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11. 发明申请

WO2008019846A3 A METHOD, AN APPARATUS AND A COMPUTER-READABLE MEDIUM FOR PROCESSING A NIGHT VISION IMAGE DATASET 审中-公开
标题翻译：一种用于处理夜视图像数据的方法，装置和计算机可读介质
公开(公告)号：WO2008019846A3
公开(公告)日：2009-03-05
申请号：PCT/EP2007007229
申请日：2007-08-16
申请人： TOYOTA MOTOR EUROP NV , LUND UNIVERSITY , MALM HENRIK , WARRANT ERIC , AMBECK-MADSEN JONAS , YANAGIHARA HIROMICHI , OSKARSSON MAGNUS
发明人： MALM HENRIK , WARRANT ERIC , AMBECK-MADSEN JONAS , YANAGIHARA HIROMICHI , OSKARSSON MAGNUS
IPC分类号： G06T5/00
CPC分类号： G06T5/002 , G06T5/008 , G06T5/40 , G06T2207/10016
摘要： A method is disclosed for enhancing the quality of an image dataset, such as, e.g., reducing the noise in a noisy image data set and increasing the contrast in the image data set. The method may be used for processing a sequence of image datasets, e.g. night vision image datasets, wherein said sequence comprises at least two image datasets each having at least two pixels, and wherein each pixel has an intensity value. The method comprises calculating a structure tensor for each pixel in an image dataset comprised in the sequence of image datasets; calculating values in a summation kernel based on said structure tensor for each pixel in said image dataset; calculating a weighted intensity value for each pixel in said first image dataset, using as weights the values in said summation kernel; storing said weighted intensity value for each pixel in said image dataset as a processed intensity value for each corresponding pixel in a processed output image dataset; rotating a local coordinate system in which the summation kernel is described resulting in that the coordinate axes of said local coordinate system coincide with the directions of the eigenvectors of said structure tensor, where said eigenvectors are described in the global coordinate system of the image dataset, and scaling the coordinate axes of the local coordinate system in which the summation kernel is described by an amount related to the eigenvalues of the structure tensor via a width function W(? i) = si, and wherein said eigenvalues depend on the amount of intensity variation in the direction of their corresponding eigenvectors, the width function being a decreasing function such that w(0) = smax and lima?8w= smin. An apparatus and a computer readable medium are also provided.
摘要翻译：公开了一种用于增强图像数据集的质量的方法，例如降低噪声图像数据集中的噪声并增加图像数据集中的对比度。该方法可以用于处理图像数据集的序列，例如，夜视图像数据集，其中所述序列包括至少两个具有至少两个像素的图像数据集，并且其中每个像素具有强度值。该方法包括：计算包含在图像数据集序列中的图像数据集中的每个像素的结构张量; 基于所述图像数据集中的每个像素的所述结构张量来计算求和核中的值; 使用所述求和核中的值作为权重来计算所述第一图像数据集中的每个像素的加权强度值; 将所述图像数据集中的每个像素的所述加权强度值存储为处理的输出图像数据集中的每个相应像素的处理强度值; 旋转其中描述了求和核的局部坐标系，导致所述局部坐标系的坐标轴与所述结构张量的特征向量的方向一致，其中所述特征向量在图像数据集的全局坐标系中被描述，并且通过宽度函数W（ωi）= si，缩放与求和结构张量的特征值相关的量的求和核的局部坐标系的坐标轴，其中所述特征值取决于强度的量其相应特征向量方向的变化，宽度函数是递减函数，使得w（0）= smax和lima？8w = smin。还提供了一种装置和计算机可读介质。

