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1. 发明专利

JP2008304248A Method for calibrating on-board stereo camera, on-board distance image generating apparatus, and program 审中-公开
标题翻译：校准板上立体相机，板上距离图像发生装置和程序的方法
公开(公告)号：JP2008304248A
公开(公告)日：2008-12-18
申请号：JP2007150148
申请日：2007-06-06
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/00 , B60R1/00 , G01C3/06 , H04N5/232
摘要： PROBLEM TO BE SOLVED: To provide a method for highly accurately calibrating an on-board stereo camera without the need for restricting locations for calibration, and also to provide an on-board distance detection apparatus and a program.
SOLUTION: In the method for calibrating an on-board stereo camera, the on-board stereo camera for acquiring stereoscopic images for distance image generation is calibrated. The method for calibrating the on-board stereo camera includes a determination step for determining whether an automobile is stopped or traveling, and a calibration step for calibrating the stereo camera while the automobile is stopped.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于高精度校准车载立体相机的方法，而不需要限制校准位置，并且还提供车载距离检测装置和程序。
解决方案：在校准车载立体相机的方法中，校准用于获取用于距离图像生成的立体图像的车载立体相机。用于校准车载立体摄像机的方法包括用于确定汽车是停止还是行驶的确定步骤，以及用于在汽车停止时校准立体摄像机的校准步骤。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2008216126A Distance image generating device, distance image generation method, and program 有权
标题翻译：距离图像生成装置，距离图像生成方法和程序
公开(公告)号：JP2008216126A
公开(公告)日：2008-09-18
申请号：JP2007055827
申请日：2007-03-06
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06 , G06T1/00 , G06T7/00
摘要： PROBLEM TO BE SOLVED: To provide a distance image generating device, a distance image generation method, and a program capable of precisely generating a distance image, at a high speed.
SOLUTION: The distance image generation device includes imaging devices 2a, 2b for acquiring a standard image and a reference image; multiple resolution image generating part 13 generating a plurality of hierarchical images with different resolution about the standard image and the reference image; a corresponding point search part 15, which includes an SAD calculation part 6 performing corresponding point search for at least the hierarchical image having the lowest resolution and a POC calculation part 7 for performing, corresponding point search for at least the hierarchical image having the highest resolution, which starts the corresponding point search from the hierarchical image having the low resolution, sequentially performs the corresponding point search for the hierarchical image having the high resolution, and sequentially repeats the corresponding point search, until the hierarchical image having the highest resolution is reached; a search area setting part 14 for setting a search area of the hierarchical image of the next hierarchy, on the basis of the search result about the immediately preceding hierarchy; and a distance image generation part 16 generating the distance image on the basis of the search result.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供能够高速精确地产生距离图像的距离图像生成装置，距离图像生成方法和程序。解决方案：距离图像生成装置包括用于获取标准图像和参考图像的成像装置2a，2b; 多分辨率图像生成部13，生成与标准图像和参考图像不同的分辨率的多个分层图像; 对应点搜索部分15，其包括执行至少具有最低分辨率的分层图像的对应点搜索的SAD计算部分6和用于执行至少具有最高分辨率的分层图像的对应点搜索的POC计算部分7 从具有低分辨率的分层图像开始相应的点搜索，顺序地对具有高分辨率的分层图像执行相应的点搜索，并且顺序地重复相应的点搜索，直到达到具有最高分辨率的分层图像; 搜索区域设置部分14，用于基于关于紧接在前的层次结构的搜索结果来设置下一层次的分层图像的搜索区域; 以及基于搜索结果生成距离图像的距离图像生成部16。版权所有（C）2008，JPO＆INPIT

