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IMAGE DISTANCE CALCULATION DEVICE, AND COMPUTER-READABLE NON-TRANSITORY RECORDING MEDIUM WITH AN IMAGE DISTANCE CALCULATION PROGRAM RECORDED THEREON コモンズ 新技術説明会

外国特許コード F180009382
掲載日 2018年4月19日
出願国 世界知的所有権機関(WIPO)
国際出願番号 2017JP030813
国際公開番号 WO 2018043437
国際出願日 平成29年8月28日(2017.8.28)
国際公開日 平成30年3月8日(2018.3.8)
優先権データ
  • 特願2016-170795 (2016.9.1) JP
  • 特願2017-158781 (2017.8.21) JP
発明の名称 (英語) IMAGE DISTANCE CALCULATION DEVICE, AND COMPUTER-READABLE NON-TRANSITORY RECORDING MEDIUM WITH AN IMAGE DISTANCE CALCULATION PROGRAM RECORDED THEREON コモンズ 新技術説明会
発明の概要(英語) In an image distance calculation device (100), a CPU (104) extracts a frame image from a camera moving-image, generates a slice image by a temporal change of a pixel array on a y-axis at an x0 point of the frame image, calculates a spotting point on the basis of a corresponding relationship between a pixel of the slice image and a pixel of the frame image, finds a pixel of the frame image corresponding to a pixel of the slice image by a backtrace process, performs area division of the frame image and the slice image, determines a corresponding area of the frame image that corresponds to a divided area of the slice image, calculates a ratio value using an average q of the pixel number of the corresponding areas of the frame image and an average p of the pixel number of the divided areas of the slice image, and calculates a distance z from the camera to an object to be photographed using a predetermined distance function in each corresponding area.
特許請求の範囲(英語) [claim1]
1. 1 Moving one shot by the camera on the basis of the motion video, the video images from a camera that recorded in the calculation of the distance to an object to be shot distance calculation device for calculating the image distance of the image in which a program is a computer-readable non-transitory recording medium, the distance calculation device to a control unit of the image, the moving image at a given time frame from the frame image and the extracted image to function, in the frame images at the, wherein the moving direction of the camera toward the x-axis and the axis extends, the y-axis as an axis perpendicular to the x axis, the x-axis of the pixel column in the x0 point in the time change of the y axis, from time to time by extracting t0+1 t0+T, wherein the longitudinal axis in the y-axis, t (1 ≦ t ≦ T) and the abscissa axis generates a slice image and the slice to an image creation function, wherein the time t (1 ≦ t ≦ T) in the pixels of the image slices (t, y) and g, of the frame image is the y axis y '(1 ≦ y' ≦ Y) based on the time point when the space of the pixel t0 xyt f (x, y ', t0) =r (x) as, x of the 1 section, at any point in the present X, g (t, y) pixel of the slice image as corresponding to a frame of pixels of an image point r (x), the matching processing based on dynamic programming is obtained by using, from the time slice corresponding to a pixel of the image based on the time T coordinates of the pixels of the image frame, is to be spotted is calculated as a function of the calculated point is to be spotted point, the point calculated by the calculating function is to be spotted spotting based on point, tracing back up to a processing time from the time t=T by t=1, wherein the axis of the slice image from t t=1 to t=T in each of the pixels of the image frame corresponding to the pixel in the corresponding relationship between the pixel and obtains a matching function, the frame image and the slice to each of the images of the image, by applying a mean-shift method, based on the common reference time, each of the image of the area division function to perform region segmentation, divided by the area dividing function of said slice images present in the divided area based on a pixel, wherein said pixel matching function obtained by the slice image corresponding to a pixel of the pixels of the image frame is detected, the detected frame image the largest number of pixels included in each of the divided areas can be obtained by obtaining the frame image, wherein the divided area of the slice image of the frame image corresponding to the divided regions is determined to be an area corresponding to a function corresponding to the determined region, the corresponding region determined by the determination function of the corresponding area in the frame image, wherein the x-axis direction and to detect the average q and the number of pixels, a range of slice images corresponding to the divided region, the number of pixels of said t-axis direction by detecting the average p, p q or q with respect to the ratio of the obtained based on the percentage of p with respect to the value of the ratio, calculated for each area and each of the corresponding, in the frame image from the camera and the distance to the object from the last photographing said ratio value and a predetermined correspondence relationship by using the distance function, corresponding to said ratio value calculated by the distance, as calculated for each region corresponding to the global distance global distance calculation function, for use in calculating the distance of the image in order to realize a program non-transitory computer-readable recording medium.
