Patents by Inventor Soichiro Yokota

Soichiro Yokota has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Patent number: 10429508
    Abstract: A distance measuring device includes a first measurer, a second distance measurer, and circuitry. The first distance measurer measures a distance to a target object; and outputs first distance information indicating a measured distance when the distance measurement is performed under a condition that satisfies a distance measurement condition, but outputs the first distance information indicating a predetermined value when the distance measurement is performed under a condition that does not satisfy the distance measurement condition. The second distance measurer measures a distance to the target object and outputs second distance information indicating the measured distance. When the first distance information indicates the predetermined value and the second distance information satisfies a predetermined condition, the circuitry makes alteration such that the distance measurement condition is relaxed.
    Type: Grant
    Filed: October 25, 2016
    Date of Patent: October 1, 2019
    Assignee: RICOH COMPANY, LTD.
    Inventors: Tetsuo Yamashita, Satoshi Sawaguchi, Fumiko Sakoh, Soichiro Yokota, Kiichiroh Saitoh, Tadashi Nakamura
  • Patent number: 10402664
    Abstract: A processing apparatus includes a distance image acquirer, a moving-object detector, a background recognizer. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The background recognizer generates a background model in which a stationary object recognized as background of the moving object is modeled, from the distance image acquired by the distance image acquirer. The moving-object detector changes a method for detecting the moving object, based on a relative positional relation between the moving object and the background model.
    Type: Grant
    Filed: May 19, 2015
    Date of Patent: September 3, 2019
    Assignee: RICOH COMPANY, LIMITED
    Inventors: Soichiro Yokota, Yaojie Lu, Jie Ren, Sadao Takahashi, Tomoko Ishigaki
  • Patent number: 10387733
    Abstract: A processing apparatus includes a distance image acquirer, a moving-object detector, and a danger-level determining unit. The distance image acquirer acquires a distance image containing distance information of each pixel. The moving-object detector detects a moving object from the distance image. The danger-level determining unit determines a danger level of the moving object by use of the distance image, and outputs the danger level to a controller that controls a controlled unit in accordance with the danger level.
    Type: Grant
    Filed: March 10, 2017
    Date of Patent: August 20, 2019
    Assignee: RICOH COMPANY, LTD.
    Inventors: Soichiro Yokota, Tomoko Ishigaki, Hiroyoshi Sekiguchi, Kenichiroh Saisho
  • Publication number: 20190228537
    Abstract: An image processing method of generating a range image is provided. The method includes a step of detecting a distance to the object as a measured distance, by a distance measurement unit; a step of performing, by an image processing unit, integration of the distance with a matching evaluation value of a pixel in a stereogram corresponding to a location on the object of which the distance is detected by the distance measurement unit, among a plurality of pixels in the stereogram each including a corresponding matching evaluation value; and a step of generating a range image based on a result of the integration. The generating step is performed after the integration.
    Type: Application
    Filed: January 22, 2019
    Publication date: July 25, 2019
    Applicant: Ricoh Company, Ltd.
    Inventors: Hiroyoshi SEKIGUCHI, Soichiro YOKOTA, Kenichiroh SAISHO
  • Patent number: 10198830
    Abstract: An information processing apparatus includes a correlation unit that correlates distance information indicating a distance to an emission position of electromagnetic waves emitted in a shooting direction of a plurality of image pickup units with a first pixel in a first image that constitutes images taken by the image pickup units, the distance information being obtained based on reflected waves of the electromagnetic waves and the first pixel corresponding to the emission position of the electromagnetic waves, and a generation unit that generates a parallax image by using the distance information correlated with the first pixel for parallax computation of pixels in a second image that constitutes the images.
    Type: Grant
    Filed: December 22, 2014
    Date of Patent: February 5, 2019
    Assignee: Ricoh Company, Ltd.
