US 12,315,216 B2
Image restoration device, image restoration method, and image restoration program
Yusuke Sekikawa, Tokyo (JP); and Yang Shi, Tokyo (JP)
Assigned to DENSO WAVE INCORPORATED, Aichi-pref. (JP); and DENSO IT LABORATORY, INC., Tokyo (JP)
Appl. No. 17/777,207
Filed by DENSO WAVE INCORPORATED, Aichi-pref. (JP); and DENSO IT LABORATORY, INC., Tokyo (JP)
PCT Filed Nov. 13, 2020, PCT No. PCT/JP2020/042461
§ 371(c)(1), (2) Date May 16, 2022,
PCT Pub. No. WO2021/095853, PCT Pub. Date May 20, 2021.
Claims priority of application No. 2019-207197 (JP), filed on Nov. 15, 2019; and application No. 2020-180824 (JP), filed on Oct. 28, 2020.
Prior Publication US 2022/0406032 A1, Dec. 22, 2022
Int. Cl. G06V 10/98 (2022.01); G06T 5/77 (2024.01); G06T 7/20 (2017.01); G06V 10/60 (2022.01)
CPC G06V 10/60 (2022.01) [G06T 5/77 (2024.01); G06T 7/20 (2013.01); G06V 10/98 (2022.01)] 18 Claims
OG exemplary drawing
 
1. An image restoration device for recovering a binary image based on pixel coordinates and polarity values of an event which are output from an event camera capturing a black and white shooting object in relative motion within a shooting period and associated with an ignition time of the event in which luminance has changed in at least one camera pixel, the black and white shooting object being a binary code having a plurality of black cells and a plurality of white cells and having an edge as a boundary between each respective black cell and each respective white cell, wherein the image restoration device comprises:
an initialization unit that initializes the luminance value of each pixel coordinate to an intermediate value within a luminance array list that stores at least one of a pair of polar values and the intermediate values as a luminance value for each pixel coordinate;
an update unit that updates the luminance array list initialized by the initialization unit according to the pixel coordinates and polarity values for each event; and
an output unit that outputs the luminance array list updated by the update unit during the shooting period as a binary image, wherein
an update by the update unit overwrites the luminance value of the firing coordinate, which is the pixel coordinate where the event has fired in the luminance array list, with the polarity value of the event, while retaining the luminance value of the non-firing coordinate within the luminance array list, and
the update unit detects the edge of the black cell and the white cell of the binary code where the polarity value is inverted from the intermediate value to either one of the pair of the polar values so that the update unit detects the binary code using the edge.