[claim2]
2. Wherein the control unit, said camera has been taken at different times by one piece of frame image or a 2, a common image portion to each other including the one piece of frame image with respect to the part of the 2, the 2 of all pixels of one frame image by extracting a value of a RGB, the extracted value of the RGB value does not correspond to the RGB, RGB code is detected as the value of the code detection function and, wherein the global distance is calculated by the global distance calculation function of the pixel to which the distance value, wherein the one frame image among the pixels of the 2 extracted from the distance value extraction function and in the pixel, the pixel distance value extracted by the extraction function for each of the distance values, wherein the value of the RGB code so as not to overlap with the RGB values to allocate a code assignment function, wherein the RGB value of the code by the code assignment function where the value of the RGB distance values assigned to the same distance as a value, wherein the one piece of frame image of the 2 values of the RGB pixel, the distance value according to said code assigned to the value of the RGB values of the RGB and replacing the replacement function, the RGB values are replaced by the replacement function value of the RGB of the post, the RGB value of the pixel are permuted to said distance value in association with the information recording function for recording the pixel, wherein the RGB value of the pixel by the value of the replacement function RGB 2 has changed with respect to the one frame image, by applying the stitching algorithm, the one frame image of the 2 processing bonding, 1 bonding sheets bonded together to generate the images and the image generating function, wherein the bonding produced by the image generation function of all the pixels on the overlapping image according to the value of the RGB from among, wherein the pixel information recorded by the recording function with the value of the RGB value of the RGB or approximate RGB value detection function to detect, the RGB values detected by the detection function comprises the value of the RGB pixels, the pixel information recorded by the recording function of said distance tied to said RGB values, the pixel of the distance information and distance information to be added as an additional function, the distance information adding function is obtained by adding the distance information of the value of the RGB pixel, RGB pixels surrounding the pixel value of the average value of the RGB value changing function for changing, in order to realize the image distance calculation program according to claim 1 of computer-readable non-transitory recording medium.
[claim3]
3. Wherein the control unit, the slice image of the divided areas from the boundary at the start of the t-axis direction in the end of the pixel to a boundary, a range of slice images corresponding to the divided area in the corresponding areas of the frame image in the x-axis direction from the boundary at the end of the start of the corresponding relationship between the pixel to the boundary, based on dynamic programming both end points of the fixed matching processing by is determined by using a back trace and, wherein each of the pixels in the divided region of the slice image as corresponding to a pixel, of the pixels in a corresponding region of the frame image obtained as a result, obtained in the region of the image frame corresponding to said x-axis direction based on an interval of one pixel, each of the pixels within the region corresponding to the relative distance, the distance calculation function to calculate the local distance between local, the local distance calculated by the calculation function, wherein the distance of each pixel of an image frame to the local, wherein the global distance calculated by the calculating function, the frame of each of the areas and the corresponding image by adding the global distance, the object to be photographed from the camera and the distance detail of the processes, wherein each pixel of an image frame to calculate a distance calculation function and the details, in order to realize a distance-calculation program according to claim 1 image of a computer-readable non-transitory recording medium.
