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1. 发明授权

US07034861B2 Picture composing apparatus and method 有权
公开(公告)号：US07034861B2
公开(公告)日：2006-04-25
申请号：US09899229
申请日：2001-07-06
申请人： Tsuyoshi Okada , Ryosuke Iida , Masato Nishizawa , Katsumasa Onda , Michio Miwa
发明人： Tsuyoshi Okada , Ryosuke Iida , Masato Nishizawa , Katsumasa Onda , Michio Miwa
IPC分类号： H04N7/18
CPC分类号： G06T15/20 , B60Q9/005 , B60Q9/007 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： A picture composing apparatus designed to combine a plurality of images taken by a plurality of image pickup devices. In the apparatus, a first projecting unit projects the plurality of images taken by the image pickup devices onto a projection section in accordance with an image pickup situation of the image pickup devices to generate a plurality of first projected images, and a second projecting unit projects the plurality of first projected images to a three-dimensional projection model to generate a second projected image. Also included in the apparatus are a virtual image pickup device for virtually picking up the second projected image and an image pickup situation determining unit for determining an image pickup situation of the virtual image pickup device, whereby the second projected image is picked up by the virtual image pickup device in the image pickup situation determined by the pickup situation determining unit to combine the plurality of images taken by the plurality of image pickup devices, thus producing a high-quality composite picture. This apparatus can offer a natural composite picture in which joints among the images taken by the image pickup devices do not stand out. In addition, when mounted on a motor vehicle, this apparatus allows a driver to easily seize the surrounding situations and the positional relationship of the motor vehicle with respect to other objects.

2. 发明授权

US5825915A Object detecting apparatus in which the position of a planar object is estimated by using hough transform 失效
标题翻译：通过使用霍夫变换来估计平面物体的位置的物体检测装置
公开(公告)号：US5825915A
公开(公告)日：1998-10-20
申请号：US704895
申请日：1996-08-30
申请人： Yasuyuki Michimoto , Katsumasa Onda , Masato Nishizawa
发明人： Yasuyuki Michimoto , Katsumasa Onda , Masato Nishizawa
IPC分类号： G06T7/00 , G06T17/00
CPC分类号： G06T7/0075
摘要： Based on left and right images that have been taken by image pickup devices, a correlation processing section obtains parallax data as three-dimensional data of objects. At processing start time, a plane estimating section estimates the position of a planar object such as a road or a floor by utilizing the Hough transform based on the parallax data that have been obtained successfully for part of rectangular segments of the images, and interpolates the parallax data by using the position of the planar object. At a time point after the processing start time, a parallax variation detecting section detects an object by comparing current parallax data with the parallax data at the processing start time.
摘要翻译：基于由图像拾取装置拍摄的左图像和右图像，相关处理部分获得作为对象的三维数据的视差数据。在处理开始时刻，平面估计部通过利用基于已经成功地获得了图像的一部分矩形段的视差信息的霍夫变换来估计诸如道路或地板之类的平面物体的位置，并且内插通过使用平面物体的位置的视差数据。在处理开始时刻之后的时间点，视差变化检测部分通过在处理开始时间比较当前的视差数据和视差数据来检测对象。