12. 发明申请

WO2007042844A3 REFLECTANCE AND ILLUMINATION PROPERTIES FROM VARYING ILLUMINATION 审中-公开
公开(公告)号：WO2007042844A3
公开(公告)日：2007-04-19
申请号：PCT/GB2006/050325
申请日：2006-10-12
申请人： Cambridge University Technical Services Limited , CIPOLLA, Roberto , FAVARO, Paolo , FUNAYAMA, Ryuji , VOGIATZIS, George , YANAGIHARA, Hiromichi
发明人： CIPOLLA, Roberto , FAVARO, Paolo , FUNAYAMA, Ryuji , VOGIATZIS, George , YANAGIHARA, Hiromichi
IPC分类号： G06T7/00
摘要： A method of determining data characterising a set of images of an object, the method comprising: inputting data from a first set of images of said object captured from a plurality of different positions; determining frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object, and for each said frontier point, a direction of a normal to the surface of the object at the frontier point; inputting data from a second set of captured images of said object, said second set of images having substantially the same viewpoint and different illumination conditions; and determining data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (β) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.

13. 发明申请

WO2007042844A2 IMAGE PROCESSING METHODS AND APPARATUS 审中-公开
标题翻译：图像处理方法和装置
公开(公告)号：WO2007042844A2
公开(公告)日：2007-04-19
申请号：PCT/GB2006050325
申请日：2006-10-12
申请人： UNIV CAMBRIDGE TECH , CIPOLLA ROBERTO , FAVARO PAOLO , FUNAYAMA RYUJI , VOGIATZIS GEORGE , YANAGIHARA HIROMICHI
发明人： CIPOLLA ROBERTO , FAVARO PAOLO , FUNAYAMA RYUJI , VOGIATZIS GEORGE , YANAGIHARA HIROMICHI
IPC分类号： G06T7/00
CPC分类号： G06T7/579 , G06T7/557 , G06T7/586 , G06T2207/10021 , G06T2207/30264
摘要： This invention is generally concerned with image processing methods, apparatus and computer program code, and more particularly with characterising a set of images in order to determine their respective illumination, for example for recovering a three- dimensional shape of an illuminated object. A method of determining data characterising a set of images of an object, the method comprising: inputting data from a first set of images of said object captured from a plurality of different positions; determining frontier point data from said data for said first set of images and data defining said image capture positions, said frontier point data defining a plurality of frontier points on said object, and for each said frontier point, a direction of a normal to the surface of the object at the frontier point; inputting data from a second set of captured images of said object, said second set of images having substantially the same viewpoint and different illumination conditions; and determining data characterising said second set of images using said data for said second set of images and said frontier point data, said image set characterising data comprising object reflectance parameter data (ß) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.
摘要翻译：本发明通常涉及图像处理方法，装置和计算机程序代码，更具体地涉及表征一组图像以便确定它们各自的照明，例如用于恢复照明物体的三维形状。一种确定表征对象的一组图像的数据的方法，所述方法包括：从多个不同位置捕获的所述对象的第一组图像中输入数据; 从所述第一组图像的数据和定义所述图像捕捉位置的数据确定边界点数据，所述边界点数据限定所述物体上的多个边界点，并且对于每个所述边界点，所述边界的法线方向在边界点的物体; 从所述对象的第二组拍摄图像输入数据，所述第二组图像具有基本上相同的视点和不同的照明条件; 以及使用所述第二组图像和所述边界点数据的所述数据确定表征所述第二组图像的数据，所述图像集表征数据包括对象反射参数数据（ß），并且对于所述第二组的每个图像照明数据 L）包括限定图像的照明方向和照明强度的数据。