[claim4]
4. Wherein the control unit, said camera 2 are taken at different times in one frame image, the image portion includes a portion common to each other, wherein the distance from the object to be photographed in the details of the function of calculating the distance to the camera is calculated for each pixel in one frame image with respect to the 2 claim, 2 wherein RGB of all pixels of one frame image by extracting a value of, wherein the value of the extracted RGB value does not correspond to the RGB, RGB code is detected as the value of the code detection function, wherein the one frame image of the 2, of the number of pixels of the whole 1/N (N is an integer) and the number of randomly selected pixels, the distance value of the selected pixels to extract a pixel distance value extraction function, the pixel distance value extracted by the extraction function of the distance values for each of the, wherein the value of the RGB code so as not to overlap with the RGB values to allocate a code allocation function, the code of the code by allocating RGB values of the RGB values are assigned a distance value is the same as the distance values, the one piece of frame image of the 2 values of the RGB pixel, the distance value according to said code assigned to the value of the RGB values of the RGB and replacing the replacement function, the RGB values are replaced by the replacement function after the value of the RGB of claim, the value of the RGB are permuted to distance values of the pixel in association with the information recording function for recording pixels, the RGB value of the pixel by the value of the replacement function RGB 2 has changed with respect to the one frame image, by applying the stitching algorithm, the one frame image of the 2 processing bonding, 1 bonding sheets bonded together to generate the images and the image generating function, wherein the bonding produced by the image generation function of all the pixels on the overlapping image according to the value of the RGB from within, said pixel information recorded by the recording function with the value of the RGB The RGB or approximate the value of the RGB values detected in the detecting function, the RGB values detected by the detection function comprises a value of said RGB pixels, the pixel information which is recorded in the recording function of the value of the RGB value that is associated with the distance, the distance of the pixel in the additional information as distance information to the additional function and, wherein the distance information adding function is obtained by adding the distance information by the value of the RGB pixel, the value of the RGB of pixels around a pixel average value by changing, when the value of the RGB image to generate the modified bonding bonded to pixel image generating function and, the modification on the overlapping image generation function generated by the correction of the image based on the two bonding N, all of the pixels is obtained by adding the distance information to generate an image of the 1 bonded to two additional bonding and a function of the distance image, the pixel distance values in the extraction function, to the controller, the distance of the pixel after the second time 2 when the extracted value, wherein the one piece of frame image of the 2 is not selected in the past from among the pixels, the number of pixels of the entire number of pixels 1/N to be selected at random, and extracts the pixel of the distance value, wherein the RGB code values and the allocation function, wherein the replacement function and RGB values, the pixel information recording function, wherein the image generating function and bonded together, wherein the RGB value detection function, wherein the additional function and the information on the distance, with respect to the image generating function and the modified bonding, wherein the reference to the pixel distance value by the extraction function 2 to the second and subsequent times is selected based on the distance values, to the controller, each of the functions N order by repeatedly performed three times, two N bonding to produce a modified of the image, in addition the distance on the overlapping image generating function, wherein the bonding of the entire image as the modified 1/N the number of pixels added to the pixel of the distance information as claimed in, wherein the modification on the overlapping image of two all N overlappingly reading, to the controller, wherein the modification on the overlapping image of all pixels in the obtained information on the distance to make, the information on the distance obtained by bonding a sheet of 1 added to the image by, wherein all of the pixels of the distance information is obtained by adding the two generated images of 1 wherein the bonding is achieved by increasing the distance-calculation program according to claim 3 image for causing the computer-readable non-transitory recording medium.
[claim5]
5. Wherein the control unit, the slice image of the divided areas from the boundary at the start of the t-axis direction in the end of the pixel to a boundary, corresponding to the partial area of the slice image as the frame image in the corresponding areas of said x-axis direction in the end boundary of the pixel from the boundary at the start of the corresponding relation between, on the basis of the dynamic programming matching processing and the back trace is fixed to both end points is used for calculating the processing by, wherein a range of slice images corresponding to each pixel in the divided region, the region of the corresponding frame image of the x-axis direction of the pixels, x (1), x (2), x(i), x(G-1), x(G) (1 ≦ i ≦ g) fluorocytidine Lamiduvine, the frame image of the x-axis direction in the region corresponding to the start of the termination from the boundary of the boundary and the average of the number of pixels of the xa and until, in the region of the image frame corresponding to the pixel x (i) and, wherein the back trace obtained by the pixel adjacent to the pixel x (i) the distance between the x (i-1) -x (i-1) x (i) and, the global distance calculation function calculated by the distance of the corresponding area and the global distance zg, x (i) in the frame of pixels of an image from the camera to an object to be shot distance as the distance z (i) detail, a (i) the distance z, using the positive constant β, z=zg + β (i) (x (i) - x (i-1) - xa/g) is calculated by the distance calculation detail image according to claim 1 for realizing the function of the distance-calculation program and a computer-readable non-transitory recording medium.
