Abstract: An object detection device includes: a light emitter that emits light; a sensor that generates a first pixel signal by exposure to reflected light according to a combination of emission by the light emitter and first exposure and a second pixel signal by exposure to reflected light according to a combination of the emission and second exposure; and a distance calculator that generates a distance image by ratio operation using the first pixel signal and the second pixel signal. Timing of the first exposure is set to timing during which the sensor is not exposed to reflected waves from an object included in a first section in which a distance from the object detection device is from 0 to a predetermined value. A time difference between the emission and the second exposure is greater than a time difference between the emission and the first exposure.

Abstract: An object detecting device includes: a first luminance obtainer and a distance obtainer that obtain a first luminance image and a depth image, respectively; a first clustering unit that generates a group that is a set of pixels taken as the same object in the depth image, and determines that the group is a cluster when a total number of pixels included in the group is at least a first threshold; a second clustering unit that determines that the group is a cluster, when (i) the total number of pixels included in the group is less than the first threshold and (ii) luminance of a pixel group in the first luminance image which corresponds to the group is at least a second threshold; and a 3D object detector that generates 3D object information indicating an object in the depth image which is detected based on the cluster.

Abstract: An information processing system is applied for an image sensor having a first pixel and a second pixel. The information processing system includes a first acquirer, a second acquirer and a third acquirer. The first pixel has sensitivity for visible light. The second pixel has sensitivity for infrared light. The first acquirer is configured to acquire first brightness information from the first pixel. The first brightness information relates to a pixel value of the first pixel. The second acquirer is configured to acquire second brightness information from the second pixel. The second brightness information relates to a pixel value of the second pixel. The third acquirer is configured to acquire distance information from the second pixel. The distance information relates to a distance between the image sensor and an object by which the infrared light is reflected.

Abstract: A distance-measurement controller is to be used with an imaging device. The imaging device includes a light source that emits invisible light and a light receiver that receives reflected light. The reflected light is the invisible light that has been reflected by a target object. The distance-measurement controller includes a controller and a distance measurer. The controller causes the light receiver to make images at a constant frame rate, and causes the imaging device to vary a condition for at least two divided ranges into which a range that is a predetermined distance from the imaging device is divided. The condition is a condition under which the images are made to measure a distance from the imaging device to the target object. The distance measurer measures the distance from the imaging device to the target object, based on the reflected light.

Abstract: In order to accurately identify a boundary between an object and a space, an identification apparatus includes circuitry that receives first distance image information obtained by imaging an object from a first point, using an imaging apparatus and second distance image information obtained by imaging the object from a second point different from the first point, using the imaging apparatus, derives first distance information from the first point to a plurality of feature points of the object based on the first distance image information and derives second distance information from the second point to the plurality of feature points based on the second distance image information, identifies a boundary between the object and a space based on the first distance information and the second distance information, and outputs an identification result from the identifying to an external apparatus.

Abstract: In order to accurately identify a posture of an occupant of a moving object, identification apparatus which identifies the posture of the occupant of the moving object includes distance measurer that determines a feature point of the occupant based on an infrared image or a distance image each obtained by imaging apparatus and derives a distance to the feature point by using a time of flight distance measurement method, and identifier that identifies the posture of the occupant based on the distances to a plurality of the feature points.

Abstract: There is provided a road surface detection apparatus which can precisely estimate a road surface grade. The road surface detection apparatus includes: an inputter that receives an input of an image signal from an imaging apparatus; a distance measurer that divides a road surface into a plurality of cells based on the image signal, and derives a distance to a representative point of each of the cells by a time of flight distance measurement method; and an estimator that estimates a gradient of the road surface based on the distances to a plurality of representative points.

Abstract: There is provided an imaging control apparatus which can improve distance measurement precision of a time of flight distance measurement method. The imaging control apparatus includes: a clustering processor which clusters a region from which a feature point is extracted based on an infrared image or a distance image obtained by an imaging apparatus; and a distance measurer which derives a distance to a target corresponding to the region by a time of flight distance measurement method based on information of each pixel in the region clustered by the clustering processor.

Abstract: The image processing device includes: a first motion vector detecting section detects a first motion vector indicating a motion from a subsequent frame to the target frame; a second motion vector detecting section detects a second motion vector indicating a motion from a previous frame to the target frame; a first moved image generating section generates data of a first moved image based on data of the subsequent frame and the first motion vector; a second moved image generating section generates data of a second moved image based on data of the previous frame and the second motion vector; and a corrected image generating section generates data of a corrected image, based on data of the target frame, and the data of the first and the second moved images.