14. 发明申请

WO2011114538A1 Optical Fuel Sensor 审中-公开
标题翻译：光学燃料传感器
公开(公告)号：WO2011114538A1
公开(公告)日：2011-09-22
申请号：PCT/JP2010/054903
申请日：2010-03-16
申请人： TOYOTA JIDOSHA KABUSHIKI KAISHA , KITANO, Koji , YANAGIHARA, Hiromichi , BRANDSTAETTER, Wilhelm , BOIGER, Gernot
发明人： KITANO, Koji , YANAGIHARA, Hiromichi , BRANDSTAETTER, Wilhelm , BOIGER, Gernot
IPC分类号： G01N21/41 , G01N21/64 , G01N33/28
CPC分类号： G01N21/4133 , G01N21/643 , G01N33/2835 , G01N2201/0216
摘要： The present invention related to an optical fuel sensor (10). The fuel sensor (10) includes a sample container (22) for accommodating fuel while passing light having a wavelength from 420 nm to 700 nm. A light source (24) is provided for emitting light with a stronger intensity within a wavelength band from 420 nm to 520 nm than outside of it so as to irradiate the sample container (22) with the light. A light detector element (26) is also provided for receiving light radiated from the sample container (22) so as to generate an output upon receiving the light. The light detector (26) shows a stronger sensitivity within a wavelength band from 500 nm to 700 nm than outside of it.
摘要翻译：本发明涉及一种光学燃料传感器（10）。燃料传感器（10）包括用于容纳燃料的样品容器（22），同时通过波长为420nm至700nm的光。提供了一种光源（24），用于在比其外部的420nm至520nm的波长带内发射具有更强的强度的光，以便用光照射样品容器（22）。还设置有用于接收从样本容器（22）辐射的光的光检测器元件（26），以便在接收到光时产生输出。光检测器（26）在比其外部的500nm至700nm的波长带内显示出更强的灵敏度。

15. 发明申请

WO2011048194A1 SUBMILLIMETER RADAR USING SIGNALS REFLECTED FROM MULTIPLE ANGLES 审中-公开
标题翻译：使用从多角度反射的信号的子雷达雷达
公开(公告)号：WO2011048194A1
公开(公告)日：2011-04-28
申请号：PCT/EP2010/065905
申请日：2010-10-21
申请人： TOYOTA MOTOR EUROPE NV/SA , YANAGIHARA, Hiromichi , SOGA, Mineki , MERKEL, Harald, Franz, Arno
发明人： YANAGIHARA, Hiromichi , SOGA, Mineki , MERKEL, Harald, Franz, Arno
IPC分类号： G01S13/00 , G01S13/87
CPC分类号： G01S13/003 , G01S13/874
摘要： A submillimeter wavelength radar system has a receiver (20, 27, 90) for receiving and downconverting signals from content in a field of view of the system and a signal processor (30) arranged to determine information about the content from the downconverted signals, the radar system being arranged to obtain signals of the same points in the field of view from different illumination or receiving angles by having multiple illumination or receive positions, and the signal processor being arranged to use the determined information from the signals from the two or more angles to determine location or orientation of the content. By using information from different angles, it becomes possible to address or overcome the drawback of submillimeter wavelengths that most of the reflection is specular and so only surfaces of an object facing the radar system are detectable, meaning that many objects are unrecognisable.
摘要翻译：亚毫米波长雷达系统具有接收器（20,27,90），用于在系统的视野中从内容接收和下变频信号;以及信号处理器（30），被布置为从下变频信号确定关于内容的信息，雷达系统被布置成通过具有多个照明或接收位置从不同的照明或接收角度获得视野中的相同点的信号，并且信号处理器被布置为使用来自两个或更多个角度的信号的确定的信息以确定内容的位置或方向。通过使用来自不同角度的信息，可以解决或克服亚毫米波长的缺点，大多数反射是镜面的，因此只有面向雷达系统的物体的表面才能被检测到，这意味着许多物体是不可识别的。

