WO2015198410A1 - 外界認識装置 - Google Patents
外界認識装置 Download PDFInfo
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- WO2015198410A1 WO2015198410A1 PCT/JP2014/066766 JP2014066766W WO2015198410A1 WO 2015198410 A1 WO2015198410 A1 WO 2015198410A1 JP 2014066766 W JP2014066766 W JP 2014066766W WO 2015198410 A1 WO2015198410 A1 WO 2015198410A1
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- WIPO (PCT)
- Prior art keywords
- distance
- external world
- camera
- recognition device
- dimensional
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/02—Details
- G01C3/06—Use of electric means to obtain final indication
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/205—Remotely operated machines, e.g. unmanned vehicles
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/24—Safety devices, e.g. for preventing overload
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
- E02F9/261—Surveying the work-site to be treated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
- G01C3/10—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument
- G01C3/14—Measuring distances in line of sight; Optical rangefinders using a parallactic triangle with variable angles and a base of fixed length in the observation station, e.g. in the instrument with binocular observation at a single point, e.g. stereoscopic type
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/10—Processing, recording or transmission of stereoscopic or multi-view image signals
- H04N13/106—Processing image signals
- H04N13/128—Adjusting depth or disparity
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/239—Image signal generators using stereoscopic image cameras using two 2D image sensors having a relative position equal to or related to the interocular distance
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/296—Synchronisation thereof; Control thereof
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
- E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/26—Indicating devices
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N13/20—Image signal generators
- H04N13/204—Image signal generators using stereoscopic image cameras
- H04N13/25—Image signal generators using stereoscopic image cameras using two or more image sensors with different characteristics other than in their location or field of view, e.g. having different resolutions or colour pickup characteristics; using image signals from one sensor to control the characteristics of another sensor
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
- H04N2013/0074—Stereoscopic image analysis
- H04N2013/0081—Depth or disparity estimation from stereoscopic image signals
Definitions
- the present invention relates to an external world recognition device that can be mounted on industrial machines such as hydraulic shovels and cranes.
- Industrial machines such as hydraulic shovels and cranes are being introduced with machines that perform remote control and automatic work.
- stereo cameras and laser scanners are mounted as three-dimensional measurement sensors. These three-dimensional measurement sensors often capture the front direction of the driver's seat, and can not monitor obstacles around the industrial machine.
- an ambient surveillance camera with a plurality of cameras is being introduced. Since this surrounding surveillance camera uses a plurality of single-eye cameras in combination, there are limitations when calculating the distance of a detected obstacle. Generally, in order to measure the distance with a monocular camera, there are limitations such as the size of the subject being known or the distance information of the ground to be photographed being known. As a method for eliminating these limitations, there is a method of providing a sensor that measures the distance of an object in the imaging range of the monocular camera and the ground. In the distance measurement method disclosed in [Patent Document 1], a distance image sensor such as a TOF (Time of Flight) method is provided in addition to the surrounding surveillance camera in order to measure the distance.
- TOF Time of Flight
- Patent Document 1 it is necessary to provide a sensor for measuring the distance in the photographing direction of the surrounding surveillance camera in addition to the surrounding surveillance camera, which causes a problem of cost increase.
- the stereo camera 210 measures the distance ahead of the vehicle, the surroundings monitoring camera 230 for photographing the surroundings of the vehicle, and the means 15 for turning the stereo camera 210 with the stereo camera 210.
- a three-dimensional measurement unit 215 which measures the imaging range of the surrounding surveillance camera and generates three-dimensional information from the measurement result, and generates three-dimensional information matching the imaging direction of the surrounding surveillance camera among the three-dimensional information. It comprises a distance correction information generation unit 220 and a distance measurement unit 218 that measures the position of the obstacle detected by the surrounding surveillance camera.
- distance measuring means for measuring the distance in front of the vehicle, and a surrounding surveillance camera for photographing the surroundings of the vehicle
- a three-dimensional measurement unit that measures the imaging range of the surrounding surveillance camera by the distance measuring means and generates three-dimensional information, and generates distance correction information that matches the imaging direction of the surrounding surveillance camera from the three-dimensional information.
- a distance correction information generation unit, and a distance measurement unit that measures the position of an obstacle detected by the surrounding surveillance camera using the distance correction information.
- the present invention is characterized in that in the external world recognition device, the distance measurement means is a stereo camera device.
- the present invention is characterized in that, in the external world recognition apparatus, the three-dimensional measurement unit turns the distance measurement unit with the upper rotating body of the vehicle when measuring the imaging range of the surrounding surveillance camera by the distance measurement unit. It is said that.
