Abstract: A plurality of types of arrangement pattern candidates are generated. Each arrangement pattern candidate is an arrangement pattern candidate of a plurality of indices in a physical space used to calculate the position and orientation of the viewpoint. The arrangement pattern candidate enables observation of a predetermined number or more of indices from a position in an area where mixed reality can be experienced in the physical space. Information representing the arrangement pattern of a plurality of indices in the physical space is generated by using the generated types of arrangement pattern candidates.

Abstract: A displacement detection device includes an image sensor, a light source and a processing unit. The image sensor is configured to successively capture images. The light source provides light with an emission frequency and an emission duration for the image sensor in capturing the images. The processing unit is configured to calculate a displacement according to the images and to adjust both the emission frequency and the emission duration according to the displacement.

Abstract: There is provided an image processing device including a depth acquisition unit and a smoothing processing unit. The depth acquisition unit acquires a depth to a subject in correlation with a pixel in a captured image of the subject, and the smoothing processing unit designates a pixel in a region excluding a predetermined region in the image as a target pixel, and performs a smoothing process of the degree according to the depth corresponding to the target pixel for a pixel value of the target pixel in a predetermined direction. This causes a pixel in a region excluding the predetermined region in the image to be blurred, thereby generating a panning image.

Abstract: A method for determining position and orientation of a first measuring instrument is disclosed. A second MI and at least one reflective target including a retroreflector unit are arranged in the vicinity of the first MI. At least one imaging module is arranged in the first MI for determining orientation thereof. The at least one imaging module in the first MI can be used in a similar manner as a tracker unit of an optical total station, by way of detecting optical radiation emitted from the second MI and reflected by the at least one TGT.

Abstract: Methods and systems for providing and rendering 3D depth information are described. Specifically, the 3D depth information includes z-axis values provided in a normalized percentage format, that defines the position of an object relative to an infinity plane, a display screen, and a viewer, and can be used to render one or more images independent of display screen size and viewing distance.

Abstract: The proposed system, Delayed Telop Aid (DTA), improves the teleoperator's ability to control the vehicle in a three step process. First, DTA predicts robot motion given the operators commands. Second, DTA creates synthetic images to produce a video feed that looks as if the robot communication link had no delay and no reduced bandwidth. Finally, DTA performs closed loop control on the robot platform to ensure that the robot follows the operator's commands. A closed loop control of the platform makes sure that the predicted pose after the delay (and therefore the image presented to the operator) is achieved by the platform. This abstracts away the latency-sensitive parts of the robot control, making the robot's behavior stable in the presence of poorly characterized latency between the operator and the vehicle.

Abstract: Conventionally, on a subject in which range, refocus can be performed at the time of image capturing or at the time of editing an image is not specified clearly, and therefore, it is difficult for a user to capture an image or to edit an image in a manner the user intends. An image processing apparatus has an acquisition unit configured to acquire an image including a plurality of subject areas and distance information corresponding to the plurality of subject areas and a generation unit configured to generate a shifted image in which positions of the plurality of subject areas are shifted in the image based on the distance information.

Abstract: Embodiments provide techniques for stabilizing coloration for video content containing a plurality of frames. Embodiments include selecting a reference frame from the plurality of frames. A plurality of reference points are identified within the reference frame. Embodiments further include adjusting the coloration of each of two or more unselected frames in the plurality of frames, by identifying a second reference point within the unselected frame, corresponding to one of the plurality of reference points within the reference frame, determining a coloration difference between a depiction of the second reference point and a depiction of the corresponding reference point within the reference frame, and adjusting the coloration of the unselected frame, based on the determined coloration difference.

Abstract: An image processing system includes an image acquisition unit, a candidate value estimation unit, a band characteristics evaluation unit, an effective frequency determination unit and a candidate value modification unit. The acquisition unit acquires images. The estimation unit estimates, for each pixel of the images, a candidate value of a 3D shape. The evaluation unit calculates, for each pixel, a band evaluation value of a band included in the images. The determination unit determines an effective frequency of the pixel based on statistical information of the band evaluation value. The modification unit performs data correction or data interpolation for the candidate value based on the effective frequency and calculates a modified candidate value representing the 3D shape.

