Abstract: A vehicle monitoring device includes a positioning device, a distance calculator, a first imaging device, a volume calculator, and a work calculator. The positioning device measures a position of a vehicle including a loading platform. The distance calculator calculates a movement distance of the vehicle based on the position of the vehicle measured by the positioning device. The first imaging device captures an image of a load mounted on the loading platform. The volume calculator calculates a volume of the load based on the image captured by the first imaging device. The work calculator calculates a work of the vehicle based on the movement distance and the volume of the load.

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 positioning device includes an camera, a detector, and a circuit. The camera is mounted on a moving body, and captures an image of surroundings of the moving body to acquire a captured image. The detector is mounted on the moving body, detects motion of the moving body, and outputs a detection signal indicating a detection result. The circuit processes the detection signal using a correction value for correcting a bias error included in the detection signal without depending on the motion of the moving body. The circuit computes the position of the moving body based on the captured image acquired by the camera and the detection signal processed. If the circuit determines that the moving body is stationary, the circuit updates the correction value of the bias error based on the detection signal output by the detector.

Abstract: A positioning device comprises: an imaging unit that is mounted on the moving body and captures an image of surroundings of the moving body to acquire the captured image; a detector that detects motion information indicating motion of the moving body; a controller that extracts a feature point from the captured image and transforms a coordinate on the captured image of the feature point into position information indicating a spatial position of the feature point in the surroundings; and a storage that stores the position information. The controller searches the captured image for an on-image position corresponding to the spatial position indicated by the position information and computes a positional relationship between the spatial position indicated by the position information and the imaging unit to obtain the position of the moving body in the surroundings.

Abstract: A vehicle monitoring device includes a positioning device, a distance calculator, a first imaging device, a volume calculator, and a work calculator. The positioning device measures a position of a vehicle including a loading platform. The distance calculator calculates a movement distance of the vehicle based on the position of the vehicle measured by the positioning device. The first imaging device captures an image of a load mounted on the loading platform. The volume calculator calculates a volume of the load based on the image captured by the first imaging device. The work calculator calculates a work of the vehicle based on the movement distance and the volume of the load.

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 camera calibration device that captures images of at least one marker with at least two cameras and calibrates installation states of the at least two cameras based upon the captured images by the at least two cameras, includes: an extracting unit that extracts a feature amount of the at least one marker based upon the captured images by the at least two cameras; a primary calibration unit that calculates a position of each of the at least two cameras in a marker coordinate system, based upon the feature amount; and a secondary calibration unit that preforms coordinate transformation of the position of each of the cameras in the marker coordinate system calculated by the primary calibration unit, into a position of each of the cameras in a vehicle coordinate system.

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 camera calibration device that captures images of at least one marker with at least two cameras and calibrates installation states of the at least two cameras based upon the captured images by the at least two cameras, includes: an extracting unit that extracts a feature amount of the at least one marker based upon the captured images by the at least two cameras; a primary calibration unit that calculates a position of each of the at least two cameras in a marker coordinate system, based upon the feature amount; and a secondary calibration unit that preforms coordinate transformation of the position of each of the cameras in the marker coordinate system calculated by the primary calibration unit, into a position of each of the cameras in a vehicle coordinate system.

Abstract: Calibration method of cameras is performed by using images generated by imaging a peripheral area of a vehicle by the cameras, wherein the peripheral area of a vehicle includes a calibration index pre-set on a road surface where the vehicle is positioned. The cameras are mounted on the vehicle, and the calibration index includes intersections formed by at least two first parallel straight lines and two second parallel straight lines having different inclination from the two first parallel straight lines. The camera calibration method includes steps of generating a bird's-eye-view video by viewpoint-converting each of the images based on a first camera parameter that is stored in advance; recognizing the intersections from the generated bird's-eye-view video; and calculating a second camera parameter, via which a non-deviated bird's-eye-view video can be generated, based on the recognized intersections and information on positions and poses of the cameras.