[claim6]
6. Wherein the control unit, said camera 2 are taken at different times in one frame image, the image portion includes a portion common to each other, wherein the distance from the object to be photographed in the details of the function of calculating the distance to the camera is calculated for each pixel in one frame image with respect to the 2 claim, 2 wherein RGB of all pixels of one frame image by extracting a value of, wherein the value of the extracted RGB value does not correspond to the RGB, RGB code is detected as the value of the code detection function, wherein the one frame image of the 2, of the number of pixels of the whole 1/N (N is an integer) and the number of randomly selected pixels, the distance value of the selected pixels to extract a pixel distance value extraction function, the pixel distance value extracted by the extraction function of the distance values for each of the, wherein the value of the RGB code so as not to overlap with the RGB values to allocate a code allocation function, the code of the code by allocating RGB values of the RGB values are assigned a distance value is the same as the distance values, the one piece of frame image of the 2 values of the RGB pixel, the distance value according to said code assigned to the value of the RGB values of the RGB and replacing the replacement function, the RGB values are replaced by the replacement function after the value of the RGB of claim, the value of the RGB are permuted to distance values of the pixel in association with the information recording function for recording pixels, the RGB value of the pixel by the value of the replacement function RGB 2 has changed with respect to the one frame image, by applying the stitching algorithm, the one frame image of the 2 processing bonding, 1 bonding sheets bonded together to generate the images and the image generating function, wherein the bonding produced by the image generation function of all the pixels on the overlapping image according to the value of the RGB from within, said pixel information recorded by the recording function with the value of the RGB The RGB or approximate the value of the RGB values detected in the detecting function, the RGB values detected by the detection function comprises a value of said RGB pixels, the pixel information which is recorded in the recording function of the value of the RGB value that is associated with the distance, the distance of the pixel in the additional information as distance information to the additional function and, wherein the distance information adding function is obtained by adding the distance information by the value of the RGB pixel, the value of the RGB of pixels around a pixel average value by changing, when the value of the RGB image to generate the modified bonding bonded to pixel image generating function and, bonding the modification N generated by the image generating function on the overlapping image on the basis of the correction of the sheets, all of the pixels is obtained by adding the distance information to generate an image of the 1 bonded to two additional bonding and a function of the distance image, the pixel distance values in the extraction function, to the controller, the distance of the pixel after the second time 2 when the extracted value, wherein the one piece of frame image of the 2 is not selected in the past from among the pixels, the pixels of the entire number of pixels of the 1/N number is selected by a random, and extracts the distance value of the pixel, wherein the RGB code values and the allocation function, wherein the replacement function RGB value, the pixel information recording function, wherein the image generating function and bonded together, wherein the RGB value detection function, and an additional function of the distance information, and the modification on the overlapping image generation function for, wherein the reference to the pixel distance value 2 after the second extraction function selected on the basis of the distance values, to the controller, each of the functions N order by repeatedly performed three times, two N bonding to produce a modified of the image, wherein the additional bonding in the distance image generation function, the modified bonding the number of pixels of the entire image has been added to the pixel of the 1/N information on the distance to the, wherein the modification on the overlapping image of two all N overlappingly reading, to the controller, wherein the modification on the overlapping image of all pixels in the obtained information on the distance to make, the information on the distance obtained by bonding a sheet of 1 added to the image by, wherein all of the pixels by the distance information is obtained by adding the two generated images of 1 wherein the bonding is achieved by increasing the distance-calculation program according to claim 5 image for causing the computer-readable non-transitory recording medium.