3. 发明授权

US5867591A Method of matching stereo images and method of measuring disparity between these image 失效
标题翻译：匹配立体图像的方法和测量这些图像之间的差异的方法
公开(公告)号：US5867591A
公开(公告)日：1999-02-02
申请号：US629708
申请日：1996-04-09
申请人： Katsumasa Onda
发明人： Katsumasa Onda
IPC分类号： H04N13/02 , G01C11/06 , G06T7/00 , H04N13/00 , G06K9/00
CPC分类号： G06T7/0075 , G01C11/06 , G06K9/20 , G06K9/32 , G06T7/0044 , G06T7/0048 , G06K2209/40 , G06T2207/10012 , H04N13/0239 , H04N2013/0081
摘要： In the image pickup phase (A), right and left images are taken in through two image-pickup devices (S101, S102). Then, in the next feature extraction phase (B), right and left images are respectively subjected to feature extraction (S103, S104). Thereafter, in the succeeding matching phase (C), the extracted features of right and left images are compared to check how they match with each other (step S105). More specifically, in the matching phase (C), a one-dimensional window is set, this one-dimensional window is shifted along the left image in accordance with a predetermined scanning rule so as to successively set overlapped one-dimensional windows, and a matching operation is performed by comparing the image features within one window and corresponding image features on the right image. Subsequently, in the disparity determination phase (D), the left image is dissected or divided into plural blocks each having a predetermined size, a histogram in each block is created from disparities obtained by the matching operation based on one-dimensional windows involving pixels of a concerned block, and a specific disparity just corresponding to the peak of thus obtained histogram is identified as a valid disparity representing the concerned block (S106).
摘要翻译：在图像拾取阶段（A）中，通过两个图像拾取装置拍摄右图像和左图像（S101，S102）。然后，在下一特征提取阶段（B）中，右图像和左图像分别进行特征提取（S103，S104）。此后，在后续的匹配阶段（C）中，将所提取的右图像和左图像的特征进行比较，以检查它们如何彼此匹配（步骤S105）。更具体地，在匹配阶段（C）中，设置一维窗口，该一维窗口根据预定的扫描规则沿着左图像移位，以便连续地设置重叠的一维窗口，并且通过比较一个窗口内的图像特征和右图像上的相应图像特征来执行匹配操作。随后，在视差确定阶段（D）中，将左图像解剖或分成具有预定大小的多个块，每个块中的直方图是通过基于通过匹配操作获得的差异创建的，相关块，并且与由此获得的直方图的峰值相对应的特定差异被识别为表示相关块的有效视差（S106）。

4. 发明授权

US5719954A Stereo matching method and disparity measuring method 失效
标题翻译：立体匹配方法和视差测量方法
公开(公告)号：US5719954A
公开(公告)日：1998-02-17
申请号：US460712
申请日：1995-06-02
申请人： Katsumasa Onda
发明人： Katsumasa Onda
IPC分类号： G02B27/22 , G06T7/00 , H04N7/18 , H04N13/00 , G06K9/00 , G01B11/14 , G06K9/32 , G06K9/48
CPC分类号： G06K9/20 , G06K9/32 , G06T7/0075 , G06K2209/40 , G06T2207/10012 , H04N2013/0081 , H04N2013/0092 , H04N2013/0096
摘要： A method for measuring stereo image disparity between right and left stereo images for each of two-dimensional blocks having a rectangular shape. In particular, the method includes the steps of deciding a level of each pixel in the right and left stereo images according to a ternary value, sequentially setting a one-dimensional window having a size of N pixels along a horizontal direction in one of the right and left stereo images by overlapping N/2 pixels, determining the disparity for each one-dimensional window by determining a portion in the other of the right and left stereo images corresponding to each one-dimensional window on the basis of the ternary value obtained through the deciding step to generate a histogram of the disparities, and determining the stereo image disparity for each of the two-dimensional blocks on the basis of the histogram of the disparities.
摘要翻译：一种用于测量具有矩形形状的每个二维块的左立体图像和左立体图像之间的立体图像差异的方法。特别地，该方法包括以下步骤：根据三元值来确定右和左立体图像中的每个像素的电平，在右侧的一个中沿着水平方向依次设置具有N个像素大小的一维窗口并通过重叠N / 2像素离开立体图像，通过基于通过以下方式获得的三值，确定与每个一维窗口对应的右和左立体声图像中的另一个中的另一部分中的每个一维窗口的视差生成差异的直方图的决定步骤，以及基于差异的直方图来确定每个二维块的立体图像视差。