3. 发明专利

JP2010086362A Drive recorder 审中-公开
标题翻译：驱动记录器
公开(公告)号：JP2010086362A
公开(公告)日：2010-04-15
申请号：JP2008255897
申请日：2008-10-01
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G07C5/00 , B62D41/00
摘要： PROBLEM TO BE SOLVED: To provide a drive recorder, capable of recording not only an accident generated actually but also information, such as, an image of hazards or risky events that may lead to risk of an accident, and of allowing post analysis. SOLUTION: This drive recorder 10 is provided with a stereo image acquiring part 12 for acquiring an image of a stereo camera 11; a vehicle state information acquiring part 14 for acquiring vehicle state information, such as, the speed and acceleration of a vehicle; a recording information generating part 13 for generating recording information, based on the image acquired by the stereo image acquiring part and the vehicle state information acquired by the vehicle state information acquiring part; and a recording part 15 for recording the recording information generated. The recording information generating part 13 has a temporary holding part 21 for temporarily recording the image acquired by the stereo image acquiring part; an image recognition part 22 for recognizing an obstacle, based on the image; and an information adding part 23 for adding recognition information which is recognized by the image recognition part, to the recording information. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种驾驶记录仪，不仅可以记录实际产生的意外，还可以记录可能导致事故风险的危险图像或危险事件等信息，并允许发布分析。解决方案：该驱动记录器10设置有用于获取立体相机11的图像的立体图像获取部分12; 用于获取诸如车辆的速度和加速度的车辆状态信息的车辆状态信息获取部14; 记录信息生成部13，其基于由立体图像获取部获取的图像和由车辆状态信息获取部获取的车辆状态信息来生成记录信息; 以及用于记录所生成的记录信息的记录部分15。记录信息生成部13具有用于临时记录由立体图像获取部获取的图像的临时保持部21。基于图像识别障碍物的图像识别部22; 以及用于将由图像识别部分识别的识别信息添加到记录信息的信息添加部分23。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2008304202A Method and apparatus for distance image generation and program 审中-公开
标题翻译：用于距离图像生成和程序的方法和装置
公开(公告)号：JP2008304202A
公开(公告)日：2008-12-18
申请号：JP2007149005
申请日：2007-06-05
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a method and an apparatus for distance image generation, and a program, which achieves compatibility of an incompatible accuracy balance between processing speed and distance resolution, in parallax computations by a stereoscopic camera.
SOLUTION: In the distance image generating method, stereoscopic images are acquired to compute parallax. The distance image generating method uses: a first arithmetic processing method having high distance resolution to a far-distance region; a second arithmetic processing method having lower distance resolution but higher processing speed than the first arithmetic processing method, to an intermediate-distance region; and a third arithmetic processing method having lower distance resolution but higher processing speed than the second arithmetic processing method, to a near-distance region.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于距离图像生成的方法和装置，以及在立体相机的视差计算中实现处理速度和距离分辨率之间的不兼容精度平衡的兼容性的程序。解决方案：在距离图像生成方法中，获取立体图像以计算视差。距离图像生成方法使用：对远距离区域具有高距离分辨率的第一算术处理方法; 对于中间距离区域，具有比第一算术处理方法更低的距离分辨率但是处理速度更高的第二算术处理方法; 以及具有比第二算术处理方法更低的距离分辨率但是处理速度更高的第三算术处理方法到近距离区域。版权所有（C）2009，JPO＆INPIT

5. 发明专利

JP2008216127A Distance image generation device, distance image generation method, and program 审中-公开
标题翻译：距离图像生成装置，距离图像生成方法和程序
公开(公告)号：JP2008216127A
公开(公告)日：2008-09-18
申请号：JP2007055837
申请日：2007-03-06
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06
摘要： PROBLEM TO BE SOLVED: To provide a distance image generation device, a distance image generation method, and a program capable of generating a distance image, having high reliability by acquiring a high-precision operation result in an operation of a subpixel level, while reducing the total processing time.
SOLUTION: The distance image generation device includes an image acquisition means for acquiring first image information and second image information to be a comparison object; a first calculation part 15 for comparing a standard image and a reference image by an SAD calculation method to calculate a parallax value in a pixel level; a second calculation part 16 for comparing the standard image and the reference image by a POC calculation method having higher accuracy than that of the SAD calculation method to calculate the parallax value in the subpixel level; and an object area setting part 14 for setting the object area for performing the calculation by the second calculation part 16, on the basis of the calculation result of the parallax value by the first calculation part 15.
COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种距离图像生成装置，距离图像生成方法和能够生成距离图像的程序，通过获取子像素级的操作的高精度运算结果，具有高可靠性同时减少总处理时间。解决方案：距离图像生成装置包括用于获取第一图像信息和第二图像信息作为比较对象的图像获取装置; 用于通过SAD计算方法比较标准图像和参考图像以计算像素级中的视差值的第一计算部分15; 第二计算部分16，用于通过具有比SAD计算方法精度高的POC计算方法来比较标准图像和参考图像，以计算子像素级中的视差值; 以及根据第一计算部分15的视差值的计算结果，设置用于由第二计算部分16进行计算的对象区域的对象区域设定部分14.（C）2008 ，JPO＆INPIT