- the present invention provides an external world recognition apparatus, wherein the stereo camera is provided with a rotation mechanism, and the three-dimensional measurement unit uses the rotation mechanism to capture the stereo camera when the imaging range of the surrounding surveillance camera is photographed by the stereo camera. It is characterized by making it turn.
- the present invention is characterized in that in the external world recognition device, the distance measurement means is a laser scanner device.
- the distance sensor for the surrounding surveillance camera becomes unnecessary, and the cost is reduced. Can.
- FIG. 1 is an embodiment showing a configuration of a hydraulic shovel for performing automatic excavation according to the present invention and an external world recognition device mounted on the hydraulic shovel.
- FIG. 2 shows the mounting positions of the stereo camera and the surrounding surveillance camera.
- FIG. 3 shows an operation flow of creating three-dimensional information of the entire surroundings.
- FIG. 4 shows a flow of three-dimensional information creation processing.
- FIG. 5 shows the principle of parallax data generation.
- FIG. 6 is an explanatory view of distance correction information.
- FIG. 7 is a processing flow for calculating the position of an obstacle detected by the surrounding surveillance camera.
- FIG. 8 shows an embodiment of selecting the mesh position of the obstacle harm from the photographed image of the surrounding surveillance camera.
- FIG. 9 shows the relationship between the distance correction information and the ground.
- FIG. 10 shows an example in which a rotation mechanism is provided to a stereo camera.
- FIG. 11 shows an example in which a laser scanner is provided.
- FIG. 12 shows an operation flow of creating three-dimensional information of the entire perip
- FIG. 1 shows a hydraulic shovel 10 as an industrial machine for implementing the present invention.
- the hydraulic shovel 10 has a remote control from the control center 70 or an automatic digging function.
- the automatic drilling function automatically recognizes the excavated material, excavates the excavated material, and releases the soil at a predetermined location.
- the hydraulic shovel 10 is equipped with the external world recognition device 20 for recognizing its own periphery, and excavates the excavated object recognized by the external world recognition device 20.
- the vehicle 10 has a bucket 13 for digging, an arm 12 for moving the bucket 13 up and down, and a boom 11.
- the upper swing body 15 can be pivoted in order to move the bucket left and right.
- the upper swing body angle sensor 14 is provided, and this sensor makes it possible to know the swing angle of the upper swing body 15.
- the external world recognition device 20 is connected to the stereo camera device 210 and the surrounding surveillance cameras 230a, 230b, and 230c, and can monitor the entire periphery of the hydraulic shovel 10.
- FIG. 2 shows the mounting positions of the stereo camera 210 and the surrounding surveillance cameras 230a, 230b, 230c.
- the stereo camera 210 shoots the direction of the bucket 13 and measures the positions of the bucket 13 and the excavated object 321.
- the surrounding surveillance camera 230a monitors the right side of the vehicle body
- the surrounding surveillance camera 230b monitors the rear side of the vehicle body
- the surrounding surveillance camera 230c monitors the left side of the vehicle body, and can monitor the entire periphery of the hydraulic shovel 10 that the stereo camera device 210 can not capture.
- each of the surrounding surveillance cameras is constituted by a single-eye camera
- the distance between the three-dimensional object and the hydraulic shovel 10 is estimated by the location on the captured image. Do.
- the measurement of this positional relationship is performed by the stereo camera device 210, so that the distance measuring means for the surrounding surveillance camera is not necessary and can be implemented easily.
- the external world recognition apparatus 20 of FIG. 1 has a function of measuring the external world by the stereo camera device 210, and a function of measuring the external world by the surrounding surveillance cameras 230a, 230b, and 230c.
- the stereo camera device 210 can measure the distance of the subject by using the parallax of the images captured by the two cameras of the left image capturing unit 211 and the right image capturing unit 212.
- An image captured by the stereo camera device 210 is temporarily stored in the left image memory 213 and the right image memory 214, and is sent to the three-dimensional measurement hand unit 215.
- the three-dimensional measurement unit 215 creates parallax images from the left and right images and stores them in the parallax image memory 220, and also obtains three-dimensional coordinates of the object and stores them in the three-dimensional information memory 221.
- the three-dimensional coordinates are converted by the distance correction information generation unit 220 into distance correction information of the surrounding surveillance camera.
- the distance correction information is a table in which the captured images of the surrounding surveillance cameras 230a, 230b, and 230c are divided into meshes, and the positional relationship with the hydraulic shovel 10 is recorded for each mesh.
