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11. 发明授权

US08213681B2 Moving object detection method and moving object detection apparatus 有权
标题翻译：移动物体检测方法和移动物体检测装置
公开(公告)号：US08213681B2
公开(公告)日：2012-07-03
申请号：US12920180
申请日：2009-12-18
申请人： Kunio Nobori , Masahiro Iwasaki , Ayako Komoto
发明人： Kunio Nobori , Masahiro Iwasaki , Ayako Komoto
IPC分类号： G06K9/00 , G06K9/34
CPC分类号： G06T7/215 , G06T2207/10016 , G06T2207/30196 , G06T2207/30241
摘要： A moving object detection method with which a region of a moving object is accurately extracted without being affected by a change in shape or size or occlusion of the moving object and in which a distance indicating a similarity between trajectories of an image in each of the blocks included in video is calculated (S203) and a group of similar trajectories is identified as one region based on the distance (S209). Step S209 includes, for each of the thresholds, (1) non-linearization of the distance, (2) calculating a geodetic distance between plural trajectories from the distance after non-linearization (S204), (3) specifying, as region candidates, a group of trajectories which are distant from each other by the geodetic distance of a finite value, from among the trajectories (S205), calculating an interregional geodetic distance that is a scale indicating the similarity between the region candidates (S206), and selecting, from the region candidates, a region candidate having the interregional geodetic distance that satisfies a predetermined condition, as a result of segmentation (S207).
摘要翻译：一种移动物体检测方法，其中运动物体的区域被精确地提取而不受移动物体的形状或大小或遮挡的变化的影响，并且其中指示每个块中的图像的轨迹之间的相似度的距离计算视频中包含的视频（S203），并且基于距离将一组类似的轨迹识别为一个区域（S209）。步骤S209包括对于每个阈值，（1）距离的非线性化，（2）从非线性化之后的距离计算多个轨迹之间的测地距离（S204），（3）指定作为区域候选，（S205）中计算作为有区别候选之间的相似度的尺度的区间大地测距（S206）的距离相差很远的轨迹（S205）作为分割的结果，从区域候补，具有满足预定条件的区域间测距距离的区域候选者（S207）。

12. 发明授权

US08948448B2 Method and apparatus for trajectory estimation, and method for segmentation 有权
标题翻译：用于轨迹估计的方法和装置，以及分割方法
公开(公告)号：US08948448B2
公开(公告)日：2015-02-03
申请号：US13336330
申请日：2011-12-23
申请人： Masahiro Iwasaki , Kunio Nobori , Ayako Komoto , Fabio Galasso , Roberto Cipolla
发明人： Masahiro Iwasaki , Kunio Nobori , Ayako Komoto , Fabio Galasso , Roberto Cipolla
IPC分类号： G06K9/00 , G06T7/20
CPC分类号： G06T7/2006 , G06T7/215
摘要： A trajectory estimation apparatus includes: an image acceptance unit which accepts images that are temporally sequential and included in the video; a hierarchical subregion generating unit which generates subregions at hierarchical levels by performing hierarchical segmentation on each of the images accepted by the image acceptance unit such that, among subregions belonging to hierarchical levels different from each other, a spatially larger subregion includes spatially smaller subregions; and a representative trajectory estimation unit which estimates, as a representative trajectory, a trajectory, in the video, of a subregion included in a certain image, by searching for a subregion that is most similar to the subregion included in the certain image, across hierarchical levels in an image different from the certain image.
摘要翻译：轨迹估计装置包括：图像接收单元，其接收时间上顺序并包括在视频中的图像; 分级子区域生成单元，其通过对由图像接收单元接受的每个图像执行分层分割，使得在属于彼此不同的分层级的子区域中，空间上较大的子区域包括空间较小的子区域，以分层级生成子区域; 以及代表性轨迹估计单元，通过搜索与特定图像中包括的该子区域最相似的子区域，通过搜索包含在特定图像中的子区域中的轨迹在视频中估计特定图像中的轨迹图像中的图像与某些图像不同。