16. 发明申请

WO2010149593A1 PULSED LIGHT OPTICAL RANGEFINDER 审中-公开
标题翻译：脉冲光学光栅
公开(公告)号：WO2010149593A1
公开(公告)日：2010-12-29
申请号：PCT/EP2010/058652
申请日：2010-06-18
申请人： TOYOTA MOTOR EUROPE NV/SA , NICLASS, Cristiano , CHARBON, Edoardo , SOGA, Mineki , YANAGIHARA, Hiromichi
发明人： NICLASS, Cristiano , CHARBON, Edoardo , SOGA, Mineki , YANAGIHARA, Hiromichi
IPC分类号： G01S17/89 , G01S7/481 , G01S7/487 , G01S7/489 , G01S7/497
CPC分类号： G01S17/89 , G01S7/4814 , G01S7/4816 , G01S7/4818 , G01S7/4863 , G01S7/487 , G01S7/489 , G01S7/497 , G01S17/10
摘要： An optical rangefinder based on time-of-flight measurement, radiates pulsed light toward an object (70), and receives reflected light from the object, the receiver operating in a photon counting mode, so as to generate a pulse for a detected photon. There is a variable probability of a photon detection on the receiver, and a controller (370, 380, 390; 365, 470, 475, 380, 390; 570, 580, 590, 390) controls the photon detection probability of the receiver, based on a light level. By controlling the detection probability according to a light level, the receiver can have an increased dynamic range, and without the expense of using optical components. This can apply even while detecting very weak signals since the receiver can still be in a photon counting mode while the detection probability is controlled. The light level can be indicated by an output of the receiver itself, or by another detector external to the receiver.
摘要翻译：基于飞行时间测量的光学测距器将朝向物体（70）的脉冲光辐射，并且接收来自物体的反射光，接收器以光子计数模式工作，以产生检测到的光子的脉冲。在接收机上存在光子检测的可能概率，并且控制器（370,380,390; 365,470,475,380,390; 570,580,590,390）控制接收机的光子检测概率，基于光照水平。通过根据光级控制检测概率，接收机可以具有增加的动态范围，并且不需要使用光学部件的费用。即使在检测到非常弱的信号的同时也可以应用，因为接收机仍然可以处于光子计数模式，同时控制检测概率。光电平可以由接收器本身的输出或由接收器外部的另一个检测器指示。

17. 发明申请

WO2009047366A2 METHODS AND SYSTEMS FOR PROCESSING OF VIDEO DATA 审中-公开
标题翻译：用于处理视频数据的方法和系统
公开(公告)号：WO2009047366A2
公开(公告)日：2009-04-16
申请号：PCT/EP2008063741
申请日：2008-10-13
申请人： TOYOTA MOTOR EUROP NV , CAMBRIDGE ENTPR LTD , FUNAYAMA RYUJI , YANAGIHARA HIROMICHI , FAUQUEUR JULIEN , BROSTOW GABRIEL J , CIPOLLA ROBERTO
发明人： FUNAYAMA RYUJI , YANAGIHARA HIROMICHI , FAUQUEUR JULIEN , BROSTOW GABRIEL J , CIPOLLA ROBERTO
IPC分类号： G06T7/20
CPC分类号： G06T7/0081 , G06T7/11 , G06T7/174 , G06T7/251 , G06T2207/10016 , G06T2207/30232
摘要： A method (100) and system (300) is described for processing video data comprising a plurality of images. The method (100) comprising obtaining (104, 106), for each of the plurality of images, a segmentation in a plurality of regions and a set of keypoints, and tracking (108) at least one region between a first image and a subsequent image resulting in a matched region in the subsequent image taking into account a matching between keypoints in the first image and the subsequent image. The latter results in accurate tracking of regions. Furthermore the method may optionally also perform label propagation taking into account keypoint tracking.
摘要翻译：描述了用于处理包括多个图像的视频数据的方法（100）和系统（300）。所述方法（100）包括为多个图像中的每一个获得（104,106）多个区域中的分割和一组关键点，以及跟踪（108）第一图像和随后的至少一个区域考虑到第一图像和后续图像中的关键点之间的匹配，导致后续图像中的匹配区域的图像。后者导致区域的准确跟踪。此外，该方法还可以可选地还考虑关键点跟踪来执行标签传播。