Abstract: In an example embodiment, method, apparatus and computer program product are provided. The method includes facilitating receipt of first image (I1) and second image (I2) of a scene. Cost volume between images I1 and I2 for set of foreground labels (FL) and set of background labels (BL) is determined that includes matching costs of pixels in I1 and corresponding pixels in I2 for FL and BL. Reduced cost volume is determined from the cost volume, including matching costs of pixels in I1 and corresponding pixels in I2 for FL and a background label (L1) of BL, where matching cost of an individual pixel in I1 and corresponding pixel of the individual pixel in I2 for L1 includes minimum matching cost from a set of matching costs of the individual pixel for BL. A disparity map is generated by performing cost aggregation of the reduced cost volume in I1 and I2.

Abstract: A measuring system for determining 3D coordinates of measurement points on an object surface which has a scanning apparatus for measuring the measurement points on the object surface and for determining inner measurement point coordinates in an inner scanning coordinate system. Furthermore, a referencing arrangement for producing referencing information for referencing the inner measurement point coordinates in the outer object coordinate system and an evaluation unit for determining the 3D coordinates of the measurement points in the outer object coordinate system on the basis of the inner measurement point coordinates and the referencing information are provided such that the inner measurement point coordinates are in the form of 3D coordinates in the outer object coordinate system. The scanning apparatus is in this case carried in an unmanned, controllable, automotive air vehicle.

Abstract: Disclosed is a method and apparatus for selecting a part of SLAM map information of a first device for transmission to a second device in a collaborative SLAM environment. In one embodiment, the functions implemented include: determining whether a 3D registration transformation between a map of the first device and a map of the second device is available; and transmitting a part of map information of the first device to the second device according to one of a first strategy or a second strategy based on whether or not a 3D registration transformation between the map of the first device and the map of the second device is available.

Abstract: An apparatus is disclosed for processing a sequence of samples of a received signal R reflected by a target surface and having a delay and a frequency shift relative to a reference signal D to obtain a delay Doppler map for the reflected signal. A first correlation module can obtain partial correlations z(n?, k) between samples corresponding to the reflected signal R and a samples corresponding to the reference signal D, across a set of delays. An inverse discrete fourier transform (DFT) of a sequence of samples can be derived from at least DFTs of a first reflected signal sequence and second reference signal sequence.

Abstract: A method for determining the position data of a target object in a reference system from an observation position at a distance. A three-dimensional reference model of the surroundings of the target object is provided, the reference model including known geographical location data. An image of the target object and its surroundings, resulting from the observation position for an observer, is matched with the reference model. The position data of the sighted target object in the reference model is determined as relative position data with respect to known location data of the reference model.

Abstract: A method operational on a receiver device for decoding a codeword is provided. At least a portion of a composite code mask is obtained, via a receiver sensor, and projected on the surface of a target object. The composite code mask may be defined by a code layer and a carrier layer. A code layer of uniquely identifiable spatially-coded codewords may be defined by a plurality of symbols. A carrier layer may be independently ascertainable and distinct from the code layer and may include a plurality of reference objects that are robust to distortion upon projection. At least one of the code layer and carrier layer may have been pre-shaped by a synthetic point spread function prior to projection. The code layer may be adjusted, at a processing circuit, for distortion based on the reference objects within the portion of the composite code mask.

Abstract: A computer-implemented technique can include receiving, at a server from a mobile computing device, the server having one or more processors, an image including a text. The technique can include obtaining, at the server, optical character recognition (OCR) text corresponding to the text, the OCR text having been obtained by performing OCR on the image. The technique can include identifying, at the server, non-textual context information from the image, the non-textual context information (i) representing context information other than the text itself and (ii) being indicative of a context of the image. The technique can include based on the non-textual context information, obtaining, at the server, a translation of the OCR text to a target language to obtain a translated OCR text. The technique can include outputting, from the server to the mobile computing device, the translated OCR text.

Abstract: An overlay measurement method includes providing three predetermined patterns, including a first predetermined pattern, a second predetermined pattern and a third predetermined pattern. An inspection process is then performed on said three predetermined patterns, to obtain three image points, including a first image point, a second image point and a third image point respectively. Next, a defining process is performed to define a default position, and a calculating process is performed to obtain a real offset value x=(p?q)*(c?a)/(a?b)+p.

