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1. (WO2019044571) IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, PROGRAM, AND MOBILE BODY
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Pub. No.: WO/2019/044571 International Application No.: PCT/JP2018/030726
Publication Date: 07.03.2019 International Filing Date: 21.08.2018
IPC:
G01C 3/06 (2006.01) ,G01B 11/00 (2006.01)
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
3
Measuring distances in line of sight; Optical rangefinders
02
Details
06
Use of electric means to obtain final indication
G PHYSICS
01
MEASURING; TESTING
B
MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
11
Measuring arrangements characterised by the use of optical means
Applicants:
ソニー株式会社 SONY CORPORATION [JP/JP]; 東京都港区港南1丁目7番1号 1-7-1, Konan, Minato-ku, Tokyo 1080075, JP
Inventors:
豊浦 雅貴 TOYOURA Masataka; JP
Agent:
西川 孝 NISHIKAWA Takashi; JP
稲本 義雄 INAMOTO Yoshio; JP
Priority Data:
2017-16859201.09.2017JP
Title (EN) IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, PROGRAM, AND MOBILE BODY
(FR) DISPOSITIF DE TRAITEMENT D'IMAGE, PROCÉDÉ DE TRAITEMENT D'IMAGE, PROGRAMME, ET CORPS MOBILE
(JA) 画像処理装置、および画像処理方法、プログラム、並びに移動体
Abstract:
(EN) The present disclosure pertains to an image processing device, an image processing method, a program, and a mobile body that make it possible to remove noise in a distance image. A distance image comprising pixel values that correspond to the distance to a subject photographed at the same angle, and an intensity image comprising pixel values that correspond to the light reception intensity of light reflected from the subject, are acquired. The pixel values for pixels in the distance image that correspond to pixels in the intensity image having a pixel value less than a prescribed threshold value are converted to distanceless pixels, whereby noise is removed from the distance image. The present disclosure is applicable to an in-vehicle system.
(FR) La présente invention concerne un dispositif de traitement d'image, un procédé de traitement d'image, un programme, et un corps mobile qui permettent d'éliminer du bruit dans une image de distance. Une image de distance comprenant des valeurs de pixel qui correspondent à la distance par rapport à un sujet photographié au même angle, et une image d'intensité comprenant des valeurs de pixel qui correspondent à l'intensité de réception de lumière de la lumière réfléchie par le sujet, sont acquises. Les valeurs de pixel pour des pixels dans l'image de distance qui correspondent à des pixels dans l'image d'intensité ayant une valeur de pixel inférieure à une valeur de seuil prescrite sont converties en pixels sans distance, de sorte que le bruit soit éliminé de l'image de distance. La présente invention est applicable à un système embarqué dans un véhicule.
(JA) 本開示は、距離画像のノイズを除去させることができるようにする画像処理装置、および画像処理方法、プログラム、並びに移動体に関する。 同一のアングルで撮像された被写体までの距離に応じた画素値からなる距離画像と、被写体からの反射光の受光強度に応じた画素値からなる強度画像とを取得し、強度画像における所定の閾値より小さな画素値の画素に対応する、距離画像における画素の画素値を、距離無しの画素に変換することで距離画像のノイズを除去する。本開示は、車載システムに適用することができる。
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Japanese (JA)
Filing Language: Japanese (JA)