Abstract: A first calculator calculates a relative position and a relative attitude of a vehicle based on images captured by an image capturing apparatus mounted on the vehicle. A second calculator extracts one marker from an image captured by the image capturing apparatus, and calculates an absolute position and an absolute attitude of the vehicle based on the position and the attitude of the one extracted marker. A corrector corrects the relative position and the relative attitude based on the absolute position and the absolute attitude to generate a corrected position and a corrected attitude of the vehicle. When an angular difference between a traveling direction of the vehicle having the corrected position and the corrected attitude, and the direction of the passageway is smaller than a predetermined threshold, the corrector corrects the relative attitude based on the direction of the passageway, instead of the absolute attitude.

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.

Abstract: A storage device stores a first and a second feature point maps of an object in advance, the first feature point map detected by image processing not based on deep learning, and the second feature point map detected using a deep learning model trained in advance. A processing circuit detects first feature points of the object by the image processing on a captured image. The processing circuit detects second feature points of the object from the captured image using the deep learning model. The processing circuit calculates a position of a target object based on the first feature points and the first feature point map. When the position cannot be calculated based on the first feature points and the first feature point map, the processing circuit calculates the position of the target object based on the first and second feature points, and he first and second feature point maps.

Abstract: A target object setting unit sets a position of a target object in a work object. A feature point recognizer detects feature points of a work object from a captured image obtained by an image capturing apparatus, the image including the work object and a holdable object. A first position calculator calculates a position of the target object in a coordinate system of the image capturing apparatus based on the feature points. A second position calculator calculates a position of the holdable object in the coordinate system of the image capturing apparatus based on the captured image. A control signal generator converts the positions of the target object and the holdable object in the coordinate system of the image capturing apparatus, into positions in a coordinate system of the robot arm apparatus, and outputs a first control signal to the robot arm apparatus based on the converted positions of the target object and the holdable object, for moving the holdable object to the position of the target object.

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.

Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.

Abstract: A first calculator calculates a relative position and a relative attitude of a vehicle based on images captured by an image capturing apparatus mounted on the vehicle. A second calculator extracts one marker from an image captured by the image capturing apparatus, and calculates an absolute position and an absolute attitude of the vehicle based on the position and the attitude of the one extracted marker. A corrector corrects the relative position and the relative attitude based on the absolute position and the absolute attitude to generate a corrected position and a corrected attitude of the vehicle. When an angular difference between a traveling direction of the vehicle having the corrected position and the corrected attitude, and the direction of the passageway is smaller than a predetermined threshold, the corrector corrects the relative attitude based on the direction of the passageway, instead of the absolute attitude.

Abstract: An image processing device decides, on a scanning line of a taken image of a space irradiated with light having directionality, a first pixel block including a determination target pixel, a second pixel block adjacent to the first pixel block, and a third pixel block adjacent to the first pixel block on a side opposite to the second pixel block. Furthermore, the image processing device determines whether or not the determination target pixel is a pixel showing the irradiating light based on a relationship among a first luminance sum based on a sum of luminance values of pixels included in the first pixel block, a second luminance sum based on a sum of luminance values of pixels included in the second pixel block, and a third luminance sum based on a sum of luminance values of pixels included in the third pixel block.

Abstract: A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.

Abstract: A differential detection device detects a spatial difference. A measurement unit measures a position of each of a plurality of points in a surrounding local space. An extractor extracts attribute information on each of measured voxels that are three-dimensionally arranged and associated with the local space, from a measurement result of the measurement unit. A map management unit manages attribute information on each of map voxels that are three-dimensionally arranged and associated with the space shown on a map. A parameter setting unit sets a numeric value to a parameter according to an operation mode set by the user. A differential detector detects presence or absence of a difference between the attribute information on the measured voxel and the attribute information on the map voxel at a position corresponding to the measured voxel, by using the numeric value set to the parameter. An output unit outputs a detection result.

Abstract: A position estimation apparatus which estimates a position of a mobile object in a space includes: a measurement unit which measures, for each of points in a local space in proximity to the mobile object, a position and an attribute; an extractor which extracts position information and attribute information from a result of the measuring by the measurement unit, for each measurement voxel in a group of measurement voxels arrayed three-dimensionally in association with the local space; a map manager which manages position information and attribute information, for each map voxel in a group of map voxels arrayed three-dimensionally in association with the space represented by a map; and a position estimator which estimates a position of the mobile object, based on a position information approximation degree and an attribute information approximation degree.

