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21. 发明授权

US07760256B2 Image processing apparatus that obtains color and polarization information 有权
标题翻译：获得颜色和偏振信息的图像处理装置
公开(公告)号：US07760256B2
公开(公告)日：2010-07-20
申请号：US12307609
申请日：2008-05-01
申请人： Katsuhiro Kanamori , Satoshi Sato , Hiroaki Okayama
发明人： Katsuhiro Kanamori , Satoshi Sato , Hiroaki Okayama
IPC分类号： H04N3/14 , H04N5/335
CPC分类号： H04N9/045 , H04N2209/045
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 element with a color mosaic filter and a patterned polarizer in which a number of polarizer units, of which the polarization transmission planes define mutually different angles, are arranged adjacent to each other within each single color pixel; a color information processing section 102 for getting average color intensity information by averaging the intensities of the light rays that have been transmitted through the polarizer units within each said single color pixel; and a polarization information processing section 103 for approximating, as a sinusoidal function, a relation between the intensity of light rays that have been transmitted through the polarizer units within each said single color pixel and the angles of the polarization transmission planes of the polarizer units.
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，其包括具有彩色马赛克滤光片的单片彩色图像捕获元件和图案化偏振器，其中多个偏振器单元，其偏振透射平面限定相互不同的角度，在每个单个彩色像素内彼此相邻布置; 颜色信息处理部分102，用于通过对已经透过每个所述单色像素内的偏振器单元的光线的强度进行平均来获得平均颜色强度信息; 以及极化信息处理部分103，用于近似通过每个所述单色像素内的偏振器单元透射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作为正弦函数。

22. 发明申请

US20090141027A1 IMAGE PROCESSING DEVICE AND IMAGE PROCESSING METHOD 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US20090141027A1
公开(公告)日：2009-06-04
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： 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。

23. 发明授权

US07292911B2 Living assistance system 有权
标题翻译：生活援助制度
公开(公告)号：US07292911B2
公开(公告)日：2007-11-06
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。

24. 发明申请

US20060176520A1 Method, device, and program for image conversion, method, device and program for texture mapping, and server-client system 有权
公开(公告)号：US20060176520A1
公开(公告)日：2006-08-10
申请号：US11369975
申请日：2006-03-07
申请人： Hideto Motomura , Katsuhiro Kanamori , Kenji Kondo , Satoshi Sato
发明人： Hideto Motomura , Katsuhiro Kanamori , Kenji Kondo , Satoshi Sato
IPC分类号： H04N1/393
CPC分类号： G06T5/002 , G06T5/20 , G06T2207/20012 , G06T2207/20192
摘要： A plurality of parameters included in a predetermined illumination equation which defines a brightness are acquired for each pixel of an image. For each of the parameters, a homogeneous region including pixels which are similar in value of the parameter is specified. In each of the specified homogeneous region, each of the parameters is converted according to details of the predetermined image conversion. The brightness of each pixel of a second image is determined using the values of the parameters obtained after the conversion.

25. 发明授权

US08390696B2 Apparatus for detecting direction of image pickup device and moving body comprising same 有权
标题翻译：用于检测包括其的图像拾取装置和移动体的方向的装置
公开(公告)号：US08390696B2
公开(公告)日：2013-03-05
申请号：US12935321
申请日：2009-12-18
申请人： Ayako Komoto , Katsuhiro Kanamori , Satoshi Sato
发明人： Ayako Komoto , Katsuhiro Kanamori , Satoshi Sato
IPC分类号： H04N5/228
CPC分类号： H04N5/2251 , H04N5/2628 , H04N9/045
摘要： A polarization camera that can capture polarization images and a color image at the same time is used. Specifically, a clear sky polarization image, which provides information about the polarization of a part of the sky, is captured by a clear sky polarization image capturing section 100. And by reference to the information provided by a sun position determining section 1301 that determines the sun's position at the time of shooting, a camera direction estimating section 101 determines in what direction and in what area of the whole sky the clear sky polarization image is located as a polarization pattern. Finally, information about what direction or orientation on the globe the camera (image capture device) is now facing is output. In this manner, the direction of the camera and the relative position of the camera with respect to the sun can be known without providing a sensor separately and without capturing the whole sky or the sun.
摘要翻译：使用可以同时捕获偏振图像和彩色图像的偏振照相机。具体而言，由晴空偏振图像拍摄部100拍摄提供关于天空的一部分的偏振的信息的晴空偏振图像。参照由太阳位置确定部1301提供的信息，该太阳位置确定部1301确定太阳在拍摄时的位置，照相机方向估计部101确定清晰天空偏振图像位于什么方向和整个天空的哪个区域作为偏振图案。最后，输出有关相机（图像捕获设备）现在正在面向的全球方向或方向的信息。以这种方式，相机相对于太阳的照相机的方向和相对位置可以是已知的，而不需要分别提供传感器而不捕获整个天空或太阳。

