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: An apparatus which estimates an inside of an object, includes: a first obtaining unit which obtains light path models and a first light intensity distribution, based on an assumption that a first object includes no second object, distribution; a second obtaining unit which obtains a second light intensity distribution which is an intensity distribution of observed light; a voting value calculating unit which calculates a voting value for each of positions on a predetermined plane, based on a result of comparison in light intensity between the first and second light intensity distributions; a voting unit which votes the voting value to voting regions on a light path model along which light reaches each position; and an estimating unit which estimates whether the second object exists in each voting region, based on a result of the voting.

Abstract: A driving force distribution control apparatus includes: a driving force transmission device including a clutch which can change distribution of a driving force to front wheels and rear wheels of a four-wheel drive vehicle; and a controller which controls an engagement force of the clutch in accordance with a traveling state. The controller includes a different-diameter tire detector which detects an attachment of a different-diameter tire to one of the front wheels and the rear wheels when a rotation speed ratio between the front wheels and the rear wheels continues to be equal to or larger than a reference rotation speed ratio for a predetermined time. The different-diameter tire detector performs detection of the attachment of the different-diameter tire when it is determined that the wheels are unlikely to slip based on an outside condition.

Abstract: A driving force distribution controller comprises: a control device determining the value of torque which must be transmitted to a rear wheel; and a driving force transmission device transmitting torque corresponding to the torque value determined by the control device to the rear wheel. The control device reduces a torque value calculated based on an opening degree of an accelerator and a rotational speed difference when the rotational speed of an engine is lower than a first threshold value but higher than a second threshold value.

Abstract: Discloses is a method of controlling a four-wheel drive vehicle equipped with a torque distribution device capable of changing a torque distribution amount for secondary driven wheels according to an input current to be applied thereto. This method comprises the steps of: applying, to the torque distribution device, a current value corresponding to a target torque distribution amount; and, performing a current changing control for increasing and reducing the input current to the torque distribution device. The step of performing a current changing control includes causing the input current to the torque distribution device to be temporarily increased to a value greater than the current value corresponding to the target torque distribution amount, and then returned to the current value corresponding to the target torque distribution amount, and repeating the temporary increasing of the input current at least at intervals of a predetermined time.

Abstract: A moving object detection device includes a window setting unit configured to set a window having a predetermined volume in a video, an orientation of spatial intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of spatial intensity gradient, a spatial histogram calculation unit configured to calculate a spatial histogram that is a histogram of the orientation of spatial intensity gradient within the window, an orientation of temporal intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of temporal intensity gradient, a temporal histogram calculation unit configured to calculate a temporal histogram that is a histogram of an orientation of temporal intensity gradient within the window, and a determination unit configured to determine whether or not the moving object is included within the window based on the spatial histogram and the temporal histogram.

Abstract: A driving force distribution control device, which is mounted on a vehicle including an engine configured to generate driving force for the vehicle, a transmission device configured to shift rotation of an output shaft of the engine by transmission ratios, and a driving force transmission system capable of transmitting output of the transmission device to main drive wheels and auxiliary drive wheels, includes: a control device configured to, when a rotational speed of the output shaft of the engine is in a range in which abnormal sound of the driving force transmission system due to pulsation of the driving force can be generated, set a torque value to a value capable of reducing the abnormal sound depending on the driving force; and a driving force transmitting device configured to transmit driving force depending on the set value to the auxiliary drive wheels.

Abstract: Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing. An image processing device mainly consists of a projector serving as a projection means, a camera as a photographing means, and an image processing means consisting of, for example, a personal computer. The image processing means acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector and the camera. The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

Abstract: A driving force distribution controller comprises: a control device determining the value of torque which must be transmitted to a rear wheel; and a driving force transmission device transmitting torque corresponding to the torque value determined by the control device to the rear wheel. The control device reduces a torque value calculated based on an opening degree of an accelerator and a rotational speed difference when the rotational speed of an engine is lower than a first threshold value but higher than a second threshold value.

Abstract: A road surface frictional coefficient estimation device includes: a first straight travel determination unit configured to determine whether or not a vehicle travels straight based on a rotational speed difference between a plurality of wheels of the vehicle; a second straight travel determination unit configured to determine whether or not the vehicle travels straight based on a steering angle of the vehicle; a selection unit configured to select one of determination results of the first straight travel determination unit and the second straight travel determination unit; and a frictional coefficient estimation unit configured to estimate a frictional coefficient of a road surface on which the vehicle travels when the one of the determination results selected by the selection unit indicates that the vehicle travels straight.

Abstract: An apparatus which estimates an inside of an object, includes: a first obtaining unit which obtains light path models and a first light intensity distribution, based on an assumption that a first object includes no second object, distribution; a second obtaining unit which obtains a second light intensity distribution which is an intensity distribution of observed light; a voting value calculating unit which calculates a voting value for each of positions on a predetermined plane, based on a result of comparison in light intensity between the first and second light intensity distributions; a voting unit which votes the voting value to voting regions on a light path model along which light reaches each position; and an estimating unit which estimates whether the second object exists in each voting region, based on a result of the voting.

