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21. 发明授权

US07737975B2 Normal vector information generating device and normal vector information generating method 有权
标题翻译：标准矢量信息生成装置和法线矢量信息生成方法
公开(公告)号：US07737975B2
公开(公告)日：2010-06-15
申请号：US12361707
申请日：2009-01-29
申请人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
发明人： Satoshi Sato , Katsuhiro Kanamori , Natsuki Saito , Mikiya Nakata
IPC分类号： G06F17/00 , G06T1/00 , G06T15/00 , G06T15/50 , G06T15/60 , G06K9/34
CPC分类号： G01B11/002 , G01S15/02 , G06T7/11 , G06T7/514 , G06T7/70 , G06T15/50 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The normal vector information generating device generates normal vector information on the surface of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body when the light is blocked by the object; and a normal vector information generating unit generating normal vector information identifying a normal vector on the surface of the object in the attached shadow area using the polarization information.
摘要翻译：法线矢量信息生成装置在物体的表面上生成法线矢量信息，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自物体的光的亮度的亮度信息的信息和关于光的极化; 阴影区域提取单元基于亮度信息和偏振信息从图像提取附加的阴影区域和投影区域，根据入射光出现在物体的表面上的附加阴影区域，以及投射当物体被物体遮挡时，物体表面出现阴影区域; 以及法线信息生成单元，使用偏振信息生成用于识别所附加的阴影区域中的物体的表面上的法线矢量的法线矢量信息。

22. 发明授权

US08564700B2 Image processing device, image processing method, and imaging device using a patterned polarizer 有权
标题翻译：图像处理装置，图像处理方法和使用图案化偏振器的成像装置
公开(公告)号：US08564700B2
公开(公告)日：2013-10-22
申请号：US12744423
申请日：2008-11-28
申请人： Katsuhiro Kanamori , Satoshi Sato
发明人： Katsuhiro Kanamori , Satoshi Sato
IPC分类号： H04N5/335
CPC分类号： H01L27/14621 , H04N9/045 , H04N2209/046
摘要： An image processing apparatus according to the present invention includes a single-chip color image capture element that has a color mosaic filter 201 and a patterned polarizer 202 in which a number of polarizer units, having polarization transmission planes defining at least three different angles, are provided for multiple pixels of the same color (G) in the color mosaic filter 201. This apparatus includes not only a color and polarization obtaining section 101 including such a single-chip color image capture element but also a polarization information processing section 103 for approximating, as a sinusoidal function, a relation between the intensities of light rays that have been transmitted through the polarizer units for the G pixels and the angles of the polarization transmission planes of the polarizer units and a color mosaic interpolation section 102 for generating a color intensity image by performing a color intensity interpolation and getting a color intensity that cannot be obtained at a pixel of interest.
摘要翻译：根据本发明的图像处理装置包括具有彩色马赛克滤光器201和图案化偏振器202的单芯片彩色图像捕获元件，其中具有限定至少三个不同角度的偏振透射平面的多个偏振器单元是提供了颜色马赛克滤波器201中相同颜色（G）的多个像素。该装置不仅包括包括这样的单芯片彩色图像捕获元件的颜色和偏振获取部分101，而且包括用于近似的偏振信息处理部分103 作为正弦函数，已经透射通过用于G像素的偏振器单元的光线的强度与偏振器单元的偏振透射平面的角度之间的关系和用于产生颜色强度的颜色马赛克内插部分102 通过执行颜色强度插值并获得不能的颜色强度的图像在感兴趣的像素处获得。