6. 发明专利

JP2008107290A Distance image generator, distance image generation method, and program 有权
标题翻译：距离图像发生器，距离图像生成方法和程序
公开(公告)号：JP2008107290A
公开(公告)日：2008-05-08
申请号：JP2006292615
申请日：2006-10-27
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06 , G06T1/00 , H04N5/225
摘要： PROBLEM TO BE SOLVED: To provide a distance image generator, a distance image generation method, and a program capable of accurately measuring distances for all pixels of images as well as an edge section. SOLUTION: The distance image generator comprises: imaging apparatuses 2a, 2b acquiring a standard image obtained by photographing an object, and a reference image obtained by imaging the object from a viewpoint different from that of the standard image; a distance image generation section 15 for calculating the parallax value between the standard image and the reference image for a prescribed operation range and generating a distance image based on the calculated parallax; and an edge determination section 14 determining whether the standard image includes an edge part. The distance image generation section 15 divides the standard image into regions for each unit area, and calculates a parallax value for each divided region. The edge determination means determines whether the standard image includes the edge part for each region. The distance image generation section 15 performs the parallax value calculation processing on a region including the edge part in the standard image before a region without including the edge part. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种距离图像生成器，距离图像生成方法以及能够精确地测量图像的所有像素以及边缘部分的距离的程序。距离图像生成器包括：摄像装置2a，2b，获取通过拍摄对象而获得的标准图像;以及参考图像，其通过与不同于标准图像的视点成像而获得的参考图像; 距离图像生成部15，用于计算规定的操作范围的标准图像与基准图像之间的视差值，并基于计算出的视差产生距离图像; 以及判定标准图像是否包括边缘部分的边缘确定部分14。距离图像生成部15将标准图像分割为各单位面积的区域，并计算各分割区域的视差值。边缘确定装置确定标准图像是否包括每个区域的边缘部分。距离图像生成部15对不包括边缘部的区域之前的标准图像中包括边缘部分的区域进行视差值计算处理。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2010139288A Stereo camera unit and stereo matching method 有权
标题翻译：立体相机单元和立体匹配方法
公开(公告)号：JP2010139288A
公开(公告)日：2010-06-24
申请号：JP2008313873
申请日：2008-12-10
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06 , G01B11/00 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide a stereo camera unit and a stereo matching method capable of processing correlation operation at high speed in stereo matching.
SOLUTION: The stereo camera unit 10 includes: a plurality of cameras for acquiring at least two sets of a standard image and a reference image having a base line length ratio of k (k>1); a preliminary correlation execution part 12 for setting each window on a standard image and a reference image of a set having a shorter base line length, respectively, and calculating a parallax ds(u, v) in the set having the shorter base line length by executing correlation operation in both windows; and a correlation execution part 14 for executing correlation operation in a range restricted in a condition for generating a parallax of k×ds(u, v) determined by increasing the parallax ds(u, v) from the preliminary correlation execution part 12 by k, to a standard image and a reference image of a set having a longer base line length on the same image position as the shorter set. The stereo camera unit outputs a parallax dl(u, v) derived from correlation operation results by the correlation execution part.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够在立体匹配中高速处理相关操作的立体相机单元和立体匹配方法。解决方案：立体相机单元10包括：用于获取至少两组标准图像的多个照相机和具有基线长度比k（k> 1）的参考图像; 初步相关执行部分12，用于分别设置标准图像上的每个窗口和具有较短基线长度的组的参考图像，并且通过以下方式计算具有较短基线长度的组中的视差ds（u，v）在两个窗口中执行相关操作; 以及相关执行部分14，用于在通过将来自初步相关执行部分12的视差ds（u，v）增加k所确定的用于产生k×ds（u，v）的视差的条件限制的范围内进行相关运算，与具有较短基线长度的集合的标准图像和参考图像在与较短集合相同的图像位置上。立体相机单元输出由相关执行部分的相关运算结果导出的视差d1（u，v）。版权所有（C）2010，JPO＆INPIT

8. 发明专利

JP2009294733A Image processor and image processing method 有权
标题翻译：图像处理器和图像处理方法
公开(公告)号：JP2009294733A
公开(公告)日：2009-12-17
申请号：JP2008145290
申请日：2008-06-03
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G06T7/00 , G01B11/00 , G06T1/00 , G06T7/20
摘要： PROBLEM TO BE SOLVED: To provide a high-accuracy image processor and a high-accuracy image processing method, allowing reduction of an arithmetic amount, and allowing acquisition of high-reliability data.
SOLUTION: This image processor has: an image input part 11 for inputting and acquiring a standard image and a reference image; a multiple resolution image generation part 12 generating each multiple resolution image of the standard image and the reference image; a resolution selection/corresponding point search area setting part 13 selecting image resolution for performing corresponding point search processing, and setting a search area of the reference image corresponding to each area on the standard image performed with the corresponding point search processing; and a corresponding point search processing part 14 searching for corresponding points between the standard image and the reference image based on information of the resolution selection/corresponding point search area setting part 13. The image processor performs stereo image processing or time series image processing by use of the multiple resolution image.
COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：为了提供高精度图像处理器和高精度图像处理方法，允许降低算术量，并且允许获取高可靠性数据。解决方案：该图像处理器具有：用于输入和获取标准图像和参考图像的图像输入部分11; 产生标准图像和参考图像的每个多分辨率图像的多分辨率图像生成部分12; 分辨率选择/对应点搜索区域设置部分13选择用于执行相应点搜索处理的图像分辨率，并且对与通过相应的点搜索处理执行的标准图像上的每个区域相对应的参考图像的搜索区域进行设置; 以及对应点搜索处理部分14，基于分辨率选择/对应点搜索区域设置部分13的信息，搜索标准图像和参考图像之间的对应点。图像处理器通过使用来执行立体图像处理或时间序列图像处理的多分辨率图像。版权所有（C）2010，JPO＆INPIT