26. 发明授权

US08131116B2 Image processing device, image processing method and image processing program 有权
标题翻译：图像处理装置，图像处理方法和图像处理程序
公开(公告)号：US08131116B2
公开(公告)日：2012-03-06
申请号：US12085698
申请日：2007-08-24
申请人： Hideto Motomura , Katsuhiro Kanamori , Satoshi Sato
发明人： Hideto Motomura , Katsuhiro Kanamori , Satoshi Sato
IPC分类号： G06K9/32
CPC分类号： H04N5/235 , G06T3/4007 , H04N5/2256 , H04N5/232 , H04N5/23232 , H04N5/23245
摘要： The resolution of an image of an object is increased. The illumination equation parameters of the object are estimated, and a resolution-increasing process is performed on the estimated illumination equation parameters. Then, the resolution-increased illumination equation parameters are synthesized together to produce a high-resolution image. If there is a pixel for which the estimation precision of the estimated illumination equation parameters does not satisfy a predetermined precision, the illumination equation parameters are estimated again while feeding back the resolution-increased illumination equation parameters.
摘要翻译：对象的图像的分辨率增加。估计对象的照度方程参数，并对估计的照明方程参数进行分辨率增加处理。然后，分辨率增加的照度方程参数被合成以产生高分辨率图像。如果存在估计照度方程参数的估计精度不满足预定精度的像素，则在反馈分辨率增加的照度方程参数的同时再次估计照明方程参数。

27. 发明授权

US08025408B2 Method, apparatus and program for image processing and method and apparatus for image synthesizing 有权
标题翻译：用于图像处理的方法，装置和程序以及用于图像合成的方法和装置
公开(公告)号：US08025408B2
公开(公告)日：2011-09-27
申请号：US12672940
申请日：2009-05-15
申请人： Satoshi Sato , Katsuhiro Kanamori
发明人： Satoshi Sato , Katsuhiro Kanamori
IPC分类号： G06K9/00
CPC分类号： H04N9/045 , G06T7/11 , G06T2207/10024
摘要： An image processing apparatus captures an object's image and separates the object's image into multiple components. The apparatus includes: a light projecting section 101 for projecting light emitted from a light source toward the object; a color and polarization obtaining section 102 for getting a color polarized image of the object; a polarization information processing section 104 for generating color and polarization information based on an association between the intensity of the light that has been transmitted through a polarizer with three or more polarization principal axis directions and the polarization principal axis directions for each of unit pixels that form the color polarized image; a light source color information collecting section 105 for collecting color information of the light source; and an image component separating section 106 for separating the color image into multiple components based on the polarization information and the color information of the light source.
摘要翻译：图像处理装置捕获对象的图像并将对象的图像分离成多个分量。该装置包括：用于将从光源发射的光投射到物体的光投射部101; 用于获得对象的彩色偏振图像的颜色和偏振获得部分102; 偏振信息处理部分104，用于基于形成有三个或更多个偏振主轴方向的偏振器透射的光的强度与形成的每个单位像素的偏振主轴方向之间的关联来产生颜色和偏振信息彩色偏光图像; 用于收集光源的颜色信息的光源颜色信息收集部分105; 以及用于基于偏振信息和光源的颜色信息将彩色图像分离成多个分量的图像分量分离部分106。

28. 发明申请

US20110050854A1 IMAGE PROCESSING DEVICE AND PSEUDO-3D IMAGE CREATION DEVICE 有权
标题翻译：图像处理设备和PSEUDO-3D图像创建设备
公开(公告)号：US20110050854A1
公开(公告)日：2011-03-03
申请号：US12935304
申请日：2009-12-16
申请人： Katsuhiro Kanamori , Ayako Komoto , Satoshi Sato
发明人： Katsuhiro Kanamori , Ayako Komoto , Satoshi Sato
IPC分类号： H04N13/02
CPC分类号： G06T7/55 , G06T2207/10024 , H04N13/25 , H04N13/261
摘要： The present invention provides an apparatus that includes a color and polarization image capturing section 201, a whole sky polarization map getting section 202, a weather determining section 203, a fine-weather sky part separating section 204, a cloudy-weather normal estimating section 207, and a pseudo 3D image generating section 208. The apparatus obtains polarization information outdoors with the polarization state of the sky taken into account, and estimates surface normal information at an object's surface on a two-dimensional image, thereby generating a surface normal image. Using that normal image, the apparatus divides the object into multiple ranges, extracts three-dimensional information and generates a viewpoint changed image, thereby generating a pseudo 3D image.
摘要翻译：本发明提供一种装置，其包括彩色和偏振图像拍摄部分201，全天空偏振地图获取部分202，天气确定部分203，晴天天气部分分离部分204，多云天气正常估计部分207 以及伪3D图像生成部208.该装置在考虑了天空的偏振状态的情况下在室外获取偏振信息，并且估计二维图像上物体表面的表面法线信息，从而生成表面法线图像。使用该正常图像，设备将对象分成多个范围，提取三维信息并生成视点改变图像，从而生成伪3D图像。

29. 发明授权

US07792367B2 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：US07792367B2
公开(公告)日：2010-09-07
申请号：US12294317
申请日：2008-02-08
申请人： Katsuhiro Kanamori , Satoshi Sato
发明人： Katsuhiro Kanamori , Satoshi Sato
IPC分类号： G06K9/00 , G01J4/00
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。

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