Abstract: An imaging apparatus in an embodiment includes lens optical systems each including a lens whose surface closest to the target object is shaped to be convex toward the target object, imaging regions which respectively face the lens optical systems and output a photoelectrically converted signal corresponding to an amount of light transmitting the lens optical systems and received by the imaging regions, and a light-transmissive cover which covers an exposed portion of the lens of each of the lens optical systems and a portion between the lens of one of the lens optical systems and the lens of another one of the lens optical systems adjacent to the one of the lens optical systems, the cover having a curved portion which is convex toward the target object. The optical axes of the lens optical systems are parallel to each other.

Abstract: An image generation device includes: a voltage generator that generates a plurality of voltages each having a different voltage value; an image capturer that includes an organic photoconductive film, and performs imaging every time each of the plurality of voltages is applied; a luminance data obtainer that obtains a plurality of luminance data items corresponding to the plurality of voltages applied, each of the plurality of luminance data items being obtained from the imaging performed by the image capturer; and a color image generator that generates a color image based on the plurality of luminance data items.

Abstract: A crossing point detector includes memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple parameters of a function model treating two-dimensional image coordinates as variables, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the function model and the square image, respectively, and computes the position of a crossing point of two straight lines expressed by the decided multiple parameters to thereby detect the crossing point with subpixel precision. The function model uses a curved surface that is at least first-order differentiable to express pixel values at respective positions in a two-dimensional coordinate system at the boundary between black and white regions.

Abstract: A learning device includes a memory and a processing circuit. The processing circuit: (a) obtains, from the memory, a first computational imaging image which includes an object, the first computational imaging image including a plurality of first pixels; (b) obtains, from the memory, a captured image which includes the object, the captured image including a plurality of second pixels; (c) obtains an identification result of identifying the object included in the captured image; (d) generates, with reference to correspondences between the plurality of first pixels and the plurality of second pixels, an identification model for identifying the first computational imaging image based on the identification result of identifying the object included in the captured image; and (e) outputs the identification model to an image identification device which identifies a second computational imaging image.

Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.

Abstract: A crossing point detector includes memory and a crossing point detection unit that reads out a square image from a captured image in the memory, and detects a crossing point of two boundary lines in a checker pattern depicted in the square image. The crossing point detection unit decides multiple parameters of a function model treating two-dimensional image coordinates as variables, the parameters optimizing an evaluation value based on a difference between corresponding pixel values represented by the function model and the square image, respectively, and computes the position of a crossing point of two straight lines expressed by the decided multiple parameters to thereby detect the crossing point with subpixel precision. The function model uses a curved surface that is at least first-order differentiable to express pixel values at respective positions in a two-dimensional coordinate system at the boundary between black and white regions.

Abstract: A disparity estimation device calculates, for each of first pixels of a first image and each of second pixels of a second image, a first census feature amount and a second census feature amount, calculates, for each of the first pixels, a first disparity value of the first pixel with integer accuracy, extracts, for each of the first pixels, reference pixels located in positions corresponding to the first disparity value and a near disparity value close to the first disparity value from the second pixels, calculates sub-pixel evaluation values based on the relationship between the pixel values of the first pixel and the neighboring pixel and the pixel values of each of the reference pixels and the neighboring pixel, and estimates a second disparity value of the first pixel with sub-pixel accuracy by equiangular fitting.

Abstract: There is provided an image capturing apparatus that captures a plurality of images, calculates a three-dimensional position from the plurality of images, and outputs the plurality of images and information about the three-dimensional position. The image capturing apparatus includes an image capturing unit, a camera parameter storage unit, a position calculation unit, a position selection unit, and an image complementing unit. The image capturing unit outputs the plurality of images using at least three cameras. The camera parameter storage unit stores in advance camera parameters including occlusion information. The position calculation unit calculates three dimensional positions of a plurality of points. The position selection unit selects a piece of position information relating to a subject area that does not have an occlusion, and outputs selected position information. The image complementing unit generates a complementary image, and outputs the complementary image and the selected position information.

