Panasonic Intellectual Property Management Co., Ltd.

Panasonic Corporation

Matsushita Electric Industrial Co., Ltd.

Tomohide Ishigami

Kensuke Maruya

Susumu Okada

Akio Nishimura

Ukyou Katsura

Tsukasa Okada

Toshiya Arai

Takafumi Aoki

Koichi Ito

Tetsuro Okuyama

Takanori Shimada

A first calculator calculates a relative position and a relative attitude of a vehicle based on images captured by an image capturing apparatus mounted on the vehicle. A second calculator extracts one marker from an image captured by the image capturing apparatus, and calculates an absolute position and an absolute attitude of the vehicle based on the position and the attitude of the one extracted marker. A corrector corrects the relative position and the relative attitude based on the absolute position and the absolute attitude to generate a corrected position and a corrected attitude of the vehicle. When an angular difference between a traveling direction of the vehicle having the corrected position and the corrected attitude, and the direction of the passageway is smaller than a predetermined threshold, the corrector corrects the relative attitude based on the direction of the passageway, instead of the absolute attitude.

Positioning apparatus capable of measuring position of moving body using image capturing apparatus

A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.

Positioning system and moving body for measuring position of moving body using image capturing apparatus

A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.

Positioning system for measuring position of moving body using image capturing apparatus

A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.

Position estimation apparatus and position estimation method

An information presentation device includes: an obtainment unit which obtains position information indicating a position of a nearby object with respect to a user; a stimulation presentation unit which contacts the user through a contact surface and provides stimulation in a stimulation region within the contact surface; and a stimulation control unit which (i) determines a reference position, which is a position within the contact surface, corresponding to the position information and (ii) performs control for causing the stimulation presentation unit to provide the user with stimulation while changing the stimulation region with reference to the reference position.

Information presentation device, and method for controlling information presentation device

A code reading device includes a neighbor searching and voting unit that, for each of a part of dot marks located in a matrix displaced from virtual lattice points, votes on coordinate values of four neighboring dot marks, using each of the part of the dot marks as a reference point, in a plane; a direction detecting unit that determines first and second directions from the voting results; an order determining unit that determines a raster order for the part of the dot marks based on the directions; and a code detecting unit that detects a relative position of each of lattice points determined based on coordinate values of the part of the dot marks and the raster order, to a closest dot mark among the part of the dot marks according to the raster order, thereby encoding the part of the dot marks to provide the positional information.

Code reading device and code reading method

A disparity calculating apparatus which calculates a disparity value from a stereo image including first and second images includes: an image dividing unit which divides the first image into segments; a reference point determining unit which sets reference points to the first image; a corresponding point detecting unit which (i) calculates, for each reference point, a corresponding point which is included in the second image and corresponds to the reference point, based on phase information of images obtained by performing Fourier transform on the first image and the second image, (ii) calculates a disparity value using the reference point and each corresponding point, and (iii) calculates a reliability of the disparity value; and a disparity assigning unit which assigns each of the segments which includes a corresponding one of the reference points the disparity value and the reliability calculated by the corresponding point detecting unit.

Disparity calculating apparatus and disparity calculating method

A position measuring apparatus which measures a position of a position measurement target easily and accurately without using any parameter inside a camera in the measurement, based on images captured from mutually different viewpoints. The position measuring apparatus which measures the three-dimensional position of the position measurement target, based on the input images captured from the mutually different viewpoints, and the position measuring apparatus includes: a ray information storage unit configured to store ray information in which each of ray vectors is associated with a corresponding one of pixels in one of the input images, each of the ray vectors indicating a forward direction of a light incident onto an optical system for a corresponding one of the input images; and a position measuring unit configured to measure the three-dimensional position of the position measurement target, using the ray information stored in the ray information storage unit.

Position measuring apparatus, position measuring method, image processing apparatus and image processing method

An object of the invention is to provide an access control apparatus for lessening the occasions of invading a place where no entry is permitted without setting any separate access condition for a temporary user of a visitor, etc., in a room entering and leaving management apparatus using personal identification information of an IC card, etc. The access control apparatus of the invention sets the master-slave relationship between identification information possessed by a guide and identification information possessed by a visitor and automatically sets the access permission of the visitor in response to the verification result of the guide.

Access control device

A camera control device capable of easily performing control even if more than one camera is provided. A common operation section performs a map operation and a camera operation with the same operation device. An operation management section switches between the map operation and the camera operation depending on the scale (display magnification) of a map and the imaging magnification of a camera to be operated. To perform the map operation, the operation management section sends an operation signal to a map control section, and to perform the camera operation, it sends an operation signal to a camera control section.

Camera control device

The surveillance system is configured of multi-camera including rotating cameras controllable for panning, tilting and zooming in and out, intruding object recognizing means for processing image signals from the rotating cameras and keeping track of a position of the intruding object, camera function determining means for allocating a tracking function to a first camera whose field of view is in a predetermined direction of the object of monitoring according to a state of the object of monitoring and allocating a wide angle shooting function for shooting a monitored space in a wide angle to a second camera, and camera control means for controlling the multi-camera according to actions of the camera function determining means.

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Osaka, Japan

Tomohide Ishigami