Distance estimation device and distance estimation method

Patent metadata

Field	Value
Publication number	US-12045997-B2
Application number	US-202117468390-A
Country	US
Kind code	B2
Filing date	Sep 7, 2021
Priority date	Mar 18, 2021
Publication date	Jul 23, 2024
Grant date	Jul 23, 2024

Abstract

According to one embodiment, a distance estimation device comprises a first distance estimation unit based on a first estimation method, and a second distance estimation unit based on a second estimation method different from the first estimation method. The second distance estimation unit is configured to change a part of the second estimation method according to an output of the first distance estimation unit.

First claim

What is claimed is:

1. A distance estimation device comprising:
a first distance estimation unit configured to estimate first distances of pixels in a first area in an image of an object based on a first estimation method; and
a second distance estimation unit configured to estimate second distances of pixels in a second area in the image of the object, the second area being different from the first area, based on a second estimation method different from the first estimation method, wherein
the first distance estimation unit is configured to determine the first area based on the second distances; and
the second distance estimation unit is configured to determine the second area based on the first distances and the second distances.

2. The distance estimation device of claim 1 , wherein
the first distance estimation unit is configured to
estimate degrees of reliability of the first distances, and
output a part of the first distances with the degrees of reliability higher than a first degree; and

the second distance estimation unit is configured to
estimate degrees of reliability of the second distances, and
output a part of the second distances with the degrees of reliability higher than a second degree.

3. The distance estimation device of claim 1 , wherein
the first distance estimation unit is configured to estimate an ego-motion of the distance estimation device based on two images of the object captured at different angles; and
the second distance estimation unit is configured to determine the second area based on the ego-motion, the first distances, and the second distances.

4. The distance estimation device of claim 3 , wherein
the first distance estimation unit is configured to estimate the ego-motion based on a first image of the object captured at a first time and a second image of the object captured at a second time prior to the first time; and
the second distance estimation unit is configured to determine the second area based on the ego-motion, the first distances of the second image estimated by the first distance estimation unit, and the second distances of the second image estimated by the second distance estimation unit.

5. The distance estimation device of claim 3 , wherein a shape of the first area is a rectangle and a shape of the second area is a rectangle.

6. The distance estimation device of claim 3 , wherein
the second distance estimation unit is configured to receive an area specifying signal and determine the second area based on the ego-motion, the first distances, the second distances, and the area specifying signal.

7. The distance estimation device of claim 3 , wherein
the second area includes partial areas;
the second distance estimation unit is configured to calculate a ratio of a number of pixels for which the distance is estimated to a total number of pixels for each of the partial areas based on the ego-motion, the first distances, and the second distances;
the second distance estimation unit is configured to estimate distances of pixels in one of the partial areas if the ratio is smaller than or equal to a first ratio; and
the second distance estimation unit is configured not to estimate distances of pixels in one of the partial areas if the ratio is larger than the first ratio.

8. The distance estimation device of claim 3 , wherein the first distance estimation unit is configured to determine the first area including pixels for which the distances are not estimated by the second distance estimation unit.

9. A distance estimation method comprising:
estimating first distances of pixels in a first area in an image of an object by a first distance estimation unit based on a first estimation method;
estimating second distances of pixels in a second area in the image of the object by a second distance estimation unit based on a second estimation method;
changing at least one of the second distances based on the first distances;
determining the first area by the first distance estimation unit based on the second distances; and
determining the second area by the second distance estimation unit based on the first distances and the second distances.

10. The distance estimation method of claim 9 , comprising:
estimating, by the first distance estimation unit, an ego-motion of an distance estimation device comprising the first distance estimation unit and the second distance estimation unit based on two images of the object captured at different angles; and
determining the second area by the second distance estimation unit based on the ego-motion, the first distances, and the second distances.

Assignees

• Toshiba Kk
• Toshiba Electronic Devices & Storage Corp

Inventors

• Oda Yuichi
• Yamada Yutaka
• Nishiyama Manabu
• Oki Yutaka

Classifications

• G06T7/248

  involving reference images or patches · CPC title

• G06T7/70

  Determining position or orientation of objects or cameras (camera calibration G06T7/80) · CPC title

• G06T7/55 Primary

  from multiple images · CPC title

• G06T7/579 Primary

  from motion · CPC title