23. 发明授权

US07961940B2 Image processing method, image processing system, and image processing program 有权
标题翻译：图像处理方法，图像处理系统和图像处理程序
公开(公告)号：US07961940B2
公开(公告)日：2011-06-14
申请号：US12557555
申请日：2009-09-11
申请人： Satoshi Sato , Kunio Nobori , Katsuhiro Kanamori
发明人： Satoshi Sato , Kunio Nobori , Katsuhiro Kanamori
IPC分类号： G06K9/00
CPC分类号： H04N5/235 , G06T5/007 , G06T7/11 , G06T7/174 , G06T7/42 , G06T2207/10152 , G06T2207/20056
摘要： The process captures a plurality of images under a light source whose luminance varies over time, such as a fluorescent lamp, under such an imaging condition that a plurality of images that are different from one another in terms of light source conditions can be captured (S11). The process detects a temporal luminance variation from the plurality of captured images (S12), estimates a shadow area by using the temporal luminance variation (S13), and performs an image process such as a process of synthesizing a linearized image or an image segmentation based on optical characteristics (S14).
摘要翻译：在能够捕获在光源条件方面彼此不同的多个图像的成像条件下，该处理捕获亮度随时间变化的光源（例如荧光灯）下的多个图像（S11 ）。该过程检测来自多个拍摄图像的时间亮度变化（S12），通过使用时间亮度变化来估计阴影区域（S13），并且执行诸如合成线性化图像或图像分割的处理的图像处理关于光学特性（S14）。

24. 发明申请

US20100289878A1 IMAGE PROCESSING APPARATUS, METHOD AND COMPUTER PROGRAM FOR GENERATING NORMAL INFORMATION, AND VIEWPOINT-CONVERTED IMAGE GENERATING APPARATUS 有权
标题翻译：图像处理装置，用于生成正常信息的方法和计算机程序，以及视点转换的图像生成装置
公开(公告)号：US20100289878A1
公开(公告)日：2010-11-18
申请号：US12672637
申请日：2009-06-01
申请人： Satoshi Sato , Katsuhiro Kanamori
发明人： Satoshi Sato , Katsuhiro Kanamori
IPC分类号： H04N13/02
CPC分类号： G03B35/26 , H04N13/239
摘要： High-precision normal information on the surface of a subject is generated by capturing an image of the subject. A normal information generating device captures the image of the subject and thereby passively generates normal information on the surface of the subject. The normal information generating device includes: a stereo polarization image capturing section for receiving a plurality of polarized light beams of different polarization directions at different viewpoint positions and obtaining a plurality of polarization images of different viewpoint positions; and a normal information generating section for estimating a normal direction vector of the subject based on the plurality of polarization images of different viewpoint positions.
摘要翻译：通过拍摄对象的图像来生成被摄体表面上的高精度正常信息。普通信息生成装置捕获被检体的图像，从而被动地在被检体的表面上生成正常信息。普通信息生成装置包括：立体偏振图像拍摄部，其在不同的视点位置接收不同偏振方向的多个偏振光束，得到不同视点位置的多个偏振图像; 以及正常信息生成部，其基于不同视点位置的多个偏振图像来估计被摄体的法线方向矢量。

25. 发明申请

US20090278954A1 IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理设备
公开(公告)号：US20090278954A1
公开(公告)日：2009-11-12
申请号：US12307789
申请日：2008-05-14
申请人： Katsuhiro Kanamori , Satoshi Sato
发明人： Katsuhiro Kanamori , Satoshi Sato
IPC分类号： H04N5/228 , H04N5/335
CPC分类号： H04N9/045 , H04N2209/046
摘要： An image processing apparatus according to the present invention includes: a color and polarization obtaining section 101 including a single-chip color image capture device that has a color mosaic filter 201 and a patterned polarizer 202 in which a number of polarizer units, having polarization transmission planes defining mutually different angles, are provided for multiple pixels of the same color (G) in the color mosaic filter 201; a polarization information processing section 103 for approximating, as a sinusoidal function, a relation between the intensities of light rays that have been transmitted through the polarizer units for the G pixels and the angles of the polarization transmission planes of the polarizer units; and a color mosaic interpolation section 103 for generating a color intensity image by performing color intensity interpolation and getting a color intensity that cannot be obtained at a pixel of interest.
摘要翻译：根据本发明的图像处理装置包括：颜色和偏振获取部分101，包括具有彩色马赛克滤光器201和图案偏振器202的单片彩色图像捕获装置，其中多个偏振器单元具有偏振透射为颜色马赛克滤镜201中的相同颜色（G）的多个像素提供限定相互不同角度的平面; 极化信息处理部103，用于近似作为正弦函数的已经通过用于G像素的偏振器单元的透射光的强度与偏振器单元的偏振透射面的角度之间的关系; 以及颜色马赛克内插部分103，用于通过执行颜色强度插值和获得在感兴趣的像素处不能获得的颜色强度来产生颜色强度图像。

