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1. 发明公开

EP3742114A1 STEREO CAMERA DISPARITY CORRECTION 有权
公开(公告)号：EP3742114A1
公开(公告)日：2020-11-25
申请号：EP20170803.9
申请日：2020-04-22
申请人： Ricoh Company, Ltd.
发明人： MIMA, Hiroki , AMANO, Seiya
IPC分类号： G01B21/04 , G01B11/24 , G06T7/593 , G06T7/73 , G06T7/80 , E01C23/01 , H04N13/246
摘要： A measuring device (50) includes an acquisition unit (500) configured to obtain at least one pair of stereo captured images captured by a stereo camera (6), a detection unit (503) configured to detect two or more feature points from each one of the at least one pair of stereo captured images, and a measuring unit (506) configured to measure a disparity error using a distance between a pair of feature points of the two or more feature points detected by the detection unit (503) on each one of the at least one pair of stereo captured images, where an equation S img > ΔS E da d is satisfied. In the equation, S img denotes the distance, and ΔS denotes a detection error between the pair of imaging devices (601R, 601L). Moreover, E da denotes precision of measurement of a disparity error in disparity between a pair of images of the at least one pair of stereo captured images, and d denotes the disparity. The stereo camera (6) including a pair of imaging devices (601R, 601L).

2. 发明公开

EP3392830A1 IMAGE PROCESSING DEVICE, OBJECT RECOGNITION DEVICE, APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD AND PROGRAM 有权
公开(公告)号：EP3392830A1
公开(公告)日：2018-10-24
申请号：EP16875554.4
申请日：2016-12-09
申请人： Ricoh Company, Ltd.
发明人： AMANO, Seiya , SEKIGUCHI, Hiroyoshi , YOKOTA, Soichiro
IPC分类号： G06T7/00 , G01B11/245 , G01C3/06 , G06T1/00 , G08G1/16
CPC分类号： G06K9/00805 , G01B11/245 , G01C3/06 , G06K9/00281 , G06K9/00288 , G06T1/00 , G06T7/00 , G06T7/593 , G08G1/16 , H04N13/239
摘要： An image processing device includes a first extracting unit configured to extract, based on distance information regarding an object, a first area representing the object; a second extracting unit configured to extract contour directions of a contour of the first area; a face detecting unit configured to detect a first face in the first area, based on the contour directions extracted by the second extracting unit; a first apex detecting unit configured to detect a first apex indicating a boundary of the first face; and a decider configured to decide on a principal face of the object represented by the first area, based on at least the first face and the first apex.

3. 发明授权

EP3410415B1 IMAGE PROCESSING DEVICE, IMAGING DEVICE, MOVING BODY DEVICE CONTROL SYSTEM AND IMAGE PROCESSING PROGRAM 有权
公开(公告)号：EP3410415B1
公开(公告)日：2020-11-18
申请号：EP17743873.6
申请日：2017-01-04
申请人： Ricoh Company, Ltd.
发明人： WATANABE, Genki , SEKIGUCHI, Hiroyoshi , YOKOTA, Soichiro , AMANO, Seiya , YAMADA, Yuu , SAWADA, Keito
IPC分类号： G06T7/246

4. 发明公开

EP3413267A1 OBJECT DETECTION DEVICE, DEVICE CONTROL SYSTEM, IMAGING DEVICE, OBJECTION DETECTION METHOD, AND PROGRAM 有权
公开(公告)号：EP3413267A1
公开(公告)日：2018-12-12
申请号：EP16889419.4
申请日：2016-12-14
申请人： Ricoh Company, Ltd.
发明人： TAKAHASHI, Sadao , TAKAHASHI, Yuji , SUMIYOSHI, Shinichi , YAMADA, Yuu , AMANO, Seiya , YOKOTA, Soichiro , SEKIGUCHI, Hiroyoshi
IPC分类号： G06T7/00 , B60R21/00 , G01B11/00 , G01C3/06 , G08G1/16
CPC分类号： G06T7/70 , B60R21/00 , G01B11/00 , G01C3/06 , G06K9/00805 , G06T7/00 , G06T7/593 , G06T2200/04 , G06T2207/10021 , G06T2207/10028 , G06T2207/30236 , G06T2207/30261 , G08G1/16 , H04N13/204
摘要： An object detection device according to the present invention includes a map generator configured to generate two types of maps having different resolutions based on a distance image that includes distance information for each coordinate; and an object detector configured to detect an object based on the two types of maps generated by the map generator.