[claim7]
7. 1 Moving one shot by the camera on the basis of the motion video, the video images from a camera that recorded in the calculation of the distance to an object to be shot image to the distance calculation device for calculating the distance between the image of the recorded program and a computer-readable non-transitory recording medium, the distance calculation device to a control unit of the image, the moving image at a given time frame image to extract the frame image extraction function and, in said frame image, wherein the moving direction of the camera toward the x-axis and the axis extends, the y-axis as an axis perpendicular to the x axis, y-axis in the x-axis of the x0 points of the pixels on the time variation of the string, by extracting from time t0+1 to time t0+T, wherein the vertical axis represents the y-axis, and t (1 ≦ t ≦ T) to the horizontal axis represents the axis of the slice image generation function generates a slice image and, wherein the time t (1 ≦ t ≦ T) in the pixels of the image slices (t, y) and g, wherein the y axis of the frame image is y '(1 ≦ y' ≦ Y) based on the time point t0 when f xyt space (x, y ', t0) of pixels (x) as=r, x of the 1 section, at any point in the present X, g (t, y) pixel of the slice image as corresponding to a frame of pixels of an image point r (x), the matching processing based on dynamic programming is obtained by using, in the image slice time corresponding to the pixel in the frame image T coordinates of pixels, is to be spotted calculated as a function of the calculated point is to be spotted point, the point calculated by the calculating function is to be spotted spotting based on point, tracing back up to a processing time from the time t=T by t=1, wherein the axis of the slice image from t t=1 to t=T in each of the pixels of the image frame corresponding to the pixel in the corresponding relationship between the pixel and obtains a matching function, the pixel matching function t time obtained by the x-axis direction in the image frame of pixel (t) and x, t0 x of the frame image in time axis direction (t0) as a pixel of x, in the frame image at said pixel x (t) x (t0) from the pixels obtained by subtracting the distance 2 between two, accumulated disparity α (t, t0) with a dynamically, wherein the frame image of the object to be photographed in the pixel x (t) from the global distance zg and distance to the camera, wherein said cumulative dynamic parallax α (t, t0) of the setting range, constant μ1and constant γ1using, μ1≦ α (t, t0) ≦ γ1and, said global distance zg of the setting range, constant zN1and the constant zL1using, zN1≦ zg ≦ zL1as, coefficient a to, a=zL1, exp((μ1/(γ1-μ1) ) log(zL1/zN1) Rcyc_bs_cin and, coefficient b to b=(1/(γ1-μ1) ) log(zL1/zN1) by calculated by the pixel x (t) in a global distance zg, wherein said cumulative dynamic parallax α (t, t0) and, wherein a and b coefficients using the coefficient, zg=a, exp (- b, α (t, t0) ) is calculated by the global distance calculation function, for causing the image to realize a distance-calculation program non-transitory computer-readable recording medium.
[claim8]
8. Wherein the control unit, said camera has been taken at different times by one piece of frame image or a 2, a common image portion to each other including the one piece of frame image with respect to the part of the 2, the 2 of all pixels of one frame image by extracting a value of a RGB, the extracted value of the RGB value does not correspond to the RGB, RGB code is detected as the value of the code detection function and, wherein the global distance is calculated by the global distance calculation function of pixel distance values, wherein the one frame image among the pixels of the 2 extracted from the distance value extraction function and in the pixel, the pixel distance value extracted by the extraction function for each of the distance values, wherein the RGB code values of the RGB value so as not to overlap with the allocation function allocates a code, the code of said code by allocating RGB values of the RGB values are assigned the same distance as the distance values comprise values, wherein one of the pixels of the 2 values of RGB, the distance value of the code assigned according to the value of the RGB values and RGB and replacing the replacement function, the RGB value after changed by the exchange function of the value of the RGB, to a value of the RGB pixel are permuted in association with the distance values of the pixels recorded in the information recording function and, wherein the RGB value of the pixel by the value of the replacement function RGB 2 has changed with respect to the one frame image, by applying the stitching algorithm, the one frame image of the 2 processing bonding, 1 bonding sheets to generate the images on the overlapping image generation function, the image generated by the generating function is bonded to said bonding of all the pixels of the image from the RGB value of, wherein the pixel information recorded by the recording function with the value of the RGB value of RGB or approximate RGB value detection function is detected, the RGB values detected by the detection function according to a value of the RGB pixel, the pixel information recorded by the recording function of the RGB value of the distance values are linked, the additional information as the pixel of the distance and the distance by which the additional function information, the additional function by the distance information is obtained by adding the distance information of the value of the RGB pixel, RGB pixels surrounding the pixel value of the average value of the RGB value changing function for changing, according to claim 7 for realizing image distance calculation program of computer-readable non-transitory recording medium.