5. 发明授权

US5276512A Video signal motion detecting method and noise reducer utilizing the motion 失效
标题翻译：视频信号运动检测方法和降噪器利用运动
公开(公告)号：US5276512A
公开(公告)日：1994-01-04
申请号：US831368
申请日：1992-02-04
申请人： Katsumasa Onda
发明人： Katsumasa Onda
IPC分类号： G06T7/20 , H04N5/14 , H04N5/21 , H04N7/137
CPC分类号： H04N19/80 , H04N5/144 , H04N5/21
摘要： A first motion detection is performed for determining a motion or a still condition by comparing a difference signal .DELTA. between an input video signal of a current frame and a video signal of a previous frame with a preset threshold value. A second motion detection is performed for determining a motion or a still condition by using a difference signal .DELTA. between an input video signal of a current frame and a video signal of a previous frame at surrounding pixels and a center pixel as a target for the second motion detection. A wrong decision correction is performed for correcting an error in a result of motion detection in the first and/or second motion detections by changing a determination of a motion condition to a still condition, or a determination of a still condition to a motion condition, wherein an error is either a wrong determination of a motion condition for a still condition or a wrong determination of a still condition for a motion condition. A transition period detection is performed for detecting a motion-to-still transition period for a pixel whose data is determined as still during the correcting of a wrong decision.
摘要翻译：通过将当前帧的输入视频信号和前一帧的视频信号之间的差信号（Delta）与预设阈值进行比较来执行第一运动检测以确定运动或静止状态。执行第二运动检测，以通过使用当前帧的输入视频信号和周围像素之前的帧的视频信号与中心像素之间的差信号（Delta）来确定运动或静止状态，作为目标第二次运动检测。执行错误的判定校正，以通过将运动条件的确定改变为静止状态或将静止状态的确定改变为运动条件来校正第一和/或第二运动检测中的运动检测结果中的错误，其中错误是针对静止状态的运动条件的错误确定或运动条件的静止状态的错误确定。执行过渡时段检测，用于检测在校正错误决定期间其数据被确定为静止的像素的运动到静止转换周期。

6. 发明授权

US6125198A Method of matching stereo images and method of measuring disparity between these items 有权
标题翻译：匹配立体图像的方法和测量这些项目之间的差异的方法
公开(公告)号：US6125198A
公开(公告)日：2000-09-26
申请号：US196329
申请日：1998-11-19
申请人： Katsumasa Onda
发明人： Katsumasa Onda
IPC分类号： H04N13/02 , G01C11/06 , G06T7/00 , H04N13/00 , G06K9/00
CPC分类号： G06T7/0075 , G01C11/06 , G06K9/20 , G06K9/32 , G06T7/0044 , G06T7/0048 , G06K2209/40 , G06T2207/10012 , H04N13/0239 , H04N2013/0081
摘要： In the image pickup phase (A), right and left images are taken in through two image-pickup devices (S101, S102). Then, in the next feature extraction phase (B), right and left images are respectively subjected to feature extraction (S103, S104). Thereafter, in the succeeding matching phase (C), the extracted features of right and left images are compared to check how they match with each other (step S105). More specifically, in the matching phase (C), a one-dimensional window is set, this one-dimensional window is shifted along the left image in accordance with a predetermined scanning rule so as to successively set overlapped one-dimensional windows, and a matching operation is performed by comparing the image features within one window and corresponding image features on the right image. Subsequently, in the disparity determination phase (D), the left image is dissected or divided into plural blocks each having a predetermined size, a histogram in each block is created from disparities obtained by the matching operation based on one-dimensional windows involving pixels of a concerned block, and a specific disparity just corresponding to the peak of thus obtained histogram is identified as a valid disparity representing the concerned block (S106).
摘要翻译：在图像拾取阶段（A）中，通过两个图像拾取装置拍摄右图像和左图像（S101，S102）。然后，在下一特征提取阶段（B）中，右图像和左图像分别进行特征提取（S103，S104）。此后，在后续的匹配阶段（C）中，将所提取的右图像和左图像的特征进行比较，以检查它们如何彼此匹配（步骤S105）。更具体地，在匹配阶段（C）中，设置一维窗口，该一维窗口根据预定的扫描规则沿着左图像移位，以便连续地设置重叠的一维窗口，并且通过比较一个窗口内的图像特征和右图像上的相应图像特征来执行匹配操作。随后，在视差确定阶段（D）中，将左图像解剖或分成具有预定大小的多个块，每个块中的直方图是通过基于通过匹配操作获得的差异创建的，相关块，并且与由此获得的直方图的峰值相对应的特定差异被识别为表示相关块的有效视差（S106）。

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