13. 发明授权

US08929599B2 Articulation region display apparatus, articulation region detecting apparatus, articulation region belongingness calculating apparatus, articulated object region belongingness calculating apparatus, and articulation region display method 有权
标题翻译：铰接区域显示装置，关节区域检测装置，关节区域属性计算装置，关节式区域属性计算装置和关节区域显示方法
公开(公告)号：US08929599B2
公开(公告)日：2015-01-06
申请号：US13536131
申请日：2012-06-28
申请人： Ayako Komoto , Kunio Nobori , Masahiro Iwasaki
发明人： Ayako Komoto , Kunio Nobori , Masahiro Iwasaki
IPC分类号： G06K9/00 , G06T13/40
CPC分类号： G06T13/40 , G06K9/00342
摘要： An articulation region display apparatus includes: an articulatedness calculating unit calculating an articulatedness, based on a temporal change in a point-to-point distance and a temporal change in a geodetic distance between given trajectories; an articulation detecting unit detecting, as an articulation region, a region corresponding to a first trajectory based on the articulatedness between the trajectories, the first trajectory being in a state where the regions corresponding to the first trajectory and a second trajectory are present on the same rigid body, the regions corresponding to the first trajectory and third trajectory are present on the same rigid body, and the region corresponding to the second trajectory is connected with the region corresponding to the third trajectory via the same joint; and a display control unit transforming the articulation region into a form visually recognized by a user, and output the transformed articulation region.
摘要翻译：关节区域显示装置包括：铰接计算单元，基于点对点距离的时间变化和给定轨迹之间的测地距离的时间变化来计算铰接度; 一个关节运动检测单元，基于轨迹之间的关节度，检测作为关节运动区域对应于第一轨迹的区域，第一轨迹处于与第一轨迹和第二轨迹相对应的区域存在于相同的状态对应于第一轨迹和第三轨迹的区域存在于同一刚体上，与第二轨迹相对应的区域经由相同接头与对应于第三轨迹的区域连接; 以及显示控制单元，将所述关节区域变换为用户可视识别的形式，并输出所述变换的关节区域。

14. 发明授权

US08599252B2 Moving object detection apparatus and moving object detection method 有权
标题翻译：移动物体检测装置和移动物体检测方法
公开(公告)号：US08599252B2
公开(公告)日：2013-12-03
申请号：US13454577
申请日：2012-04-24
申请人： Ayako Komoto , Kunio Nobori , Masahiro Iwasaki
发明人： Ayako Komoto , Kunio Nobori , Masahiro Iwasaki
IPC分类号： H04N7/18 , G06K9/00 , G06K9/34
CPC分类号： G06K9/00805 , G06T7/215 , G06T2207/30241
摘要： A moving object detection apparatus includes: a stationary measure calculation unit calculating, for each of trajectories, a stationary measure representing likelihood that the trajectory belongs to a stationary object; a distance calculation unit calculating a distance representing similarity between trajectories; and a region detection unit (i) performing a transformation based on the stationary measures and the distances between the trajectories, so that a ratio of a distance between a trajectory on stationary object and a trajectory on moving object, to a distance between trajectories both belonging to stationary object becomes greater than a ratio obtained before the transformation and (ii) detecting the moving object region by separating the trajectory on the moving object from the trajectory on the stationary object, based on a geodesic distance between the trajectories.
摘要翻译：移动物体检测装置包括：静止测量计算单元针对每个轨迹计算表示轨迹属于静止物体的可能性的静止测量值; 距离计算单元，计算表示轨迹之间的相似度的距离; 以及区域检测单元（i）基于静止测量和轨迹之间的距离执行变换，使得静止物体上的轨迹与移动物体上的轨迹之间的距离与所属轨迹之间的距离到静止对象变得大于在变换之前获得的比率，以及（ii）基于轨迹之间的测地距离，通过将移动物体上的轨迹与静止物体上的轨迹分开来检测运动物体区域。