Abstract: To enable an image with no blind spot area to be obtained while ensuring a wide field of view, an omnidirectional imaging system includes: a primary mirror (101) including a hyperbolic mirror; a plurality of secondary mirrors (102) arranged around the primary mirror and each including a hyperbolic mirror; and a camera (104) that captures an image reflected by the primary mirror and images reflected by the plurality of secondary mirrors. A hyperboloid of the primary mirror and hyperboloids of the plurality of secondary mirrors have a substantially coincident outer focal point, and the camera (104) is placed so that a viewpoint of the camera substantially coincides with the outer focal point of the hyperboloid of the primary mirror (101) and the hyperboloids of the plurality of secondary mirrors (102), the viewpoint of the camera being an entrance pupil position of a lens attached to the camera (104).

Abstract: A position measuring apparatus which measures a position of a position measurement target easily and accurately without using any parameter inside a camera in the measurement, based on images captured from mutually different viewpoints. The position measuring apparatus which measures the three-dimensional position of the position measurement target, based on the input images captured from the mutually different viewpoints, and the position measuring apparatus includes: a ray information storage unit configured to store ray information in which each of ray vectors is associated with a corresponding one of pixels in one of the input images, each of the ray vectors indicating a forward direction of a light incident onto an optical system for a corresponding one of the input images; and a position measuring unit configured to measure the three-dimensional position of the position measurement target, using the ray information stored in the ray information storage unit.

Abstract: An image generating apparatus which generates a second image that is an image converted from a first image captured by an imaging apparatus placed to be oriented downward at an angle of depression with respect to a horizontal direction includes: a specifying unit which specifies a straight line included in the first image and passing through an intersection between an imaging plane and a vertical vector; and an image extension processing unit which generates the second image by sampling pixels of the first image along the specified straight line.

Abstract: A light source control device comprises a light source unit which emits parallel beams from an arbitrary position along a second axial direction which is orthogonal to a first axial direction, a light source control unit which controls an emitting position of the parallel beams of the light source unit, one or more deflectors which deflects the parallel beams emitted from the light source unit, and a first diffuser which diffuses the light beam, deflected by the deflector, in a third axial direction which is orthogonal to the first axial direction and the second axial direction, wherein the deflector is disposed to be tilted relative to the first axial direction, and yields a different deflection operation in a first element direction which is orthogonal to the deflector's own optical axis direction and in a second element direction which is orthogonal to both the optical axis direction and the first element direction.

Abstract: An image generating apparatus which generates a second image that is an image converted from a first image captured by an imaging apparatus placed to be oriented downward at an angle of depression with respect to a horizontal direction includes: a specifying unit which specifies a straight line included in the first image and passing through an intersection between an imaging plane and a vertical vector; and an image extension processing unit which generates the second image by sampling pixels of the first image along the specified straight line.

Abstract: To enable an image with no blind spot area to be obtained while ensuring a wide field of view, an omnidirectional imaging system includes: a primary mirror (101) including a hyperbolic mirror; a plurality of secondary mirrors (102) arranged around the primary mirror and each including a hyperbolic mirror; and a camera (104) that captures an image reflected by the primary mirror and images reflected by the plurality of secondary mirrors. A hyperboloid of the primary mirror and hyperboloids of the plurality of secondary mirrors have a substantially coincident outer focal point, and the camera (104) is placed so that a viewpoint of the camera substantially coincides with the outer focal point of the hyperboloid of the primary mirror (101) and the hyperboloids of the plurality of secondary mirrors (102), the viewpoint of the camera being an entrance pupil position of a lens attached to the camera (104).

Abstract: A position measuring apparatus which measures a position of a position measurement target easily and accurately without using any parameter inside a camera in the measurement, based on images captured from mutually different viewpoints. The position measuring apparatus which measures the three-dimensional position of the position measurement target, based on the input images captured from the mutually different viewpoints, and the position measuring apparatus includes: a ray information storage unit configured to store ray information in which each of ray vectors is associated with a corresponding one of pixels in one of the input images, each of the ray vectors indicating a forward direction of a light incident onto an optical system for a corresponding one of the input images; and a position measuring unit configured to measure the three-dimensional position of the position measurement target, using the ray information stored in the ray information storage unit.