.

Light signal detection device, range finding device, and detection method

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

An imaging apparatus includes a plurality of imaging bodies and an imaging control unit. Each of the imaging bodies includes a first optical element capable of imaging a range including a hemisphere that is centered at an optical axis and oriented in a first direction of the optical axis, and a second optical element capable of imaging a range including a hemisphere that is centered at the optical axis and oriented in a second direction opposite to the first direction. The imaging bodies are arrayed in a direction perpendicular to the optical axis. The imaging control unit causes the plurality of imaging bodies to perform imaging in a synchronous manner, and acquires a captured image from each of the imaging bodies.

Imaging apparatus

An imaging system includes a plurality of imaging bodies, a moving part, and an imaging control unit. Each of the imaging bodies includes a first optical element that images a range containing a hemisphere that is centered at an optical axis and oriented in a first direction of the optical axis, and a second optical element that images a range containing a hemisphere that is centered at the optical axis and oriented in a second direction opposite to the first direction. The imaging bodies is arranged in a direction orthogonal to the optical axis. The moving part moves the imaging bodies on a straight line. The imaging control unit is configured to cause the imaging bodies to perform imaging in synchronization with each other, and acquire a taken image from each of the imaging bodies.

Imaging system with multiple wide-angle optical elements arranged on a straight line and movable along the straight line

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 image processing method of generating a range image is provided. The method includes a step of detecting a distance to the object as a measured distance, by a distance measurement unit; a step of performing, by an image processing unit, integration of the distance with a matching evaluation value of a pixel in a stereogram corresponding to a location on the object of which the distance is detected by the distance measurement unit, among a plurality of pixels in the stereogram each including a corresponding matching evaluation value; and a step of generating a range image based on a result of the integration. The generating step is performed after the integration.

Range image generating method, range image generating apparatus, and on-board device having range image generating function

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 apparatus includes processing circuitry configured to obtain a range image having pixel values corresponding to a distance of an object in a plurality of captured images obtained by capturing the object on a road surface so as to extract pixel values from the range image, generate vertical direction distribution data indicating a frequency distribution of distance values in a vertical direction of the range image based on the extracted pixel values, calculate a height of the road surface in the range image before generation of the vertical direction distribution data is completed, and generate horizontal direction distribution data indicating a frequency distribution of distance values in a horizontal direction of the range image based on the extracted pixel values and the calculated height of the road surface.

Image processing apparatus, imaging apparatus, and device control system

According to an embodiment, a processing device includes a generating unit, a detecting unit, and a determining unit. The generating unit is configured to generate two-dimensional distribution information of an object, the two-dimensional distribution information associating between at least a lateral direction distance and a depth direction distance of the object. The detecting unit is configured to detect a continuous area having continuity in a depth direction in the two-dimensional distribution information. The determining unit is configured to determine whether the continuous area represents a detection target.

Processing device, object recognition apparatus, device control system, processing method, and computer-readable recording medium

An image processing device includes: a generating unit that generates, based on a distance image, two-dimensional distribution information indicating a two-dimensional distribution of an object, in which a distance in a horizontal direction, a distance in a depth direction, and a frequency value corresponding to the distances are related; and a labeling unit that conducts a labeling process by conducting search on the two-dimensional distribution information multiple times, detecting a pixel having the frequency value that is more than a predetermined threshold during each search, and assigning a label that is different in each times of search, wherein the labeling unit conducts a first labeling process by selecting a pixel having the frequency value that is more than the threshold from pixels that abut a pixel being searched in a search direction and assigning the label when the label is not assigned to the pixel selected.

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

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Kanagawa, Japan

Soichiro Yokota