Abstract: An imaging system includes a plurality of imaging bodies, a moving part, and an imaging control unit. Each of the imaging bodies includes a first optical element that images a range containing a hemisphere that is centered at an optical axis and oriented in a first direction of the optical axis, and a second optical element that images a range containing a hemisphere that is centered at the optical axis and oriented in a second direction opposite to the first direction. The imaging bodies is arranged in a direction orthogonal to the optical axis. The moving part moves the imaging bodies on a straight line. The imaging control unit is configured to cause the imaging bodies to perform imaging in synchronization with each other, and acquire a taken image from each of the imaging bodies.

Abstract: An imaging apparatus includes a plurality of imaging bodies and an imaging control unit. Each of the imaging bodies includes a first optical element capable of imaging a range including a hemisphere that is centered at an optical axis and oriented in a first direction of the optical axis, and a second optical element capable of imaging a range including a hemisphere that is centered at the optical axis and oriented in a second direction opposite to the first direction. The imaging bodies are arrayed in a direction perpendicular to the optical axis. The imaging control unit causes the plurality of imaging bodies to perform imaging in a synchronous manner, and acquires a captured image from each of the imaging bodies.

Abstract: A distance-measuring apparatus, a mobile object, a distance-measuring method, and a distance-measuring system. The distance-measuring apparatus and the distance-measuring method include performing matching for a plurality of images obtained by a plurality of imaging devices to convert the plurality of images into first distance information on a pixel-by-pixel basis, emitting a laser beam where at least one of a laser-beam resolution in a horizontal direction and a laser-beam resolution in a vertical direction exceeds two degrees, obtaining a reflected signal obtained when the laser beam is reflected by an object, detecting a peak that corresponds to reflection from the object from the reflected signal, calculating second distance information based on a length of time taken to observe the peak after the laser beam is emitted in the emitting, and integrating the first distance information and the second distance information with each other. The mobile object includes the distance-measuring apparatus.

Abstract: An image processing device includes circuitry to acquire a range image, recognize an external situation indicating a situation of an imaging area corresponding to the range image, recognize a recognition target to be tracked from the range image by a recognition method based on the recognized external situation, remove the recognition target from the range image to generate a new range image, and detect an object in the new range image from which the recognition target has been removed.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.