- Images of the surrounding surveillance cameras 230a, 230b, and 230c are sent to the obstacle detection unit 217 to detect an obstacle 320 or the like.
- the detection method uses a general monocular camera detection method such as a template matching method.
- the distance measuring unit 218 calculates the distance and the positional relationship between the detected object and the hydraulic shovel 10 using the distance correction information.
- the calculation result is notified to the control center 70 wirelessly through the control unit 50 that controls the operation of the arm 12, the bucket 13, and the upper rotating body 15, and the communication unit 60.
- FIG. 3 shows an operation flow when creating three-dimensional information of the entire surroundings.
- the upper swinging body 15 is pivoted, and the entire periphery of the hydraulic shovel 10 is photographed by the stereo camera 210 (step 110, hereinafter referred to as S110).
- Three-dimensional information of one screen of the photographed image is created and stored in the three-dimensional information memory 221 together with the turning angle of the stereo camera at that time.
- Three-dimensional information for one screen is generated by dividing an image into, for example, a mesh shown in FIG.
- the swing operation of the upper swing structure 15 at this time may be automatically performed by the control unit 50 in the case of an unmanned hydraulic shovel, and may be manually performed in the case of a manned vehicle (S120). This operation is performed each time the stereo camera 210 rotates at a constant angle until the measurement of the entire surroundings is completed (S130).
- FIG. 4 shows a three-dimensional information creation processing flow.
- an image is photographed by the right photographing unit 212 and the left photographing unit 211 of the stereo camera device 210. These photographed images are temporarily stored in the right image memory 214 and the left image memory 213 (S310).
- the three-dimensional measurement unit 215 first generates parallax data of these image data (S320).
- FIG. 5 shows the principle of parallax data generation. When there is a right image 340 captured by the right imaging unit 212 of the actual scene 300 and a left image 341 captured by the left imaging unit 211, a certain point 320 in the actual scene 300 corresponds to the point 342 in the right image 340.
- parallax d occurs at 342 and 343.
- the parallax is a large value in the vicinity of the stereo camera device 210, and a small value in the distance.
- the parallax thus determined is determined for the entire image, and the result is stored in the parallax image memory 220.
- the distance can be measured on the principle of triangulation using this parallax (S330). From the parallax d, the distance Z can be obtained by the following equation.
- X (Z x xr) / f
- Y (Z x yr) / f
- xr is the x-coordinate on the right image 340
- yr is the y-coordinate on the right image 340.
- FIG. 6 illustrates the distance correction information 2811.
- the distance correction information generation unit 220 divides the three-dimensional information of the three-dimensional information memory 221 into a mesh of the imaging range of the photographed image 2810 of one surrounding surveillance camera (for example, 230a), and corresponds to each mesh. Store information as a table.
- This table is the distance correction information 2811.
- the 2 part of A of a mesh position can be known as coordinates (x3, y3, z3).
- This coordinate is a coordinate system which made the hydraulic shovel 10 the origin.
- the coordinates located between meshes are calculated by linear interpolation of the coordinates of adjacent meshes.
- FIG. 7 is a processing flow for calculating the position of an obstacle detected by the surrounding surveillance camera.
- the surroundings of the hydraulic shovel 10 are photographed by the surroundings monitoring camera (S410), and the obstacle detection unit 217 determines whether an obstacle is detected in the image (S420).
- a general method such as a template matching method can be used. If an obstacle is detected, three-dimensional information corresponding to the shooting angle of the surrounding surveillance camera is read out from the three-dimensional memory 221 (S430). The read out three-dimensional information is converted into distance correction information 2811 by the distance correction information generation unit 220 (S440).
- the data output unit 219 outputs the position and distance of the obstacle thus read out to the control unit 50 and the like (S460).
- FIG. 8 shows an example in which the mesh position of the obstacle 320 is selected from the photographed image 2810 of the surrounding surveillance camera.
- the obstacle 320 is photographed across a plurality of meshes.
- the position at which the data of the distance correction information 2811 is read out is to read the lowermost data of the mesh.
- the distance correction information 2811 is distance information assuming a flat ground 321.
- the surrounding surveillance camera takes a picture so that the part closer to the hydraulic shovel 10 in the ground 321 is the lower side of the image 2810 and the farther side is the upper side of the image 2810. Since the camera center 400 is the position of the hydraulic shovel 10, the lower part of the captured image of the obstacle 320 is the position closest to the hydraulic shovel 10.