5. 发明公开

EP3410415A1 IMAGE PROCESSING DEVICE, IMAGING DEVICE, MOBILE ENTITY APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM 有权
公开(公告)号：EP3410415A1
公开(公告)日：2018-12-05
申请号：EP17743873.6
申请日：2017-01-04
申请人： Ricoh Company, Ltd.
发明人： WATANABE, Genki , SEKIGUCHI, Hiroyoshi , YOKOTA, Soichiro , AMANO, Seiya , YAMADA, Yuu , SAWADA, Keito
IPC分类号： G08G1/16 , G06T7/246 , G06T7/285
摘要： Disclosed is an image processing apparatus that includes a generator configured to generate distribution data indicating a frequency distribution of horizontal distance values of a range image based on the range image having pixel values according to distance of an object in a plurality of captured images; a detector configured to detect an object based on the distribution data with respect to a range image; a position predictor configured to predict a predicted position of the object in a current frame based on the distribution data with respect to range images of a plurality of previous frames; and a tracking unit configured to integrate a plurality of objects detected by the detector based on the predicted position to track an integrated object in subsequent frames.

6. 发明公开

EP3588141A1 DISTANCE-MEASURING APPARATUS, MOBILE OBJECT, DISTANCE-MEASURING METHOD, AND DISTANCE-MEASURING SYSTEM 有权
公开(公告)号：EP3588141A1
公开(公告)日：2020-01-01
申请号：EP19177736.6
申请日：2019-05-31
申请人： Ricoh Company, Ltd.
发明人： SEKIGUCHI, Hiroyoshi , KISHIWADA, Jun , YOKOTA, Soichiro , NAKAMURA, Tadashi , AMANO, Seiya , MATSUURA, Kazuma
IPC分类号： G01S17/89 , G01S17/42 , G01S17/46 , G01S17/48 , G01S7/486
摘要： A distance-measuring apparatus (100), a mobile object, a distance-measuring method, and a distance-measuring system. The distance-measuring apparatus (100) and the distance-measuring method include performing matching for a plurality of images obtained by a plurality of imaging devices (11, 12) to convert the plurality of images into first distance information on a pixel-by-pixel basis, emitting a laser beam where at least one of a first laser-beam resolution in a horizontal direction and a second laser-beam resolution in a vertical direction exceeds two degrees, obtaining a reflected signal obtained when the laser beam is reflected by an object, detecting a peak that corresponds to reflection from the object from the reflected signal, calculating second distance information based on a length of time (T) taken to observe the peak after the laser beam is emitted in the emitting, and integrating the first distance information and the second distance information with each other. The mobile object includes the distance-measuring apparatus (100). The distance-measuring system includes the distance-measuring apparatus (100).