9. 发明专利

JP2009146190A Image processor 审中-公开
标题翻译：图像处理器
公开(公告)号：JP2009146190A
公开(公告)日：2009-07-02
申请号：JP2007323332
申请日：2007-12-14
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide an image processor capable of reducing a circuit scale and performing high-speed processing when hardware is provided in order to calculate positional deviation at a plurality of points between a standard image and a reference image.
SOLUTION: The image processor 10 for calculating positional deviation at the plurality of points between the standard image and the reference image includes an image generating means for generating a pyramid image composed of a plurality of images A to D which have different resolutions about the standard image and the reference image, and a calculating means for calculating a positional deviation amount from an image in a low resolution so as to calculate a positional deviation amount from an image having a resolution higher than the resolution by using the result of the calculation, and sequentially calculating positional deviation amounts up to images having higher resolutions, wherein the calculating means has a plurality of calculation units 1, 2 and 3, and the respective calculation units calculate positional deviation amounts in parallel.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种能够减小电路规模并且在提供硬件时执行高速处理以便计算标准图像和参考图像之间的多个点处的位置偏差的图像处理器。解决方案：用于计算标准图像和参考图像之间的多个点处的位置偏差的图像处理器10包括图像生成装置，用于生成由多个图像A至D组成的金字塔图像，该图像具有不同的分辨率关于标准图像和参考图像，以及计算装置，用于从低分辨率的图像计算位置偏差量，以便通过使用计算结果从具有比分辨率高的分辨率的图像计算位置偏差量并且顺序地计算直到具有较高分辨率的图像的位置偏差量，其中所述计算装置具有多个计算单元1,2和3，并且各个计算单元并行地计算位置偏差量。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2008058279A Apparatus and method for forming range image, and program 有权
标题翻译：用于形成范围图像和程序的装置和方法
公开(公告)号：JP2008058279A
公开(公告)日：2008-03-13
申请号：JP2006239046
申请日：2006-09-04
申请人： Konica Minolta Holdings Inc , コニカミノルタホールディングス株式会社
发明人： KAWABE YASUSHI
IPC分类号： G01C3/06 , G06T1/00
摘要： PROBLEM TO BE SOLVED: To provide an apparatus and method for forming a range image, and a program, capable of shortening a computation time when finding a range, and capable of finding accurately the range even when objects different in distance values exist within the same screen. SOLUTION: The apparatus includes imaging devices 2a, 2b for acquiring reference images with a photographed subject and control images with the subject imaged from an eye point different from that in the reference image, a distance image forming part 15 for calculating a parallax between the each reference image and the each control image acquired by the imaging devices 2a, 2b, as to a prescribed computation range, and for generating a distance image based on the calculated parallax, and an edge determination part 14 for determining whether the reference images acquired by the imaging devices 2a, 2b include an edge portion of a boundary of the plurality of subjects, and the distance image forming part 15 determines the computation range in response to determination results determined by the edge determination part 14. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于形成范围图像的装置和方法以及能够缩短找到范围时的计算时间的程序，并且即使存在距离值不同的对象也能够精确地找到范围在同一屏幕内。解决方案：该装置包括用于获取具有拍摄对象的参考图像的成像装置2a，2b以及从与参考图像不同的眼点成像的被摄体的控制图像，用于计算视差的距离图像形成部15 在每个参考图像和由成像装置2a，2b获取的每个控制图像之间，关于规定的计算范围，并且用于基于所计算的视差产生距离图像;以及边缘确定部14，用于确定参考图像由成像装置2a，2b获取的图像包括多个对象的边界的边缘部分，并且距离图像形成部分15响应于由边缘确定部分14确定的确定结果来确定计算范围。（C）2008，JPO＆INPIT

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