18. 发明申请

WO2009027486A2 METHODS AND SYSTEMS FOR DATA PROCESSING AND THEIR APPLICATIONS 审中-公开
标题翻译：用于数据处理的方法和系统及其应用
公开(公告)号：WO2009027486A2
公开(公告)日：2009-03-05
申请号：PCT/EP2008/061339
申请日：2008-08-28
申请人： TOYOTA MOTOR EUROPE NV , ASCARI, Luca , BERTOCCHI, Ulisse , CORRADI, Paolo , LASCHI, Cecilia , DARIO, Paolo , AMBECK-MADSEN, Jonas , YANAGIHARA, Hiromichi
发明人： ASCARI, Luca , BERTOCCHI, Ulisse , CORRADI, Paolo , LASCHI, Cecilia , DARIO, Paolo , AMBECK-MADSEN, Jonas , YANAGIHARA, Hiromichi
IPC分类号： G06F15/00
CPC分类号： B25J13/083 , B25J9/1612 , G05B2219/39505
摘要： A method (400) of processing signal outputs of a plurality of topologically distinct sensors in response to stimuli is described. The method comprises obtaining (402) a plurality of temporal sensor outputs in parallel. Thereafter, features are extracted (406), the features having dynamic behaviour pattern. The extraction is performed in a topology consistent way by arithmetic processing in parallel of neighbouring temporal sensor outputs. Furthermore, a quality of the extracted features is being determined.
摘要翻译：描述了响应于刺激来处理多个拓扑上不同的传感器的信号输出的方法（400）。该方法包括并行地获得（402）多个时间传感器输出。之后，提取特征（406），特征具有动态行为模式。通过与相邻时间传感器输出并行的算术处理，以拓扑一致的方式执行提取。此外，提取的功能的质量正在确定。

19. 发明申请

WO2007128452A3 ROBUST INTEREST POINT DETECTOR AND DESCRIPTOR 审中-公开
标题翻译：可靠的兴趣点检测器和描述符
公开(公告)号：WO2007128452A3
公开(公告)日：2008-05-22
申请号：PCT/EP2007003811
申请日：2007-04-30
申请人： TOYOTA MOTOR EUROP NV , UNIV LEUVEN KATH , EIDGENOESS TECH HOCHSCHULE , FUNAYAMA RYUKI , YANAGIHARA HIROMICHI , VAN GOOL LUC , TUYTELAARS TINNE , BAY HERBERT
发明人： FUNAYAMA RYUKI , YANAGIHARA HIROMICHI , VAN GOOL LUC , TUYTELAARS TINNE , BAY HERBERT
IPC分类号： G06K9/46
CPC分类号： G06K9/4671 , G06K9/4614 , G06K9/56
摘要： Methods and apparatus for operating on images are described, in particular methods and apparatus for interest point detection and/or description working under different scales and with different rotations, e.g. for scale- invariant and rotation-invariant interest point detection and/or description. The present invention can provide improved or alternative apparatus and methods for matching interest points either in the same image or in a different image. The present invention can provide alternative or improved software for implementing any of the methods of the invention. The present invention can provide alternative or improved data structures created by multiple filtering operations to generate a plurality of filtered images as well as data structures for storing the filtered images themselves, e.g. as stored in memory or transmitted through a network. The present invention can provide alternative or improved data structures including descriptors of interest points in images, e.g. as stored in memory or transmitted through a network as well as datastructures associating such descriptors with an original copy of the image or an image derived therefrom, e.g. a thumbnail image.
摘要翻译：描述了用于在图像上操作的方法和装置，特别是用于在不同尺度和不同旋转下进行兴趣点检测和/或描述的方法和装置，例如，用于尺度不变和旋转不变的兴趣点检测和/或描述。本发明可以提供用于在相同图像或不同图像中匹配兴趣点的改进的或替代的装置和方法。本发明可以提供用于实现本发明的任何方法的替代或改进的软件。本发明可以提供通过多次滤波操作产生的替代或改进的数据结构，以产生多个滤波图像，以及用于存储滤波图像本身的数据结构，例如，存储在存储器中或通过网络传输。本发明可以提供替代或改进的数据结构，包括图像中的兴趣点的描述符，例如。如存储在存储器中或通过网络传输的数据结构以及将这样的描述符与图像的原始副本或从其导出的图像相关联的数据结构。缩略图。

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