[claim9]
9. 1 Moving one shot by the camera on the basis of the motion video, the video images from a camera that recorded in the calculation of the distance to an object to be shot distance calculation device for calculating the image distance of the image in which a program is a computer-readable non-transitory recording medium, the distance calculation device to a control unit of the image, the moving image at a given time frame from the frame image and the extracted image to function, in the frame images at the, wherein the moving direction of the camera toward the x-axis and the axis extends, the y-axis as an axis perpendicular to the x axis, the x-axis of the pixel column in the x0 point in the time change of the y axis, from time to time by extracting t0+1 t0+T, wherein the longitudinal axis in the y-axis, t (1 ≦ t ≦ T) and the abscissa axis generates a slice image and the slice image generation function, wherein the time t (1 ≦ t ≦ T) in the pixels of the image slices (t, y) and g, wherein y axis of the frame image is y '(1 ≦ y' ≦ Y) based on the time point t0 when f xyt space (x, y ', t0) of pixels (x) as=r, x of the 1 section, at any point in the present X, g (t, y) pixel of the slice image as corresponding to a frame of pixels of an image point r (x), the matching processing based on dynamic programming is obtained by using, in the image slice time corresponding to the pixel in the frame image T coordinates of a pixel, is calculated as a function of the calculated point is to be spotted points and is to be spotted, calculated by the calculating function point is to be spotted the spotting based on point, tracing back up to a processing time from the time t=T by t=1, wherein the axis of the slice image from t t=1 to t=T corresponding to the pixels of each of the x-axis direction of the frame image, x (1), x (2), x (3), x(i), x(T) (1 ≦ i ≦ T pixel) and obtains as the pixel matching function, wherein the pixel matching function of the frame image obtained by the pixel x (i) and x (i-1) adjacent pixels by a difference between the distance between the x (i) - x (i-1) and, from the pixel x (i) two consecutive K (however K<T) between pixels of adjacent pixels in the difference of the distance, x (i+1) -x (i), x (i+2) -x (i+1), x (i+3) -x (i+2), x (i + K-1) -x (i + K-2), x (i+K) -x (i + K-1) Lamiduvine HMWKs, wherein the difference between the obtained value of the distances between the pixels (i) is calculated as the median value by causing Med, pixels x (i) accumulated in the dynamic disparity (i) Med, and K, the frame image of the object to be shot from the pixel x (i) in the camera detail of the processes (i, x) z distance and the distance, the cumulative dynamic parallax Med (i), the setting range of K, constant μ2and constant γ2using, μ2≦ Med (i), K ≦ γ2and, the pixel x (i) the distance z (i, x) of the setting range, constant zN2and the constant zL2using, zN2≦ z (i, x) ≦ zL2as, coefficient a to, a=zL2, exp((μ2/(γ2-μ2) ) log(zL2/zN2) Rcyc_bs_cin and, coefficient b to b=(1/(γ2-μ2) ) log(zL2/zN2) can be calculated by said distance in said x (i) a z (i, x), wherein said cumulative dynamic parallax Med (i), and K, and wherein the coefficient a and the coefficient b is calculated by using a distance calculation function, z(i,x) =a,exp(-b,Med(i), K) details, for use in calculating the distance of the image in order to realize a program non-transitory computer-readable recording medium.
[claim10]
10. Wherein the control unit, in the function of calculating the distance of the details, the pixels in the image frame (1 ≦ i ≦ T) x (i) the distance of the pixel other than the, which is obtained in the pixel x (i) z (i, x) of the distance using the distance value obtained by interpolating the image according to claim 9 sideswipe for realizing a distance-calculation program non-transitory computer-readable recording medium.
[claim11]
11. Wherein the control unit, said camera 2 are taken at different times in one frame image, the image portion includes a portion common to each other, wherein the distance from the object to be photographed in the details of the function of calculating the distance to the camera is calculated for each pixel in one frame image with respect to the 2 claim, 2 wherein RGB of all pixels of one frame image by extracting a value of, wherein the value of the extracted RGB value does not correspond to the RGB, RGB code is detected as th(...)
  • 出願人(英語)
  • ※2012年7月以前掲載分については米国以外のすべての指定国
  • THE PUBLIC UNIVERSITY CORPORATION, THE UNIVERSITY OF AIZU
  • 発明者(英語)
  • OKA RYUICHI
国際特許分類(IPC)
指定国 (WO201843437)
National 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 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
ARIPO: BW GH GM KE LR LS MW MZ NA RW SD SL SZ TZ UG ZM ZW
EAPO: AM AZ BY KG KZ RU TJ TM
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
OAPI: BF BJ CF CG CI CM GA GN GQ GW KM ML MR NE SN ST TD TG

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