Abstract: In a calibration device, an image-integration averaging processing unit integrates/averages an image so as to generate an integrated and averaged image, and an edge extracting unit extracts the edges from the integrated and averaged image. A vanishing-point extracting unit calculates vanishing lines by using the edges and identifies the coordinates of the intersection point of the vanishing lines as the coordinates of the vanishing point. An error determining unit compares the coordinates of the current vanishing point with the coordinates of the previous vanishing point so as to determine whether a parameter of the camera needs correcting. In accordance with the result of the determination, a correction processing unit corrects a parameter of the camera.

Abstract: An apparatus includes an association unit, a setting unit, and an arrangement unit. The association unit associates an image with a display region reference point through an image reference point of the image. Here, a number of display region reference points disposed in a display region is equal to or more than the number of images to be arranged in the display region. The setting unit sets, in the display region and for each image, an image reference point arrangement region based on a size of the image associated with the display region reference point and based on a position of the display region reference point associated with the image. The arrangement unit arranges each image in the display region by positioning the image reference point of the image within the image reference point arrangement region associated with the image.

Abstract: A positioning control method, suitable for an electronic device moving along with a vehicle, is provided in this disclosure. The electronic device includes an image-capturing module and a satellite-based positioning module. The positioning control method includes steps of: capturing a first image; extracting an icon object from the first image; capturing a second image; identifying the corresponding icon object in the second image; calculating a separation distance between the electronic device and the icon object according to a variance of the icon object between the first and the second images and a displacement distance of the vehicle; searching a point-of-interest (POI) corresponding to the icon object from a POI database; and, calculating/calibrating positioning data of the electronic device according to the separation distance and known coordinates of the POI.

Abstract: A plurality of distance sensors are used to measure the surface shape map of objects in the presence of relative motions between the object and sensor in the measurement directions of the sensors. The method involves making multiple sequential measurements from a group of sensors while the object moves longitudinally relative to the sensors. The central idea of the invention is the observation that surface shape features appear in delayed sequence as the observed surface moves longitudinally relative to the sensor array, while any relative motions in the measurement directions appear simultaneously at all sensors. Mathematical procedures are used to identify the relative motions from within the measurements. These motions are then subtracted from the sensor reading to determine the surface shape map of the measured object.

Abstract: An image processing apparatus which composes a plurality of images shot under different exposure conditions, comprises a detection unit which detects an exposure error according to a position on a screen using, out of the plurality of images shot under different exposure conditions, an image whose exposure amount is smaller than a predetermined value as a detection target image, a calculation unit which calculates correction information to correct the exposure error detected by the detection unit in accordance with the position on the screen, an adjustment unit which performs level adjustment according to the exposure amount of the detection target image in accordance with the correction information and position information on the screen, and an image composition unit which generates a composite image by composing the plurality of images including the image that has undergone the level adjustment.

Abstract: According to an aspect of the present disclosure, the relative attitude between an inertial measurement unit (IMU), present on a mobile device, and the frame of reference of the vehicle carrying mobile device is estimated. The estimated relative attitude is used to translate the IMU measurement to the vehicle frame of reference to determine the velocity and position of the vehicle. As a result, the vehicle position and velocity are determined accurately in the event of undocking and re-docking of the mobile device from a docking system in the vehicle. The relative attitude is estimated in terms of pitch, roll, and yaw angles.

Abstract: A system, apparatus and method of obtaining data from a 2D image in order to determine the 3D shape of objects appearing in said 2D image, said 2D image having distinguishable epipolar lines, said method comprising: (a) providing a predefined set of types of features, giving rise to feature types, each feature type being distinguishable according to a unique bi-dimensional formation; (b) providing a coded light pattern comprising multiple appearances of said feature types; (c) projecting said coded light pattern on said objects such that the distance between epipolar lines associated with substantially identical features is less than the distance between corresponding locations of two neighboring features; (d) capturing a 2D image of said objects having said projected coded light pattern projected thereupon, said 2D image comprising reflected said feature types; and (e) extracting: (i) said reflected feature types according to the unique bi-dimensional formations; and (ii) locations of said reflected feature

Abstract: Provided is a depth image generating apparatus and method. The light-receiving unit may include a first gate and a second gate and a depth calculator to calculate a depth based on first light information through fourth light information. The first gate may obtain the first light information from a reflected light of a light emitted based on a first pulse and the second gate may obtain the second light information from a reflected light of a light emitted based on a second pulse, and then the first gate may obtain the third light information from a reflected light of a light emitted based on a third pulse and the second gate may obtain the fourth light information from a reflected light of a light emitted based on a fourth pulse.

