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1. 发明授权

US08571303B2 Stereo matching processing system, stereo matching processing method and recording medium 有权
标题翻译：立体匹配处理系统，立体匹配处理方法和记录介质
公开(公告)号：US08571303B2
公开(公告)日：2013-10-29
申请号：US12292764
申请日：2008-11-25
申请人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
发明人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
IPC分类号： G06T15/00 , G06K9/00 , G01C3/14
CPC分类号： G06T7/593 , G06T2207/10012 , G06T2207/30184
摘要： A stereo matching processing system includes an associating unit that associates with each other such regions, in a plurality of images obtained by shooting a same object from different directions, that are on a same scanning line and have a largest correlation coefficient between them, as items that represent a same position, and a line segment determining unit that determines whether or not line segments that are associated with each other as items that teach a same position are drawn in the plurality of images respectively. When said line segment determining unit determines that the line segments are drawn, said associating unit associates with each other, not such regions that are on the same scanning line and have a largest correlation coefficient between them, but intersections at which the scanning line and the line segments each cross, as items that represent a same position.
摘要翻译：立体匹配处理系统包括：相关联单元，其在通过从相同扫描线上拍摄来自不同方向的相同对象获得的多个图像中并且在它们之间具有最大的相关系数的相关联的这些区域作为项目其表示相同的位置，线段确定单元确定在多个图像中是否分别绘制彼此相关联的线段作为教导相同位置的项目。当所述线段确定单元确定线段被绘制时，所述关联单元彼此相关联，而不是在相同扫描线上并且在它们之间具有最大相关系数的区域，而是与扫描线和每个交叉的线段作为表示相同位置的项目。

2. 发明授权

US08831335B2 Stereo matching processing apparatus, stereo matching processing method and computer-readable recording medium 有权
标题翻译：立体匹配处理装置，立体匹配处理方法和计算机可读记录介质
公开(公告)号：US08831335B2
公开(公告)日：2014-09-09
申请号：US12292766
申请日：2008-11-25
申请人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
发明人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
IPC分类号： G06K9/00 , G06T7/00
CPC分类号： G06T7/0075 , G06T7/593 , G06T2207/10012 , G06T2207/30184
摘要： Improving stereo matching speed and accuracy, an image data input unit acquires image data of plural images of a predetermined region captured from plural different positions. A reference disparity setting unit sets a reference disparity suitable for the plural images. The search range setting unit sets a predetermined range smaller than the image range as a search range for stereo matching, by referring to points in the images between which the reference disparity set by the reference disparity setting unit is provided. A stereo matching unit searches out, for an arbitrary point in one of the plural images, a point in the other image that matches the arbitrary point, from the search range set by the search range setting unit, by referring to a point in the other image that provides the reference disparity set by the reference disparity setting unit.
摘要翻译：提高立体匹配速度和精度，图像数据输入单元获取从多个不同位置捕获的预定区域的多个图像的图像数据。参考视差设定单元设定适用于多个图像的参考视差。搜索范围设定单元通过参照设置参考视差设定单元设定的基准视差的图像中的点，将比图像范围小的规定范围设定为立体匹配的搜索范围。立体匹配单元从搜索范围设定单元设定的搜索范围中，通过参照另一图像中的点来搜索与多个图像中的一个图像中的任意一点相对应的任意点的任意点该图像提供由参考视差设置单元设置的参考视差。

3. 发明申请

US20100128973A1 Stereo image processing apparatus, stereo image processing method and computer-readable recording medium 审中-公开
标题翻译：立体图像处理装置，立体图像处理方法和计算机可读记录介质
公开(公告)号：US20100128973A1
公开(公告)日：2010-05-27
申请号：US12292765
申请日：2008-11-25
申请人： Toshiyuki Kamiya , Hiroyuki Yagyuu , Hirokazu Koizumi
发明人： Toshiyuki Kamiya , Hiroyuki Yagyuu , Hirokazu Koizumi
IPC分类号： G06K9/00
CPC分类号： G06T7/593 , G06T2207/10012 , G06T2207/30184
摘要： A stereo image processing apparatus 1 specifies a line pair having a high correlation between one image and the other image of a stereo image, for an image region which has a predetermined width and is parallel to a scanning direction (X direction) in a stereo image which shoots a predetermined region from two different positions and has a scanning line direction and an epipolar line direction matched with each other, obtains a shift (vertical azimuth difference) in a vertical direction (Y direction) between the one image and the other image of the stereo image according to each position of the specified line pair, and corrects the stereo image so as to eliminate the obtained shift.
摘要翻译：立体图像处理装置1对于在立体图像中具有预定宽度且与扫描方向（X方向）平行的图像区域，在一个图像与立体图像的另一图像之间具有高相关性的线对其从两个不同的位置拍摄预定区域，并且具有彼此匹配的扫描线方向和对极线方向，获得一个图像与另一个图像之间的垂直方向（Y方向）的偏移（垂直方位差）根据指定线对的每个位置的立体图像，并校正立体图像，以消除所获得的移位。