    Inventors: Hiroyoshi Sekiguchi, Soichiro Yokota, Shuichi Suzuki, Shin Aoki, Haike Guan, Jun Yoshida, Mitsuru Nakajima, Hideomi Fujimoto
  • Publication number: 20190026569
    Abstract: An image processing device includes: a generating unit that generates, based on a distance image, two-dimensional distribution information indicating a two-dimensional distribution of an object, in which a distance in a horizontal direction, a distance in a depth direction, and a frequency value corresponding to the distances are related; and a labeling unit that conducts a labeling process by conducting search on the two-dimensional distribution information multiple times, detecting a pixel having the frequency value that is more than a predetermined threshold during each search, and assigning a label that is different in each times of search, wherein the labeling unit conducts a first labeling process by selecting a pixel having the frequency value that is more than the threshold from pixels that abut a pixel being searched in a search direction and assigning the label when the label is not assigned to the pixel selected.
    Type: Application
    Filed: September 10, 2018
    Publication date: January 24, 2019
    Inventors: Yuu YAMADA, Soichiro Yokota, Sadao Takahashi, Shinichi Sumiyoshi
  • Publication number: 20190012798
    Abstract: According to an embodiment, an information processing apparatus includes a calculating unit and a discarding unit. The calculating unit is configured to calculate a distance between two objects, detected based on distance information on the objects that are overlapped in detection areas of the objects, in a depth direction in the detection areas. The discarding unit is configured to determine whether each of the two objects in the detection areas is to be discarded by using a method that corresponds to the distance calculated by the calculating unit.
    Type: Application
    Filed: September 13, 2018
    Publication date: January 10, 2019
    Inventors: Seiya AMANO, Hiroyoshi SEKIGUCHI, Soichiro YOKOTA
  • Publication number: 20190003822
    Abstract: An image processing apparatus includes processing circuitry configured to generate a first map formed of pixels that are associated with x coordinate information, distance information, and frequency values; search for a target pixel satisfying a predetermined condition among the pixels in the first map, the searching being performed from the pixels that are near towards the pixels that are far away as indicated by the distance information; and validate pixels surrounding the target pixel in the first map, together with the target pixel.
    Type: Application
    Filed: September 5, 2018
    Publication date: January 3, 2019
    Inventors: Sadao TAKAHASHI, Seiya AMANO, Hiroyoshi SEKIGUCHI, Soichiro YOKOTA, Yuu YAMADA, Shinichi SUMIYOSHI
  • Publication number: 20180357783
    Abstract: An object detection device includes a map generator configured to generate, based on a distance image that includes distance information for each coordinate, a first map in which the coordinate in a horizontal direction of the distance image is associated with the distance information, and a second map in which the coordinate in the horizontal direction of the distance image is associated with the distance information, the second map having a lower resolution than the first map; and an object detector configured to detect an object based on the first map when a distance represented by the distance information is within a first range, and to detect an object based on the second map when a distance represented by the distance information is within a second range.
    Type: Application
    Filed: August 1, 2018
    Publication date: December 13, 2018
    Inventors: Sadao TAKAHASHI, Yuji Takahashi, Shinichi Sumiyoshi, Yuu Yamada, Seiya Amano, Soichiro Yokota, Hiroyoshi Sekiguchi
  • Publication number: 20180336701
    Abstract: An image processing device includes: a predicting unit configured to, from a position of an object in a previous frame with respect to a current frame, predict a position of the object in the current frame and identify a prediction area; a first matching unit configured to perform template matching in the prediction area in the current frame using a first template regarding the object in the previous frame, to detect the object, when the object is present in a first distance area; and a second matching unit configured to perform template matching in the prediction area in the current frame using a second template which is different than the first template and which is regarding the object in the previous frame, to detect the object, when the object is present in a second distance area which is farther than the first distance area.
    Type: Application
    Filed: July 26, 2018
    Publication date: November 22, 2018
    Inventors: Soichiro Yokota, Seiya Amano, Yuu Yamada
  • Publication number: 20180330481
    Abstract: Disclosed is an image processing apparatus that includes one or more processors; and a memory storing instructions, which when executed by the one or more processors, cause the one or more processors to: generate distribution data indicating a frequency distribution of horizontal distance values of a range image based on the range image having pixel values according to distance of an object in a plurality of captured images; detect an object based on the distribution data with respect to a range image; predict a predicted position of the object in a current frame based on the distribution data with respect to range images of a plurality of previous frames; and integrate a plurality of objects detected by the detector based on the predicted position to track an integrated object in subsequent frames.