- the distance measurement means for the surrounding surveillance camera is necessary in order to create the distance correction information 2811 of the surrounding surveillance cameras 230a, 230b, 230c by the stereo camera 210 before the hydraulic shovel 10 performs work. Therefore, the distance and position of the obstacle can be estimated at low cost.
- FIG. 10 shows an example in which the rotation mechanism 240 is provided in the stereo camera 210.
- the processing flow for creating the distance correction information in FIG. 3 it is necessary to turn the stereo camera 210 in S110.
- the pivoting motion of the upper pivoting body 15 is used.
- the upper swing body 15 can not be pivoted.
- the rotation mechanism 240 enables the stereo camera 210 to be pivoted without pivoting the upper pivoting body 15.
- FIG. 11 shows an embodiment in which a laser scanner 510 is provided instead of the stereo camera device 210.
- the laser scanner 510 can create three-dimensional information of the surroundings of the hydraulic shovel 10 by swinging the upper swing body 15 in order to scan the laser beam in the vertical direction. Since this three-dimensional information is coordinates with the hydraulic shovel 10 as the origin, the same three-dimensional information as in the case of using the stereo camera device 210 can be obtained.
- FIG. 12 is a process flow for creating three-dimensional information of the entire periphery when the laser scanner 510 is used.
- the circumference of the hydraulic shovel 10 is measured by the laser scanner 510 in accordance with the turning of the upper swing body 15 (S510).
- the measured three-dimensional information is stored together with the angle data of the upper swing body angle sensor 14 in the three-dimensional information memory 221 (S520).
- a series of processes are performed to these until it measures the whole circumference of hydraulic excavator 10 (S530).
- the subsequent method of measuring the position and distance of the obstacle detected by the surrounding surveillance camera is the same processing as in the case of the stereo camera device 210 described above.
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Abstract
Description
前記距離計測手段で前記周囲監視カメラの撮影範囲を計測して3次元情報を生成する3次元計測部と、前記3次元情報の中から周囲監視カメラの撮影方向と一致した距離補正情報を生成する距離補正情報生成部と、前記距離補正情報を用いて前記周囲監視カメラが検知した障害物の位置を計測する距離測定部を備えたことを特徴とするものである。
但し、fは右及び左撮影部の焦点距離、Bは右撮影部212と左撮影部211の距離である。また、上記びZを求めた地点の3次元上のX,Yの位置は次の式で求められる(S340)。
但し、xrは、右画像340上でのx座標、yrは、右画像340上でのy座標である。このような処理を、油圧ショベル10の全周囲を計測するまで処理を行う(S350)。以上のように、ステレオカメラ装置210で撮影した画像によって、被写体の3次元空間上の位置(X,Y,Z)を求めることができる。
Claims (5)
- 車両の前方の距離を計測する距離計測手段と、
前記車両の周囲を撮影するための周囲監視カメラと、
前記距離計測手段で前記周囲監視カメラの撮影範囲を計測して3次元情報を生成する3次元計測部と、
前記3次元情報の中から周囲監視カメラの撮影方向と一致した距離補正情報を生成する距離補正情報生成部と、
前記距離補正情報を用いて前記周囲監視カメラが検知した障害物の位置を計測する距離測定部を備えたことを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記距離計測手段はステレオカメラ装置であることを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記3次元計測部は、前記周囲監視カメラの撮影範囲を前記距離計測手段で計測する時に前記車両の上部回転体で前記距離計測手段を旋回させることを特徴とする外界認識装置。 - 請求項2~3のうちの1つの外界認識装置において、
前記ステレオカメラに回転機構を設け、前記3次元計測部は、前記周囲監視カメラの撮影範囲を前記ステレオカメラで撮影する時に、前記回転機構で前記ステレオカメラを旋回させることを特徴とする外界認識装置。 - 請求項1の外界認識装置において、
前記距離計測手段はレーザスキャナ装置であることを特徴とする外界認識装置。
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JP2016528799A JP6232497B2 (ja) | 2014-06-25 | 2014-06-25 | 外界認識装置 |
PCT/JP2014/066766 WO2015198410A1 (ja) | 2014-06-25 | 2014-06-25 | 外界認識装置 |
US15/315,415 US10527413B2 (en) | 2014-06-25 | 2014-06-25 | Outside recognition device |
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PCT/JP2014/066766 WO2015198410A1 (ja) | 2014-06-25 | 2014-06-25 | 外界認識装置 |
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Also Published As
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US10527413B2 (en) | 2020-01-07 |
US20170146343A1 (en) | 2017-05-25 |
JPWO2015198410A1 (ja) | 2017-04-20 |
JP6232497B2 (ja) | 2017-11-15 |
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