Abstract: An imaging apparatus in an embodiment includes lens optical systems each including a lens whose surface closest to the target object is shaped to be convex toward the target object, imaging regions which respectively face the lens optical systems and output a photoelectrically converted signal corresponding to an amount of light transmitting the lens optical systems and received by the imaging regions, and a light-transmissive cover which covers an exposed portion of the lens of each of the lens optical systems and a portion between the lens of one of the lens optical systems and the lens of another one of the lens optical systems adjacent to the one of the lens optical systems, the cover having a curved portion which is convex toward the target object. The optical axes of the lens optical systems are parallel to each other.

Abstract: An image capturing apparatus includes a first camera that captures a first image, a second camera that captures a second image, a lens cover that includes transparent parts and ridgelines and that covers the first camera and the second camera, and a processing circuit that identifies a pixel located in an area, in which it is necessary to interpolate a pixel value, in the first image, and generates an output image using the first image and interpolation pixel information for interpolating a pixel value of the identified pixel. Each ridgeline between adjacent parts of the lens cover is twisted with respect to a base line extending between a center of a first lens of the first camera and a center of a second lens of the second camera. An upper part of the lens cover opposes a base on which the first camera and the second camera are disposed.

Abstract: Provided are: a point group obtainer that obtains three-dimensional point group data indicating three-dimensional locations of each of a plurality of three-dimensional points included in an imaging space of one or more cameras; a camera parameter calculator that (i) obtains corresponding points, for each of the plurality of three-dimensional points, in individual images captured using the one or more cameras, based on the three-dimensional point group data and an initial camera parameter of each camera, and (ii) calculates a camera parameter of each camera on the basis of the initial camera parameter of each camera and pixel values, included in the individual images, at the corresponding points; and a camera parameter outputter that outputs the calculated camera parameter of each camera.

Abstract: A camera parameter set calculation method including (a1) acquiring a first image captured by a first camera and a second image captured by a second camera, (a2) acquiring camera parameter sets of the first and second cameras, (a3) extracting, from the first image, a predetermined portion having assumed three-dimensional position information, (a4) calculating three-dimensional coordinate sets corresponding to the predetermined portion on a basis of the assumed three-dimensional position information, the first image, and the first camera parameter set, (a5) determining first pixel coordinate pairs and second pixel coordinate pairs corresponding to the predetermined portion in the first image and second image, respectively, on the basis of the three-dimensional coordinate sets, (a6) calculating an evaluation value on the basis of pixel values at the first pixel coordinate pairs and pixel values at the second coordinate pairs, (a7) updating the camera parameter sets on the basis of the evaluation value.

Abstract: An imaging apparatus in an embodiment includes lens optical systems each including a lens whose surface closest to the target object is shaped to be convex toward the target object, imaging regions which respectively face the lens optical systems and output a photoelectrically converted signal corresponding to an amount of light transmitting the lens optical systems and received by the imaging regions, and a light-transmissive cover which covers an exposed portion of the lens of each of the lens optical systems and a portion between the lens of one of the lens optical systems and the lens of another one of the lens optical systems adjacent to the one of the lens optical systems, the cover having a curved portion which is convex toward the target object. The optical axes of the lens optical systems are parallel to each other.

Abstract: An image capturing apparatus: calculates, for each of pairs of images, based on the pairs of images and camera parameters, position information including information specifying a three-dimensional position of a measurement point with respect to a pair of pixels respectively included in the pair of images, and information specifying a position of each of the pair of pixels; performs, based on the position information and the camera parameters, weighted addition on the information specifying the three-dimensional position of the measurement point in each of the pair of images, with information using an effective baseline length or a viewing angle, with respect to the three-dimensional position, of a pair of the cameras corresponding to the pair of images; and outputs position information of the measurement point to which a weighted addition value is applied.