4. 发明申请

US20100128974A1 Stereo matching processing apparatus, stereo matching processing method and computer-readable recording medium 有权
标题翻译：立体匹配处理装置，立体匹配处理方法和计算机可读记录介质
公开(公告)号：US20100128974A1
公开(公告)日：2010-05-27
申请号：US12292766
申请日：2008-11-25
申请人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
发明人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
IPC分类号： G06K9/00 , G06K9/64
CPC分类号： G06T7/0075 , G06T7/593 , G06T2207/10012 , G06T2207/30184
摘要： To improve stereo matching speed and accuracy. An image data input unit 10 acquires image data of plural images of a predetermined region captured from plural different positions. A reference disparity setting unit 12 sets a reference disparity suitable for the plural images. The search range setting unit 13 sets a predetermined range smaller than the image range as a search range for stereo matching, by referring to points in the images between which the reference disparity set by the reference disparity setting unit 12 is provided. A stereo matching unit 11 searches out, for an arbitrary point in one of the plural images, a point in the other image that matches the arbitrary point, from the search range set by the search range setting unit 13, by referring to a point in the other image that provides the reference disparity set by the reference disparity setting unit 12.
摘要翻译：提高立体匹配速度和准确度。图像数据输入单元10获取从多个不同位置捕获的预定区域的多个图像的图像数据。基准视差设定部12设定适于多个图像的基准视差。搜索范围设定单元13通过参考设置参考视差设定单元12设定的基准视差的图像中的点，设定小于图像范围的预定范围作为用于立体匹配的搜索范围。立体声匹配单元11对于多个图像中的一个图像中的任意一点，从搜索范围设置单元13设置的搜索范围中，通过参考点提供由参考视差设置单元12设置的参考视差的另一图像。

5. 发明申请

US20100128972A1 Stereo matching processing system, stereo matching processing method and recording medium 有权
标题翻译：立体匹配处理系统，立体匹配处理方法和记录介质
公开(公告)号：US20100128972A1
公开(公告)日：2010-05-27
申请号：US12292764
申请日：2008-11-25
申请人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
发明人： Hirokazu Koizumi , Toshiyuki Kamiya , Hiroyuki Yagyuu
IPC分类号： G06K9/00
CPC分类号： G06T7/593 , G06T2207/10012 , G06T2207/30184
摘要： To correctly associate coinciding positions between a plurality of images.In a case where an operator makes an operation of inputting associated supplementary lines A2 and A1 into left and right images respectively, and associated supplementary lines B2 and B1 into the left and right images respectively, stereo matching processing system associates coordinate a2 of intersection of a scanning line and supplementary line A2 in the left image with coordinate al of intersection of the scanning line and supplementary line A1 in the right image on search plane, and coordinate b2 of intersection of the scanning line and supplementary line B2 in the left image with coordinate b1 of intersection of the scanning line and supplementary line B1 in the right image on search plane. Hence, the stereo matching processing system 1 can redress wrong associations on search plane and correctly associate coinciding positions in the left and right images.
摘要翻译：正确关联多个图像之间的重合位置。在操作者分别将相关联的辅助线A2和A1分别输入到左图像和右图像以及相关联的辅助线B2和B1中的操作中，立体匹配处理系统将相关联的辅助线A2和A1的交点的坐标a2相关联左侧图像中的扫描线和辅助线A2与搜索平面上的右图像中的扫描线和辅助线A1的坐标a1相交，并且将左侧图像中的扫描线和辅助线B2的坐标b2与坐标扫描线和辅助线B1在搜索平面上的右图像的交点b1。因此，立体匹配处理系统1可以纠正搜索平面上的错误关联，并且正确地关联左图像和右图像中的重合位置。