26. 发明申请

US20060195225A1 Living assistance system 有权
标题翻译：生活援助制度
公开(公告)号：US20060195225A1
公开(公告)日：2006-08-31
申请号：US11346538
申请日：2006-02-02
申请人： Katsuji Aoki , Katsuhiro Kanamori , Shusaku Okamoto , Yoshihiko Matsukawa , Osamu Yamada , Tomonobu Naruoka , Satoshi Sato
发明人： Katsuji Aoki , Katsuhiro Kanamori , Shusaku Okamoto , Yoshihiko Matsukawa , Osamu Yamada , Tomonobu Naruoka , Satoshi Sato
IPC分类号： G06F19/00
CPC分类号： G06Q90/00
摘要： In a robot operation terminal, a storage unit has a group-belonging article table that indicates articles belonging to each of groups. Upon receipt of operation information indicating an operation to be instructed to the robot through an input unit, when this operation information specifies a group as its operation subject, a conversion unit converts this group to articles belonging to the group in the operation information by reference to the group-belonging article table. Thus, the instruction of an operation is made simpler, thereby reducing the occurrence of a human error.
摘要翻译：在机器人操作终端中，存储单元具有指示属于每个组的文章的组属性表表。在接收到通过输入单元指示到机器人的操作的操作信息时，当该操作信息指定组作为其操作对象时，转换单元参考操作信息将该组转换为属于该组的文章集团归属文章表。因此，使操作的指令更简单，从而减少人为错误的发生。

27. 发明授权

US07948622B2 System, method and apparatus for image processing and image format 有权
标题翻译：用于图像处理和图像格式的系统，方法和装置
公开(公告)号：US07948622B2
公开(公告)日：2011-05-24
申请号：US12846941
申请日：2010-07-30
申请人： Katsuhiro Kanamori , Satoshi Sato
发明人： Katsuhiro Kanamori , Satoshi Sato
IPC分类号： G01J4/00 , G06K9/62
CPC分类号： G02B5/3025 , G06T7/514
摘要： According to the present invention, a polarized image is captured, a variation in its light intensity is approximated with a sinusoidal function, and then the object is spatially divided into a specular reflection area (S-area) and a diffuse reflection area (D-area) in Step S402 of dividing a reflection area. Information about the object's refractive index is entered in Step S405, thereby obtaining surface normals by mutually different techniques in Steps S406 and S407, respectively. Finally, in Steps S410 and S411, the two normals are matched to each other in the vicinity of the boundary between the S- and D-areas.
摘要翻译：根据本发明，拍摄偏振图像，以正弦函数逼近其光强度的变化，然后将物体在空间上分为镜面反射区域（S区域）和漫反射区域（D- 区域）在步骤S402中分割反射区域。在步骤S405中输入关于物体折射率的信息，从而分别通过步骤S406和S407中的相互不同的技术获得表面法线。最后，在步骤S410和S411中，两个法线在S区和D区之间的边界附近彼此匹配。

28. 发明授权

US07936944B2 Image processing device and image processing method 有权
标题翻译：图像处理装置及图像处理方法
公开(公告)号：US07936944B2
公开(公告)日：2011-05-03
申请号：US12362958
申请日：2009-01-30
申请人： Satoshi Sato , Katsuhiro Kanamori , Mikiya Nakata
发明人： Satoshi Sato , Katsuhiro Kanamori , Mikiya Nakata
IPC分类号： G06K9/40 , G06K9/34 , G06T15/50
CPC分类号： G01B11/002 , G06K9/2036 , G06T15/60 , H04N5/232 , H04N5/2351
摘要： The image processing device performs processing on a shadow in an image of an object, and includes: an image information obtaining unit obtaining information about an image of the object, the information including luminance information about luminance of light from the object and polarization information about polarization of the light from the object; a shadow area extracting unit extracting an attached shadow area and a cast shadow area from the image of the object based on the luminance information and the polarization information, the attached shadow area appearing on the surface of the object depending on an angle of incidence light, and the cast shadow area appearing on the surface of a material body other than the object when the light is blocked by the object; and an output unit outputting information identifying the attached shadow area and cast shadow area.
摘要翻译：图像处理装置对对象的图像中的阴影进行处理，包括：图像信息获取单元获取关于对象的图像的信息，包括关于来自对象的光的亮度的亮度信息的信息和关于偏振的偏振信息来自对象的光; 阴影区域提取单元，基于亮度信息和偏振信息，从物体的图像中提取附着的阴影区域和投射阴影区域，根据入射光，出现在物体的表面上的阴影区域，并且当光被物体阻挡时，出现在物体以外的物体的表面上的投影区域; 以及输出单元，输出识别所附加的阴影区域和投影区域的信息。