Abstract: A three-dimensional motion obtaining apparatus includes: a light source; a charge amount obtaining circuit that includes pixels and obtains, for each of the pixels, a first charge amount under a first exposure pattern and a second charge amount under a second exposure pattern having an exposure period that at least partially overlaps an exposure period of the first exposure pattern; and a processor that controls a light emission pattern for the light source, the first exposure pattern, and the second exposure pattern. The processor estimates a distance to a subject for each of the pixels on the basis of the light emission pattern and on the basis of the first charge amount and the second charge amount of each of the pixels obtained by the charge amount obtaining circuit, and estimates an optical flow for each of the pixels on the basis of the first exposure pattern, the second exposure pattern, and the first charge amount and the second charge amount obtained by the charge amount obtaining circuit.

Abstract: An image generating apparatus generates an image to be displayed on a display and includes at least one memory and a control circuit. The control circuit acquires a plurality of camera images captured by a plurality of cameras installed in a vehicle, calculates a distance between one of the cameras and a target to be projected in in the camera images, detects a position of a light-transmissive object or a reflective object in the camera images, and generates an image from a point of view that is different from points of view of the plurality of camera images by using the plurality of camera images and the distance, the generated image including a predetermined image that is displayed at the position of the light-transmissive object or the reflective object.

Abstract: Three-dimensional point group data indicating three-dimensional coordinate sets of three-dimensional points included in a common imaging space of one or more cameras is received, one or more images captured by the one or more cameras are transmitted, the one or more transmitted images are received, initial camera parameters of each cameras are decided based on one or more mounting locations and one or more directions of the cameras, corresponding points in the one or more images are calculated for each of the three-dimensional points, based on the three-dimensional point group data and the initial camera parameters, and one or more camera parameters of the one or more cameras are calculated based on pixel values at the corresponding points in the one or more images.

Abstract: A camera-parameter-set calculation apparatus includes a three-dimensional point group calculator that calculates a plurality of three-dimensional coordinates, based on first and second images respectively captured by first and second cameras and first and second camera parameter sets of the first and second cameras; an evaluation value calculator that determines a plurality of pixel coordinates in the second image, based on the plurality of three-dimensional coordinates and the second camera parameter set, determines a plurality of third pixel coordinates in a third image captured by a third camera, based on the plurality of three-dimensional coordinates and a third camera parameter set of the third camera, and calculates an evaluation value, based on pixel values at the plurality of second and third pixel coordinates in the second and third images; and a camera-parameter-set determiner that determines a fourth camera parameter set for the third camera, based on the evaluation value.

Abstract: Provided are: a point group obtainer that obtains three-dimensional point group data indicating three-dimensional locations of each of a plurality of three-dimensional points included in an imaging space of one or more cameras; a camera parameter calculator that (i) obtains corresponding points, for each of the plurality of three-dimensional points, in individual images captured using the one or more cameras, based on the three-dimensional point group data and an initial camera parameter of each camera, and (ii) calculates a camera parameter of each camera on the basis of the initial camera parameter of each camera and pixel values, included in the individual images, at the corresponding points; and a camera parameter outputter that outputs the calculated camera parameter of each camera.

Abstract: A camera calibration method, which calculates camera parameters of two cameras using calibration points, includes: (a1) acquiring three-dimensional coordinate sets of the calibration points and image coordinate pairs of the calibration points in a camera image of each camera; (a2) acquiring multiple camera parameters of each camera; (a3) for each calibration point, calculating a view angle-corresponding length corresponding to a view angle of the two cameras viewing the calibration point; (a4) for each calibration point, calculating a three-dimensional position of a measurement point corresponding to a three-dimensional position of the calibration point using parallax of the calibration point between the two cameras; (a5) for each calibration point, weighting a difference between the three-dimensional coordinate set of the calibration point and the three-dimensional position of the measurement point corresponding to the calibration point using the view angle-corresponding length corresponding to the calibrati