15. 发明申请

US20110091073A1 MOVING OBJECT DETECTION APPARATUS AND MOVING OBJECT DETECTION METHOD 有权
标题翻译：移动物体检测装置和移动物体检测方法
公开(公告)号：US20110091073A1
公开(公告)日：2011-04-21
申请号：US12976169
申请日：2010-12-22
申请人： Masahiro Iwasaki , Kunio Nobori
发明人： Masahiro Iwasaki , Kunio Nobori
IPC分类号： G06K9/00
CPC分类号： G06T7/292 , G06T7/215 , G06T2207/10016 , G06T2207/20021 , G06T2207/30196 , G06T2207/30241
摘要： To provide a moving object detection apparatus which accurately performs region extraction, regardless of the pose or size of a moving object. The moving object detection apparatus includes: an image receiving unit receiving the video sequence; a motion analysis unit calculating movement trajectories based on motions of the image; a segmentation unit performing segmentation so as to divide the movement trajectories into subsets, and setting a part of the movement trajectories as common points shared by the subsets; a distance calculation unit calculating a distance representing a similarity between a pair of movement trajectories, for each of the subsets; a geodesic distance calculation unit transforming the calculated distance into a geodesic distance; an approximate geodesic distance calculation unit calculating an approximate geodesic distance bridging over the subsets, by integrating geodesic distances including the common points; and a region extraction unit performing clustering on the calculated approximate geodesic distance.
摘要翻译：提供一种移动物体检测装置，其能够精确地执行区域提取，而不管移动物体的姿态或尺寸如何。移动物体检测装置包括：图像接收单元，接收视频序列; 运动分析单元，基于图像的运动来计算运动轨迹; 分割单元，其执行分割，以将所述移动轨迹划分为子集，并将所述移动轨迹的一部分设置为由所述子集共享的共同点; 距离计算单元，对于每个子集，计算表示一对移动轨迹之间的相似度的距离; 测距距离计算单元，将计算出的距离变换为测地距离; 近似测地距离计算单元，通过集成包括公共点的测地距离来计算桥接在子集上的近似测地距离; 以及区域提取单元，对计算出的近似测距距离进行聚类。

16. 发明申请

US20110255748A1 ARTICULATED OBJECT REGIONARTICULATED OBJECT REGION DETECTION APPARATUS AND METHOD OF THE SAME 有权
标题翻译：对象对象区域性对象区域检测装置及其方法
公开(公告)号：US20110255748A1
公开(公告)日：2011-10-20
申请号：US13170392
申请日：2011-06-28
申请人： Ayako Komoto , Masahiro Iwasaki , Kunio Nobori
发明人： Ayako Komoto , Masahiro Iwasaki , Kunio Nobori
IPC分类号： G06K9/00
CPC分类号： G06K9/6215 , G06K9/00335 , G06K9/6218 , G06T7/246 , G06T2207/10016 , G06T2207/30196 , G06T2207/30232 , G06T2207/30241
摘要： An articulated object region detection apparatus includes: a subclass classification unit which classifies trajectories into subclasses; a distance calculating unit which calculates, for each of the subclasses, a point-to-point distance and a geodetic distance between the subclass and another subclass; and a region detection unit which detects, as a region having an articulated motion, two subclasses to which trajectories corresponding to two regions connected via the same articulation and indicating the articulated motion belong, based on a temporal change in the point-to-point distance and a temporal change in the geodetic distance between two given subclasses.
摘要翻译：关节式物体区域检测装置包括：将轨迹分类为子类的子类分类单元; 距离计算单元，对于每个子类，计算子类与另一子类之间的点对点距离和大地距离; 以及区域检测单元，其基于点对点距离的时间变化，检测作为具有关节运动的区域的两个子类，通过相同的关节连接并指示关节运动所属的两个区域对应于轨迹以及两个给定子类之间的测距距离的时间变化。