6. 发明申请

US20100128971A1 Image processing apparatus, image processing method and computer-readable recording medium 审中-公开
标题翻译：图像处理装置，图像处理方法和计算机可读记录介质
公开(公告)号：US20100128971A1
公开(公告)日：2010-05-27
申请号：US12292762
申请日：2008-11-25
申请人： Toshiyuki Kamiya , Hiroyuki Yagyuu , Hirokazu Koizumi
发明人： Toshiyuki Kamiya , Hiroyuki Yagyuu , Hirokazu Koizumi
IPC分类号： G06K9/00
CPC分类号： G06K9/00637 , G06K2009/2045 , G06T7/593
摘要： A pair of images subjected to image processing is divided. Next, based on mutually-corresponding divided images, mutually-corresponding matching images are respectively set. When a corresponding point of a characteristic point in one matching image is not extracted from the other matching image, adjoining divided images are joined together, and based on the joined divided image, a new matching image is set.
摘要翻译：经过图像处理的一对图像被分割。接下来，基于相互对应的分割图像，分别设定相互对应的匹配图像。当没有从其他匹配图像中提取一个匹配图像中的特征点的对应点时，相邻的分割图像被连接在一起，并且基于所连接的分割图像，设置新的匹配图像。

7. 发明申请

US20100128977A1 Building change detection apparatus, Building change detection method and program 有权
标题翻译：建筑变更检测装置，建筑物变更检测方法和程序
公开(公告)号：US20100128977A1
公开(公告)日：2010-05-27
申请号：US12292763
申请日：2008-11-25
申请人： Hiroyuki Yagyuu
发明人： Hiroyuki Yagyuu
IPC分类号： G06K9/46
CPC分类号： G06T7/254 , G06T2207/10032 , G06T2207/30184
摘要： A building change detection apparatus detects a change in a building in a predetermined area on a map between a first time point and a second time point later than the first time point. A first image data acquiring unit acquires first image data of the predetermined area photographed at the first time point. A second image data acquiring unit acquires second image data of the predetermined area photographed at the second time point. A feature change detecting unit compares the first image data with the second image data to detect changes in features including a building in the predetermined area. A building absent area specifying unit specifies a building absent area in the predetermined area where a building is not present. A building change detecting unit detects a change in a building in the predetermined area by setting a feature whose change is detected by the feature change detecting unit in the predetermined area from which the building absent area is excluded, as a changed building in the predetermined area.
摘要翻译：建筑物变更检测装置在比第一时间点晚的第一时间点和第二时间点之间的地图上的预定区域中检测建筑物的变化。第一图像数据获取单元获取在第一时间点拍摄的预定区域的第一图像数据。第二图像数据获取单元获取在第二时间点拍摄的预定区域的第二图像数据。特征改变检测单元将第一图像数据与第二图像数据进行比较，以检测包括预定区域中的建筑物的特征的变化。建筑物缺勤区域指定单元指定在不存在建筑物的预定区域中的建筑物缺失区域。建筑物变化检测单元通过将特征变化检测单元检测到的变化的特征设置在不包括建筑物缺失区域的预定区域中来检测预定区域中的建筑物的变化，作为预定区域中的改变的建筑物。

8. 发明授权

US08682064B2 Building change detection apparatus, building change detection method and program 有权
标题翻译：建筑变更检测装置，建筑物变更检测方法和程序
公开(公告)号：US08682064B2
公开(公告)日：2014-03-25
申请号：US12292763
申请日：2008-11-25
申请人： Hiroyuki Yagyuu
发明人： Hiroyuki Yagyuu
IPC分类号： G06K9/00 , G06K9/52 , G06K9/68 , G06K9/62 , G06K9/32 , G06K9/46
CPC分类号： G06T7/254 , G06T2207/10032 , G06T2207/30184
摘要： A building change detection apparatus detects a change in a building in a predetermined area on a map between a first time point and a second time point later than the first time point. A first image data acquiring unit acquires first image data of the predetermined area photographed at the first time point. A second image data acquiring unit acquires second image data of the predetermined area photographed at the second time point. A feature change detecting unit compares the first image data with the second image data to detect changes in features including a building in the predetermined area. A building absent area specifying unit specifies a building absent area in the predetermined area where a building is not present. A building change detecting unit detects a change in a building in the predetermined area by setting a feature whose change is detected by the feature change detecting unit in the predetermined area from which the building absent area is excluded, as a changed building in the predetermined area.
摘要翻译：建筑物变更检测装置在比第一时间点晚的第一时间点和第二时间点之间的地图上的预定区域中检测建筑物的变化。第一图像数据获取单元获取在第一时间点拍摄的预定区域的第一图像数据。第二图像数据获取单元获取在第二时间点拍摄的预定区域的第二图像数据。特征改变检测单元将第一图像数据与第二图像数据进行比较，以检测包括预定区域中的建筑物的特征的变化。建筑物缺勤区域指定单元指定在不存在建筑物的预定区域中的建筑物缺失区域。建筑物变化检测单元通过将特征变化检测单元检测到的变化的特征设置在不包括建筑物缺失区域的预定区域中来检测预定区域中的建筑物的变化，作为预定区域中的改变的建筑物。

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