Abstract: A method for simulating sensor range data includes providing a pulse model configured to generate a sequence of discrete energy pulses. A sequences of flashes associated with the pulse model are electronically generated. Each flash in the sequence of flashes has at least one range value. A sequence of scans is electronically generated from the sequence of flashes. Each scan in the sequence of scans has at least one flash. The sequences of scans is a simulation of sensor range data. The simulation of sensor range data is output in a tangible medium.

Abstract: A vehicle system having at least one sensor configured to output a range signal and a range-rate signal. The range signal represents a distance from a host vehicle to the front vehicle and the range-rate signal represents range-rate information of the front vehicle relative to the host vehicle. A processing device is configured to output an alarm signal based on the range signal, the range-rate signal, and whether a driver of the host vehicle is determined to be distracted.

Abstract: A range-finding system includes two imaging devices to capture multiple images from two different viewpoints and a parallax calculator to calculate parallax based on the multiple images captured by the two imaging devices. The parallax calculator includes an estimation unit to estimate a correction value based on the amount of image deviation in a lateral direction corresponding to pixel position in the images captured by the two imaging devices and a correction unit to correct a pre-correction parallax or an image based on the correction value estimated by the estimation unit.

Abstract: A signal processing device for processing three-dimensional image data, having two-dimensional (2D) image data and 2D depth data, includes an input for receiving the 2D image data and the 2D depth data. Further, a first outlier detector is used for establishing a statistical depth deviation of a depth value from other depth values in a first spatial neighborhood of the 2D depth data. A second outlier detector is used for establishing a statistical image deviation of an image value from other image values in a second spatial neighborhood of the 2D image data. The signal processing device also includes a depth value generator for, in dependence on the statistical depth deviation and the statistical image deviation, providing a replacement depth value when the statistical depth deviation exceeds the statistical image deviation.

Abstract: An apparatus and method for recognizing a vehicle. The apparatus includes a sensor configured to provide point cloud data corresponding to a front object detected by using a LiDAR; a shape determiner configured to determines a shape corresponding to the front object by analyzing the point cloud data provided by the sensor; a receiving sensitivity analyzer configured to analyze a receiving sensitivity change corresponding to each point of the point cloud data provided by the sensor based on the shape of the vehicle; a decider configured to decide whether the front object is a vehicle according to the shape corresponding to the front object and the receiving sensitivity change corresponding to points of the point cloud; and a detector configured to recognize and detect the front object as the vehicle based on the result decided by the decider.

Abstract: A method, system, and one or more computer-readable storage media for depth acquisition from density modulated binary patterns are provided herein. The method includes capturing a number of images for a scene using an IR camera and a number of IR lasers including diffraction grates. Each image includes a density modulated binary pattern carrying phase information. The method also includes performing pixel based phase matching for the images to determine depth data for the scene based on the phase information carried by the density modulated binary patterns.

Abstract: An image acquisition unit 52 acquires images consecutively captured while an image capture range is moved in a predetermined direction. A face detection unit 53 detects same subject images from the images acquired. A facial expression determination unit 55 calculates evaluation values of each of the same subject images detected. A facial expression decision unit 56 decides, as a combination target, a specific subject image from the same subject images, based on the evaluation values calculated. A combination unit 58 generates a wide-range image by combining the subject image decided as the combination target with the images sequentially acquired by the image acquisition unit 52.

Abstract: Conventionally, on a subject in which range, refocus can be performed at the time of image capturing or at the time of editing an image is not specified clearly, and therefore, it is difficult for a user to capture an image or to edit an image in a manner the user intends. An image processing apparatus has an acquisition unit configured to acquire an image including a plurality of subject areas and distance information corresponding to the plurality of subject areas and a generation unit configured to generate a shifted image in which positions of the plurality of subject areas are shifted in the image based on the distance information.