17. 发明授权

US08094717B2 Image generation apparatus and image generation method 有权
标题翻译：图像生成装置和图像生成方法
公开(公告)号：US08094717B2
公开(公告)日：2012-01-10
申请号：US12094387
申请日：2007-10-11
申请人： Taro Imagawa , Kunio Nobori , Takeo Azuma
发明人： Taro Imagawa , Kunio Nobori , Takeo Azuma
IPC分类号： H04N7/12 , G06K9/36
CPC分类号： H04N5/232 , G06T3/0087 , H04N5/23232 , H04N7/0125 , H04N7/014
摘要： An image generation apparatus generates a new video sequence with a high S/N ratio and suppressed motion blurs, from an original video sequence and a still image which are generated by capturing the same dark, moving object. The image generation apparatus includes: a capture condition decision unit (105) which decides, based on an incident-light amount, capture conditions under which the original video sequence and the still image are to be captured; an image receiving unit (101) which receives the original video sequence and the still image which are generated under the capture conditions; an integration processing unit (104a) which generates, from the original video sequence and the still image, the new video sequence including frames having a resolution equal to or higher than the still image, at a frame rate equal to or higher than the original video sequence, by reducing a difference between (i) a value of the still image and (ii) a sum of values of the frames in the new video sequence which correspond to an exposure period for the still image. The capture condition decision unit (105c) decides a longer duration of an exposure period as a duration of the still image capturing, as the incident-light amount is smaller. Here, the duration is longer than an frame interval of the original video sequence.
摘要翻译：图像生成装置从通过捕获相同的黑色移动物体生成的原始视频序列和静止图像生成具有高S / N比的新视频序列并抑制运动模糊。图像生成装置包括：捕获条件判定单元，其基于入射光量，判定要捕获原始视频序列和静止图像的拍摄条件; 图像接收单元，其接收在捕获条件下生成的原始视频序列和静止图像; 从原始视频序列和静止图像生成包括具有等于或高于静止图像的分辨率的帧的新视频序列的积分处理单元，以等于或高于原始视频的帧速率通过减少（i）静止图像的值和（ii）与静止图像的曝光周期相对应的新视频序列中的帧的值之和的差异来排序。拍摄条件判定部（105c）将入射光量较小的曝光期间的持续时间判定为静止图像拍摄的持续时间。这里，持续时间比原始视频序列的帧间隔长。

18. 发明授权

US08005295B2 Apparatus and method for image processing, image processing program and image processor 有权
标题翻译：图像处理装置和方法，图像处理程序和图像处理器
公开(公告)号：US08005295B2
公开(公告)日：2011-08-23
申请号：US12278845
申请日：2008-02-28
申请人： Kunio Nobori
发明人： Kunio Nobori
IPC分类号： G06K9/00
CPC分类号： G06T7/20 , G06T7/579 , H04N19/54 , H04N19/597
摘要： Corresponding points or a motion vector is generated with reduced positional error even if incoming images have been shot under different illumination conditions.An image processing apparatus (100, 120) includes an initial corresponding point computing section (113) for computing and outputting multiple sets of corresponding points across multiple images and a corresponding point recomputing section (104), which selects reference corresponding points, consisting of multiple sets of initial corresponding points with small error, from the multiple sets of initial corresponding points by using a photometric constraint equation and a geometric constraint equation, newly computes aimed corresponding points associated with those reference corresponding points, and then outputs the reference corresponding points and the aimed corresponding points as corresponding points.
摘要翻译：即使在不同的照明条件下拍摄了进入的图像，生成相应点或运动矢量也减少位置误差。图像处理装置（100,120）包括用于计算和输出跨多个图像的多组对应点的初始对应点计算部分（113）和相应的点重新计算部分（104），其选择参考对应点，其由多个通过使用光度约束方程和几何约束方程从多组初始对应点组初始对应点组，新计算与这些参考对应点相关联的目标对应点，然后输出参考对应点和针对对应点作为对应点。