    Type: Application
    Filed: July 25, 2018
    Publication date: November 15, 2018
    Inventors: Genki WATANABE, Hiroyoshi Sekiguchi, Soichiro Yokota, Seiya Amano, Yuu Yamada, Keito Sawada
  • Publication number: 20180300562
    Abstract: According to an embodiment, a processing device includes a generating unit, a detecting unit, and a determining unit. The generating unit is configured to generate two-dimensional distribution information of an object, the two-dimensional distribution information associating between at least a lateral direction distance and a depth direction distance of the object. The detecting unit is configured to detect a continuous area having continuity in a depth direction in the two-dimensional distribution information. The determining unit is configured to determine whether the continuous area represents a detection target.
    Type: Application
    Filed: June 26, 2018
    Publication date: October 18, 2018
    Inventors: Yuu YAMADA, Soichiro Yokota, Sadao Takahashi, Shinichi Sumiyoshi
  • Patent number: 10104359
    Abstract: A disparity value deriving device includes a calculator configured to calculate costs of candidates for a corresponding region in a comparison image that corresponds to a reference region in a reference image, based on luminance values of the regions. The device also includes a changer configured to change a cost exceeding a threshold to a value higher than the threshold; a synthesizer configured to synthesize a cost of a candidate for a corresponding region for one reference region after the change and a cost of a candidate for a corresponding region for another reference region after the change; and a deriving unit configured to derive a disparity value based on a position of the one reference region and a position of the corresponding region in the comparison image for which the cost after the synthesis is smallest.
    Type: Grant
    Filed: December 12, 2014
    Date of Patent: October 16, 2018
    Assignee: RICOH COMPANY, LIMITED
    Inventors: Kiichiroh Saitoh, Yoshikazu Watanabe, Soichiro Yokota, Ryohsuke Tamura, Wei Zhong
  • Publication number: 20180285661
    Abstract: An image processing device includes a first extracting unit, a second extracting unit, a face detecting unit, a first apex detecting unit, and a decider. The first extracting unit is configured to extract, based on distance information regarding an object, a first area representing the object. The second extracting unit is configured to extract contour directions of a contour of the first area. The face detecting unit is configured to detect a first face in the first area, based on the contour directions extracted by the second extracting unit. The first apex detecting unit is configured to detect a first apex indicating a boundary of the first face. The decider is configured to decide on a principal face of the object represented by the first area, based on at least the first face and the first apex.
    Type: Application
    Filed: June 5, 2018
    Publication date: October 4, 2018
    Inventors: Seiya AMANO, Hiroyoshi Sekiguchi, Soichiro Yokota
  • Publication number: 20180276835
    Abstract: According to an embodiment, an image processing apparatus includes a first extracting unit, a second extracting unit, and a detecting unit. The first extracting unit is configured to extract a first region in which an object is represented, from a distance image that is drawn using distance information, based on the distance information of the object calculated from an image of the object captured by an image capturing unit. The second extracting unit is configured to extract a contour direction that is a direction along which pixels forming a contour of the first region are arrayed. The detecting unit is configured to detect a first surface facing the image capturing unit from the first region, based on the contour direction extracted by the second extracting unit.
    Type: Application
    Filed: May 29, 2018
    Publication date: September 27, 2018
    Inventors: Seiya Amano, Hiroyoshi Sekiguchi, Soichiro Yokota
  • Publication number: 20180276837
    Abstract: An image processing device includes: a first generating unit configured to generate, based on a distance image generated from a plurality of taken images imaged by a plurality of imaging units in a travelling direction, and made from distance values corresponding to the travelling direction, a first image indicating a frequency distribution associating actual distances in a direction orthogonal to the travelling direction with the distance values; a second generating unit configured to generate, based on the distance image, a second image indicating a frequency distribution associating a horizontal direction of the distance image with the distance values; a first processing unit configured to detect a face of an object represented by the first image, using at least the first image; and a second processing unit configured to identify a type of the face of the object using at least the second image.