Abstract: An image capture device of the present disclosure is capable of recording light-ray information including a travelling direction of a light ray and an intensity of the light ray in the travelling direction, and includes: a main lens; an image sensor; microlenses arranged between the main lens and the image sensor; a dirt detector that detects a dirt region on or near the main lens based on an inclination of a straight line on an epipolar plane image that is produced by separating pixels on the image sensor so as to correspond to a plurality of sub-apertures existing on the main lens and arranging the separated pixels in a parallax direction; and a dirt remover that reconstructs pixels of the dirt region by using pixels outside the dirt region.

Abstract: The present disclosure is intended to provide an image capture device having high resolution in reconstruction. The image capture device of the present disclosure, which is capable of recording light information including a traveling direction of light and intensity of the light in the traveling direction, includes a main lens; an image sensor; a microlens array that is placed between the main lens and the image sensor and has a predetermined vertical rotation angle relative to the image sensor; and a signal processing unit for generating a refocused image on a virtual image plane at any given focal position using the light information.

Abstract: An information presentation device includes: an obtainment unit which obtains position information indicating a position of a nearby object with respect to a user; a stimulation presentation unit which contacts the user through a contact surface and provides stimulation in a stimulation region within the contact surface; and a stimulation control unit which (i) determines a reference position, which is a position within the contact surface, corresponding to the position information and (ii) performs control for causing the stimulation presentation unit to provide the user with stimulation while changing the stimulation region with reference to the reference position.

Abstract: A code reading device includes a neighbor searching and voting unit that, for each of a part of dot marks located in a matrix displaced from virtual lattice points, votes on coordinate values of four neighboring dot marks, using each of the part of the dot marks as a reference point, in a plane; a direction detecting unit that determines first and second directions from the voting results; an order determining unit that determines a raster order for the part of the dot marks based on the directions; and a code detecting unit that detects a relative position of each of lattice points determined based on coordinate values of the part of the dot marks and the raster order, to a closest dot mark among the part of the dot marks according to the raster order, thereby encoding the part of the dot marks to provide the positional information.

Abstract: An information presentation device includes: an obtainment unit which obtains position information indicating a position of a nearby object with respect to a user; a stimulation presentation unit which contacts the user through a contact surface and provides stimulation in a stimulation region within the contact surface; and a stimulation control unit which (i) determines a reference position, which is a position within the contact surface, corresponding to the position information and (ii) performs control for causing the stimulation presentation unit to provide the user with stimulation while changing the stimulation region with reference to the reference position.

Abstract: A disparity calculating apparatus which calculates a disparity value from a stereo image including first and second images includes: an image dividing unit which divides the first image into segments; a reference point determining unit which sets reference points to the first image; a corresponding point detecting unit which (i) calculates, for each reference point, a corresponding point which is included in the second image and corresponds to the reference point, based on phase information of images obtained by performing Fourier transform on the first image and the second image, (ii) calculates a disparity value using the reference point and each corresponding point, and (iii) calculates a reliability of the disparity value; and a disparity assigning unit which assigns each of the segments which includes a corresponding one of the reference points the disparity value and the reliability calculated by the corresponding point detecting unit.

Abstract: A code reading device includes a neighbor searching and voting unit that, for each of a part of dot marks located in a matrix displaced from virtual lattice points, votes on coordinate values of four neighboring dot marks, using each of the part of the dot marks as a reference point, in a plane; a direction detecting unit that determines first and second directions from the voting results; an order determining unit that determines a raster order for the part of the dot marks based on the directions; and a code detecting unit that detects a relative position of each of lattice points determined based on coordinate values of the part of the dot marks and the raster order, to a closest dot mark among the part of the dot marks according to the raster order, thereby encoding the part of the dot marks to provide the positional information.

Abstract: An image acquirer acquires paired left and right viewpoint images. A disparity calculator calculates a disparity between the left and right viewpoint images. A display properties memory stores naked-eye stereoscopic display properties such as recommended disparity values and a cross-talk rate. A disparity analyser reads the naked-eye stereoscopic display properties from the display properties memory and uses these properties to perform a disparity adjustment on the left and right viewpoint images. A multi-viewpoint image generator uses the disparity as adjusted by the disparity analyser to generate a multi-viewpoint image by performing a shift on each pixel of the left and right viewpoint images.