Abstract: The present disclosure relates to apparatus (100) for estimating depth of scene, comprising plurality of sensors (101) including Time of Flight (ToF) sensors and stereo sensors pairs, memory (103) and one or more processors (104). At least one pair of stereo sensors is placed perpendicular to other pairs of stereo sensors. One or more processors (104) are configured to determine disparity for plurality of sensors (101) based on comparison between one or more features of each image with other images received from plurality of pairs of stereo sensors, and evaluation of each image based on one or more pre-defined cost function parameters; determine disparity based on depth information received from ToF sensors; determine confidence value for each of plurality of sensors (101), based on disparity, to generate plurality of confidence values and estimate depth of scene based on disparity associated with a sensor selected based on plurality of confidence values.

Abstract: A 3D image reconstruction processing apparatus includes a processor. The processor acquires a plurality of images captured at different viewpoints. The processor selects two images from the acquired images as an image pair. The processor calculates a relative pose between the two images which constitute each of the selected image pairs. The processor judges whether or not the relative pose between the two images which constitute the selected image pair is capable of being uniquely calculated. The processor determines, based on a result of the judgment, the relative pose which is used in calculating an initial value of bundle adjustment. The processor performs the bundle adjustment, based on the initial value of the bundle adjustment calculated based on the determined relative pose.

Abstract: A 3D image reconstruction processing apparatus includes a processor. The processor acquires a plurality of images captured at different viewpoints. The processor selects two images from the acquired images as an image pair. The processor calculates a relative pose between the two images which constitute each of the selected image pairs. The processor judges whether or not the relative pose between the two images which constitute the selected image pair is capable of being uniquely calculated. The processor determines, based on a result of the judgment, the relative pose which is used in calculating an initial value of bundle adjustment. The processor performs the bundle adjustment, based on the initial value of the bundle adjustment calculated based on the determined relative pose.

Abstract: A blur magnification image processing apparatus includes: an image pickup system configured to form an optical image of an object and generate an image; an image pickup control unit configured to make a reference image focused on a main object and images of different focusing positions be picked up; and an image blending portion configured to generate a blur magnified image from the plurality of picked-up images, and the image pickup control unit makes n pairs of pair images of equal diameters d of circles of confusion for the main object, which are the pair images of focus distances having the focus distance of the main object therebetween, be picked up such that |dk?1?dk|?|dk?dk+1|.

Abstract: An image processing apparatus includes a first pixel output variation detecting section, a second pixel output variation detecting section, and a pixel correcting section. The first pixel output variation detecting section detects a variation between pixel outputs of the phase difference detecting pixel and the imaging pixel of the same color as the phase difference detecting pixel. The second pixel output variation detecting section detects a variation in pixel output between imaging pixels positioned in vicinities of the phase difference detecting pixel and the imaging pixel used by the first pixel output variation detecting section. The pixel correcting section corrects the pixel output of each phase difference detecting pixel based on results of the first and second pixel output variation detecting sections.

Abstract: An image processing apparatus includes a first pixel output variation detecting section, a second pixel output variation detecting section, and a pixel correcting section. The first pixel output variation detecting section detects a variation between pixel outputs of the phase difference detecting pixel and the imaging pixel of the same color as the phase difference detecting pixel. The second pixel output variation detecting section detects a variation in pixel output between imaging pixels positioned in vicinities of the phase difference detecting pixel and the imaging pixel used by the first pixel output variation detecting section. The pixel correcting section corrects the pixel output of each phase difference detecting pixel based on results of the first and second pixel output variation detecting sections.

Abstract: A robot with a learning control function for improving the accuracy of the trajectory of an end effector and a method for controlling the robot. An acceleration sensor and a vision sensor are attached to the end effector of the robot. In this state, the motion of the end effector is measured and a test operation of a motion program is repeatedly executed, whereby a robot control device learns an optimized motion of the robot. In a subsequent actual operation, the acceleration sensor and the vision sensor are not used and the motion of the robot is executed based on the learned optimized motion. The sensors may be removed during the actual operation.