    Type: Application
    Filed: May 29, 2018
    Publication date: September 27, 2018
    Inventors: Seiya AMANO, Hiroyoshi Sekiguchi, Soichiro Yokota
  • Publication number: 20180268229
    Abstract: An image processing apparatus includes an extracting unit configured to obtain a range image having pixel values corresponding to a distance of an object in a plurality of captured images obtained by capturing the object on a road surface so as to extract pixel values from the range image, a first generating unit configured to generate vertical direction distribution data indicating a frequency distribution of distance values in a vertical direction of the range image based on the extracted pixel values, a calculating unit configured to calculate a height of the road surface in the range image before generation of the vertical direction distribution data is completed, and a second generating unit configured to generate horizontal direction distribution data indicating a frequency distribution of distance values in a horizontal direction of the range image based on the extracted pixel values and the calculated height of the road surface.
    Type: Application
    Filed: May 22, 2018
    Publication date: September 20, 2018
    Inventors: Otoichi NAKATA, Shinichi Sumiyoshi, Naoki Motohashi, Sadao Takahashi, Soichiro Yokota, Toshifumi Yamaai
  • Publication number: 20180165834
    Abstract: An information processing apparatus includes a correlation unit that correlates distance information indicating a distance to an emission position of electromagnetic waves emitted in a shooting direction of a plurality of image pickup units with a first pixel in a first image that constitutes images taken by the image pickup units, the distance information being obtained based on reflected waves of the electromagnetic waves and the first pixel corresponding to the emission position of the electromagnetic waves, and a generation unit that generates a parallax image by using the distance information correlated with the first pixel for parallax computation of pixels in a second image that constitutes the images.
    Type: Application
    Filed: December 22, 2014
    Publication date: June 14, 2018
    Inventors: Hiroyoshi SEKIGUCHI, Soichiro YOKOTA, Shuichi SUZUKI, Shin AOKI, Haike GUAN, Jun YOSHIDA, Mitsuru NAKAJIMA, Hideomi FUJIMOTO
  • Patent number: 9794543
    Abstract: An information processing apparatus for processing stereo images of an object includes a disparity calculator to calculate a disparity of the stereo images. The disparity calculator includes an evaluation value calculator to calculate a correlation evaluation value in a search range set for the stereo images; an extreme value detector to detect an extreme value of the correlation evaluation value; a threshold setting unit to set a threshold range for the detected extreme value; a counting unit to count the number of the extreme value existing within the threshold range; and an updating unit to update the set threshold range to a new threshold range when a new extreme value indicating a higher correlation level of the disparity compared to the set threshold range is detected. The counting unit counts the number of the extreme value in a threshold range updated most recently in the search range.
    Type: Grant
    Filed: February 22, 2016
    Date of Patent: October 17, 2017
    Assignee: Ricoh Company, Ltd.
    Inventors: Hiroyoshi Sekiguchi, Soichiro Yokota, Eita Watanabe, Reiko Kuromizu, Yuji Takahashi
  • Patent number: 9747524
    Abstract: A disparity value deriving device includes an acquisition unit configured to acquire a degree of matching between a reference region in a reference image captured from a first imaging position and each of a plurality of region in a designated range including a corresponding region to the reference region in a comparison image captured from a second imaging position; a synthesizer configured to synthesize the degree of matching of a reference region in neighborhood of a predetermined reference region in the reference image and the degree of matching of the predetermined reference region in the reference image; and a deriving unit configured to derive a disparity value of an object whose image is being captured in the predetermined reference region and a corresponding region to the predetermined reference region, based on a synthesized degree of matching obtained by the synthesizer.
    Type: Grant
    Filed: February 23, 2015
    Date of Patent: August 29, 2017
    Assignee: RICOH COMPANY, LTD.
    Inventors: Wei Zhong, Yoshikazu Watanabe, Soichiro Yokota, Kiichiroh Saitoh, Ryohsuke Tamura