Abstract: The present invention relates to a blind spot warning system and method for sensing a vehicle in a blind spot of a vehicle and warning thereof in advance, the blind spot warning system comprising a line-to-line space-generating unit that generates, in real time, line-to-line space data, which changes when the host vehicle is driven; a distance-measuring unit, which measures the distance between the host vehicle and a target vehicle located in a blind spot of the host vehicle; an input unit, which receives the line-to-line space data and the distance measurement information; a comparison unit, which compares the target vehicle distance data with the line-to-line space data to decide whether the target vehicle is located within the threshold vehicle-to-vehicle distance; and a warning output unit for outputting a warning if the target vehicle is located within the threshold vehicle-to-vehicle distance in the blind spot.

Abstract: A depth measurement apparatus calculates depth information on a subject in an image by using a plurality of images having different blurs taken under different imaging parameters, and includes a region segmentation unit that segments at least one of the images into regions based on an image feature amount, wherein in each of the regions pixels are presumed to be substantially equal in depth to the subject, and a depth calculation unit that calculates a depth for each region resulting from the segmentation by the region segmentation unit and serving as a processing target region for depth calculation, and sets the calculated depth as the depth of the processing target region.

Abstract: Technologies are generally described for projecting structured light patterns onto an Augmented Reality (AR) scene in order to track AR camera motion in AR systems. In some examples, structured light patterns may be projected onto the AR scene from a light source in the same plane as the AR camera in order to preserve a consistent reference point for detecting the structured light pattern. The AR camera may detect the structured light patterns and determine the location of the AR camera based on a distance analysis of the detected structured light patterns. Based on the changing locations of the AR camera, the system may track the movement of the AR camera as its location relative to the AR scene changes.

Abstract: A disparity calculating method includes generating an energy matrix according to a first image-block and a second image-block, wherein the energy matrix includes a plurality of energies of a plurality of pixels corresponding to a plurality of disparity candidates; setting the energy corresponding to a starting pixel of the plurality of pixels and a specified disparity candidate of the plurality of disparity candidates as a first predetermined value and setting the energies corresponding to the starting pixel and other disparity candidates of the plurality of disparity candidates as a second predetermined value, wherein the second predetermined value is greater than the first predetermined value; generating a path matrix according to the energy matrix; and determining a plurality of disparities of the plurality of pixels sequentially from an ending pixels of the plurality of pixels, wherein the disparity of the ending pixel is set as a third predetermined value.

Abstract: According to an illustrative embodiment, a method for detecting a document includes capturing a first plurality of images of a document at a first wavelength of electromagnetic radiation, capturing a second plurality of images of the document at a second wavelength of electromagnetic radiation, and assembling the first and second pluralities of images to form one or more images of the document.

Abstract: Provided is an image processing apparatus and method for adjusting a color image using a depth image. The image processing apparatus may include a color image segmenting unit to segment a color image into a plurality of color segments, using a color layer of the color image, a depth image segmenting unit to segment a depth image into a plurality of depth segments, using a depth layer of the depth image, and a layer boundary adjusting unit to adjust a boundary value of the color layer, using the plurality of color segments and the plurality of depth segments.

Abstract: The present specification relates to an apparatus for detecting a medium image. According to one aspect, the apparatus for detecting the medium image comprises: a light emitting unit to emit the light toward the medium to be transferred along a transferring path; an image sensor having a light receiving unit to receive the light emitted from the light emitting unit; a reference medium which is arranged at a position separated from the transferring path and enables the image sensor to obtain an image; and a control unit to compensate the image of the medium obtained from the image sensor using the image of the reference medium obtained from the image sensor.

Abstract: When estimating distance to an object in an image using a single camera, data acquired by an onboard accelerometer is analyzed to determine camera speed as the user takes a video of the object of interest. The compression that results during video processing is used to derive motion vectors for the object of interest in the scene. The motion vectors have an opposite direction to the camera motion and a magnitude that is a function of the unknown object distance and a known magnification level. The object distance is calculated from the estimated velocity and motion vector magnitude.

Abstract: The method of the invention comprises: obtaining a sequence of at least two images, with different levels of illumination; extracting the region containing the sign in the image; calculating the luminance values of the signs; and obtaining the difference in luminance of the sign corresponding to the two levels of illumination. The value obtained is the luminance of the sign (11) corresponding to an illumination equal to the difference between the illuminations, or additional illumination. This result is based on the additive property of luminance, according to which the luminance of a sign is the sum of the luminance produced by each source of illumination. A basic illumination device (5), an additional illumination device (7), at least one camera for taking images, and image recording, positioning and synchronism systems are required to implement the method.