29. 发明申请

US20100290713A1 SYSTEM, METHOD AND APPARATUS FOR IMAGE PROCESSING AND IMAGE FORMAT 有权
标题翻译：用于图像处理和图像格式的系统，方法和装置
公开(公告)号：US20100290713A1
公开(公告)日：2010-11-18
申请号：US12846941
申请日：2010-07-30
申请人： Katsuhiro Kanamori , Satoshi Sato
发明人： Katsuhiro Kanamori , Satoshi Sato
IPC分类号： G06K9/40
CPC分类号： G02B5/3025 , G06T7/514
摘要： According to the present invention, a polarized image is captured, a variation in its light intensity is approximated with a sinusoidal function, and then the object is spatially divided into a specular reflection area (S-area) and a diffuse reflection area (D-area) in Step S402 of dividing a reflection area. Information about the object's refractive index is entered in Step S405, thereby obtaining surface normals by mutually different techniques in Steps S406 and S407, respectively. Finally, in Steps S410 and S411, the two normals are matched to each other in the vicinity of the boundary between the S- and D-areas.
摘要翻译：根据本发明，拍摄偏振图像，以正弦函数逼近其光强度的变化，然后将物体在空间上分为镜面反射区域（S区域）和漫反射区域（D- 区域）在步骤S402中分割反射区域。在步骤S405中输入关于物体折射率的信息，从而分别通过步骤S406和S407中的相互不同的技术获得表面法线。最后，在步骤S410和S411中，两个法线在S区和D区之间的边界附近彼此匹配。

30. 发明申请

US20100283883A1 IMAGE PROCESSING APPARATUS, IMAGE DIVISION PROGRAM AND IMAGE SYNTHESISING METHOD 有权
标题翻译：图像处理设备，图像分割程序和图像合成方法
公开(公告)号：US20100283883A1
公开(公告)日：2010-11-11
申请号：US12674538
申请日：2009-05-15
申请人： Satoshi Sato , Katsuhiro Kanamori
发明人： Satoshi Sato , Katsuhiro Kanamori
IPC分类号： H04N5/225
CPC分类号： H04N5/2256 , G02B27/283 , G02B27/288 , H04N5/23229
摘要： A polarization image capturing section 103 obtains a first polarization image containing polarization information. A polarization information obtaining section 104 obtains first polarization information from the first polarization image. An illumination control section 102 changes an illumination section 101 and again obtains a second polarization image by means of the polarization image capturing section 103. The polarization information obtaining section 104 obtains second polarization information from the second polarization image. A light source dependency estimation section 105 obtains light source dependency from the first and second polarization information obtained from the first and second polarization images. An area dividing section 106 performs an area division by using the polarization information and light source dependency information.
摘要翻译：偏振图像拍摄部103获得包含偏振信息的第一偏振图像。偏振信息获取部分104从第一偏振图像获得第一偏振信息。照明控制部102改变照明部101，并且通过偏振图像拍摄部103再次获得第二偏振图像。偏振信息获取部104从第二偏振图像获得第二偏振信息。光源相关性估计部分105从从第一和第二偏振图像获得的第一和第二偏振信息中获得光源依赖性。区域分割部分106通过使用偏振信息和光源相关性信息来执行区域划分。

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