19. 发明授权

US07973827B2 Image data generating apparatus, method and program for generating an image having high spatial and high temporal resolution 有权
标题翻译：用于生成具有高空间和高时间分辨率的图像的图像数据生成装置，方法和程序
公开(公告)号：US07973827B2
公开(公告)日：2011-07-05
申请号：US12600376
申请日：2008-05-09
申请人： Hideto Motomura , Takeo Azuma , Kunio Nobori , Taro Imagawa
发明人： Hideto Motomura , Takeo Azuma , Kunio Nobori , Taro Imagawa
IPC分类号： H04N5/228 , H04N5/225 , H04N7/14 , H04N9/07
CPC分类号： H04N9/045 , H04N5/2258 , H04N5/23232 , H04N9/09 , H04N9/097 , H04N9/64
摘要： The shooting, recording and playback system 100 of the present invention receives incoming light 101, stores an image shot, and then subjects the image shot to be reproduced to resolution raising processing, thereby outputting RGB images with high spatial resolution and high temporal resolution (ROUT GOUT BOUT) 102. The system 100 includes a shooting section 103, a color separating section 104, an R imaging sensor section 105, a G imaging sensor section 106, a B imaging sensor section 107, an image shot storage section 108, an image shot writing section 109, a memory section 110, an image shot reading section 111, a spatial resolution upconverter section 112, a temporal resolution upconverter section 113, an output section 114, and a line recognition signal generating section 185. The system can get image data with high spatial resolution and high temporal resolution without getting the camera configuration complicated and without decreasing the optical efficiency.
摘要翻译：本发明的拍摄，记录和播放系统100接收入射光101，存储拍摄的图像，然后将要再现的图像拍摄到分辨率提升处理，从而输出具有高空间分辨率和高时间分辨率的RGB图像（ROUT GOUT BOUT）102.系统100包括拍摄部分103，颜色分离部分104，R成像传感器部分105，G成像传感器部分106，B成像传感器部分107，图像拍摄存储部分108，图像镜头写入部分109，存储部分110，图像拍摄读取部分111，空间分辨率上变频部分112，时间分辨率上变频部分113，输出部分114和行识别信号产生部分185.系统可以获得图像具有高空间分辨率和高时间分辨率的数据，而不会使相机配置复杂并且不降低光学效率。

20. 发明申请

US20100315534A1 IMAGE PICKING-UP PROCESSING DEVICE, IMAGE PICKING-UP DEVICE, IMAGE PROCESSING METHOD AND COMPUTER PROGRAM 有权
标题翻译：图像拾取处理装置，图像拾取装置，图像处理方法和计算机程序
公开(公告)号：US20100315534A1
公开(公告)日：2010-12-16
申请号：US12517856
申请日：2008-07-25
申请人： Takeo Azuma , Kunio Nobori , Hideto Motomura , Yoshifumi Hirose
发明人： Takeo Azuma , Kunio Nobori , Hideto Motomura , Yoshifumi Hirose
IPC分类号： H04N9/04 , H04N9/68
CPC分类号： H04N9/045 , H04N5/35545
摘要： An image processing device and an image processing method capable of generating a moving image having a high resolution and a high frame rate are provided by suppressing the reduction in the amount of light incident on each camera. The imaging and processing device includes a separation section for separating visible light into at least a first color component and a second color component; a first imaging section for taking a moving image of the first color component, wherein the first imaging section takes images of the moving image with a first spatial resolution and a first temporal resolution by exposure for a first charge accumulation time period; a second imaging section for taking a moving image of the second color component, wherein the second imaging section takes images of the moving image with a second spatial resolution higher than the first spatial resolution and a second temporal resolution lower than the first temporal resolution by exposure for a second charge accumulation time period longer than the first charge accumulation time period; a control section for controlling imaging conditions of the first and the second imaging sections; and a processing section for generating a moving image of the second color component having the temporal and spatial resolutions thereof increased, based on information on the moving image of each of the first color component and the second color component.
摘要翻译：通过抑制入射到每个照相机上的光量的减少，能够提供能够产生具有高分辨率和高帧率的运动图像的图像处理装置和图像处理方法。该成像处理装置包括用于将可见光分离为至少第一颜色分量和第二颜色分量的分离部分; 用于拍摄第一颜色分量的运动图像的第一成像部分，其中第一成像部分通过第一电荷累积时间段的曝光以第一空间分辨率和第一时间分辨率拍摄运动图像的图像; 第二成像部分，用于拍摄第二颜色分量的运动图像，其中第二成像部分以比第一空间分辨率高的第二空间分辨率和低于第一时间分辨率的第二时间分辨率拍摄运动图像的图像对于比第一电荷累积时间段长的第二电荷累积时间段; 用于控制第一和第二成像部分的成像条件的控制部分; 以及基于关于第一颜色分量和第二颜色分量中的每一个的运动图像的信息，生成具有时间和空间分辨率的第二颜色分量的运动图像的处理部分。

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