Abstract: A pedestrian detection system of detecting whether there is a pedestrian in a scene, the pedestrian detection system includes an image-capturing module, a preprocessing module, a human detection module, an image-stitching module and a decision module. The image-capturing module is configured for generating a plurality of first detection image data according to a contrast decision result. The preprocessing module is configured for generating a plurality of first image skeleton data according to the first detection image data. The human detection module is configured for generating a plurality of second image skeleton data. The image-stitching module is configured for stitching the plurality of first detection image data to generate at least one third detection image data. The decision module is configured for generating and outputting a detection result according to the third detection image data. A pedestrian detection method is disclosed herein as well.

Abstract: A conversion method and apparatus with a generating of a depth map for two dimensional (2D)-to-three dimensional (3D) conversion. A depth order may be restored based on a line tracing and an edge map generated from an input image, and a stereo image may be generated using depth information.

Abstract: A two-dimensional pattern comprises a plurality of R-planes each comprising a tiling of a corresponding R-ary block, being a block of radix R integer values, where for each dimension of the pattern, the least common multiple of the sizes of the tiled blocks in that dimension is greater than the size of the tiling that dimension, and any sub-block of a size less than the tiled blocks occurs on a regular grid with the same periodicity as the tiled block for that R-plane. The pattern may be used in determining a position of a location captured in an image by projecting the pattern onto a scene. An image is captured. The method determines from the captured image a sub-block associated with the location and constructs, a unique integer value for each R-plane. The unique integer values from each R-plane are used to determine the location in the image.

Abstract: A method and apparatus for Time Of Flight sensor 2-dimensional and 3-dimensional map generation. The method includes retrieving Time Of Flight sensor fixed point data to obtain four phases of Time Of Flight fixed point raw data, computing Gray scale image array and phase differential signal arrays utilizing four phases of TOF fixed point raw data, computing Gray image array and Amplitude image array for fixed point, converting the phase differential signal array from fixed point to floating point, performing the floating point division for computing Arctan, TOF depthmap, and 3-dimensional point cloud map for Q format fixed point, and generating depthmap, 3-dimensional cloud coefficients and 3-dimensional point cloud for Q format fixed point.

Abstract: According to one embodiment, an image processing device includes an obtaining unit, a separating unit, a processing unit and a combining unit. The obtaining unit obtains a depth value of a subject imaged on an input image. The separating unit separates the input image into a first component that is a component including a gradation and a second component that is a component other than the first component. The processing unit enhances the first component in accordance with the depth value to generate a processed component. The combining unit combines the processed component and the second component to generate a combined component.

Abstract: An image sensor includes a unit pixel including a plurality of color pixels with a depth pixel. A first signal line group of first signal lines is used to supply first control signals that control operation of the plurality of color pixels, and a separate second signal line group of second signal lines is used to supply second control signals that control operation of the depth pixel.

Abstract: Pixel-based and region-based methods, computer program products, and systems for detecting, flagging, highlighting on a display, and automatically fixing edge violations in stereoscopic images and video. The highlighting and display methods involve signed, clamped subtraction of one image of a stereo image pair from the other image, with the subtraction preferably isolated to a region of interest near the lateral edges. Various embodiments include limiting the detection, flagging, and highlighting of edge violations to objects causing a degree of perceptual discomfort greater than a user-set or preset threshold, or to objects having a certain size and/or proximity and/or degree of cut-off by a lateral edge of the left or right eye images of a stereo image pair. Methods of removing violations include automatic or semi-automatic cropping of the offending object, and depth shifting of the offending object onto the screen plane.

Abstract: A vision based pedestrian and cyclist detection method includes receiving an input image, calculating a pixel value difference between each pixel and the neighbor pixels thereof, quantifying the pixel value difference as a weight of pixel, proceeding statistics for the pixel value differences and the weights, determining intersections of the statistics as a feature of the input image, classifying the feature into human feature and non-human feature, confirming the human feature belonging to cyclist according to the spatial relationship between the human feature and the detected two-wheeled vehicle, and retaining one detection result for each cyclist by suppressing other weaker spatial relationships between the human feature and the detected two-wheeled vehicle.