Abstract: Blur correction device (100) includes: a blur information generation unit (203) which generates blur information based on sensor data indicating camera motion; a blur correction unit (204) which corrects blur in a captured image, based on the blur information, to generate a candidate corrected image; an evaluation value calculation unit (205) which calculates an evaluation value indicating a blur correction level for the candidate corrected image; a termination judgment unit (206) which judges whether the blur correction should be terminated, based on a predetermined condition; and a blur information updating unit which updates the blur information, when the blur correction should not be terminated. When the blur information is updated, the blur correction unit (204) corrects the blur, based on the updated blur information, to generate a new candidate corrected image.

Abstract: A driving force distribution control device mounted on a vehicle including an engine, a transmission device, a clutch engaging an output shaft of the engine with an input shaft of the transmission device, and a driving force transmission system capable of transmitting output of the transmission device to main and auxiliary drive wheels, includes: a control device obtaining a torque value to be transmitted to the auxiliary drive wheels, the control device reducing the torque value for a predetermined time when the vehicle is in a stopped state or in a state where a vehicle speed of the vehicle is lower than a predetermined value, and an increasing speed of engaging force of the clutch is equal to or greater than a predetermined value; and a driving force transmitting device transmitting torque depending on the obtained torque value to the auxiliary drive wheels.

Abstract: An optical system includes: a main mirror (11) having a shape of a portion of a convex paraboloid which includes an opening in a center and is rotationally symmetric; a second-reflection mirror (12) which further reflects light reflected by the main mirror (11), and has a shape of a portion of a concave paraboloid which is rotationally symmetric; at least one lens which forms an image of the light reflected by the second-reflection mirror (12); and a lens barrel (14) holding the at least one lens, and a position of a front principal point of the at least one lens coincides with a focal position of the second-reflection mirror (12), and an optical axis of the at least one lens is tilted with respect to a rotational axis of each of the convex paraboloid and the concave paraboloid.

Abstract: A moving object detection device includes a window setting unit configured to set a window having a predetermined volume in a video, an orientation of spatial intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of spatial intensity gradient, a spatial histogram calculation unit configured to calculate a spatial histogram that is a histogram of the orientation of spatial intensity gradient within the window, an orientation of temporal intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of temporal intensity gradient, a temporal histogram calculation unit configured to calculate a temporal histogram that is a histogram of an orientation of temporal intensity gradient within the window, and a determination unit configured to determine whether or not the moving object is included within the window based on the spatial histogram and the temporal histogram.

Abstract: A driving force distribution control device, which is mounted on a vehicle including an engine configured to generate driving force for the vehicle, a transmission device configured to shift rotation of an output shaft of the engine by transmission ratios, and a driving force transmission system capable of transmitting output of the transmission device to main drive wheels and auxiliary drive wheels, includes: a control device configured to, when a rotational speed of the output shaft of the engine is in a range in which abnormal sound of the driving force transmission system due to pulsation of the driving force can be generated, set a torque value to a value capable of reducing the abnormal sound depending on the driving force; and a driving force transmitting device configured to transmit driving force depending on the set value to the auxiliary drive wheels.

Abstract: A road surface frictional coefficient estimation device includes: a first straight travel determination unit configured to determine whether or not a vehicle travels straight based on a rotational speed difference between a plurality of wheels of the vehicle; a second straight travel determination unit configured to determine whether or not the vehicle travels straight based on a steering angle of the vehicle; a selection unit configured to select one of determination results of the first straight travel determination unit and the second straight travel determination unit; and a frictional coefficient estimation unit configured to estimate a frictional coefficient of a road surface on which the vehicle travels when the one of the determination results selected by the selection unit indicates that the vehicle travels straight.

Abstract: A driving force distribution control device mounted on a vehicle including an engine, a transmission device, a clutch engaging an output shaft of the engine with an input shaft of the transmission device, and a driving force transmission system capable of transmitting output of the transmission device to main and auxiliary drive wheels, includes: a control device obtaining a torque value to be transmitted to the auxiliary drive wheels, the control device reducing the torque value for a predetermined time when the vehicle is in a stopped state or in a state where a vehicle speed of the vehicle is lower than a predetermined value, and an increasing speed of engaging force of the clutch is equal to or greater than a predetermined value; and a driving force transmitting device transmitting torque depending on the obtained torque value to the auxiliary drive wheels.

Abstract: Discloses is a method of controlling a four-wheel drive vehicle equipped with a torque distribution device capable of changing a torque distribution amount for secondary driven wheels according to an input current to be applied thereto. This method comprises the steps of: applying, to the torque distribution device, a current value corresponding to a target torque distribution amount; and, performing a current changing control for increasing and reducing the input current to the torque distribution device. The step of performing a current changing control includes causing the input current to the torque distribution device to be temporarily increased to a value greater than the current value corresponding to the target torque distribution amount, and then returned to the current value corresponding to the target torque distribution amount, and repeating the temporary increasing of the input current at least at intervals of a predetermined time.

Abstract: A control valve device develops opening/closing accuracy of a valve assembly. The valve head 310a is configured to open and close a transfer path formed in the valve housing 305 by transmitting the power to the valve assembly 310 from the power transmission member according to a pressure ratio between working fluid supplied to the first space Us and the second space Ls, respectively. The valve head has a Vickers hardness larger than a Vickers hardness of a valve seat of the transfer path to be in contact with the valve head, and a hardness difference therebetween is set to be about 200 Hv to about 300 Hv.