8. 发明公开

EP3389009A1 IMAGE PROCESSING DEVICE, OBJECT RECOGNITION DEVICE, APPARATUS CONTROL SYSTEM, IMAGE PROCESSING METHOD AND PROGRAM 审中-公开
公开(公告)号：EP3389009A1
公开(公告)日：2018-10-17
申请号：EP16873092.7
申请日：2016-12-08
申请人： Ricoh Company, Ltd.
发明人： AMANO, Seiya , SEKIGUCHI, Hiroyoshi , YOKOTA, Soichiro
IPC分类号： G06T7/00 , G01C3/06 , G06T1/00 , G06T7/60 , H04N7/18
CPC分类号： G06T7/596 , G01C3/06 , G06K9/00228 , G06K9/00805 , G06K9/4604 , G06K9/4642 , G06K9/6202 , G06T1/00 , G06T5/50 , G06T7/00 , G06T7/593 , G06T7/60 , H04N7/18
摘要： An image processing device includes a first extracting unit configured to extract a first area representing an object, from a first image indicating a frequency distribution of distance values corresponding to a travelling direction of the image processing device, the frequency distribution associating actual distances in a direction orthogonal to the travelling direction with the distance values; a first processing unit configured to perform first processing to detect a face of the object represented by the first area, using at least the first image; and a second processing unit configured to perform second processing to identify a type of the face of the object represented by the first area, using at least a second image indicating a frequency distribution of the distance values corresponding to the travelling direction of the image processing device, the frequency distribution associating a horizontal direction of a distance image made from the distance values, with the distance values.

9. 发明公开

EP3115933A1 IMAGE PROCESSING DEVICE, IMAGE CAPTURING DEVICE, MOBILE BODY CONTROL SYSTEM, IMAGE PROCESSING METHOD, AND COMPUTER-READABLE RECORDING MEDIUM 有权
标题翻译：图像处理装置，图像捕获装置，控制系统的移动体图像处理和计算机可读记录介质
公开(公告)号：EP3115933A1
公开(公告)日：2017-01-11
申请号：EP16178187.7
申请日：2016-07-06
申请人： Ricoh Company, Ltd.
发明人： AMANO, Seiya , TAKAHASHI, Sadao , YOKOTA, Soichiro
IPC分类号： G06K9/00
CPC分类号： G06K9/00805
摘要： An image processing device (3) includes: a reference detecting unit (46) configured to detect a reference object serving as a reference for a height of an object from a depth map including distance information on pixels; a map generating unit (49) configured to cast, out of a plurality of maps indicating respective height ranges as a height range from the reference object, votes from the distance information on the pixels on the maps indicating the height ranges corresponding to heights of the respective pixels in the depth map from the reference object; an aggregation detecting unit (50) configured to detect an aggregated region of the distance information from the maps; and a classifying unit (51) configured to classify a type of the object of the aggregated region based on distribution of the aggregated region on the maps.
摘要翻译：一种图像处理装置（3）包括：被配置为检测用作用于从深度图包含的像素的距离信息的物体的高度的基准的基准物体的基准检测部（46）; 构成的图产生单元（49）以投，出图指示respectivement高度的多个范围为从所述参考对象的高度范围，从对在地图上指示高度象素的距离信息票范围对应的高度在从参考对象的深度图respectivement像素; 聚合单元的检测（50）被配置为检测到聚集从地图的距离信息区域; 和分类单元（51），配置成一个型基于在地图上的聚集区域的分布的聚集区域的对象进行分类。

10. 发明公开

EP3385904A1 IMAGE PROCESSING DEVICE, OBJECT RECOGNITION DEVICE, DEVICE CONROL SYSTEM, IMAGE PROCESSING METHOD, AND PROGRAM 无效
公开(公告)号：EP3385904A1
公开(公告)日：2018-10-10
申请号：EP16870241.3
申请日：2016-08-29
申请人： Ricoh Company, Ltd.
发明人： AMANO, Seiya , SEKIGUCHI, Hiroyoshi , YOKOTA, Soichiro
IPC分类号： G06T7/00 , G08G1/16
CPC分类号： G06T7/564 , G06K9/00805 , G06T7/00 , G06T7/11 , G06T2207/10021 , G06T2207/30261 , G08G1/16
摘要： An image processing apparatus includes a first extracting unit configured to extract a first region in which an object is represented, from a distance image that is drawn using distance information, based on the distance information of the object calculated from an image of the object captured by an image capturing unit; a second extracting unit configured to extract a contour direction that is a direction along which pixels forming a contour of the first region are arrayed; and a detecting unit configured to detect a first surface facing the image capturing unit from the first region, based on the contour direction extracted by the second extracting unit.

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