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91. 发明授权

US07519218B2 Marker detection method and apparatus, and position and orientation estimation method 有权
标题翻译：标记检测方法和装置，位置和方位估计方法
公开(公告)号：US07519218B2
公开(公告)日：2009-04-14
申请号：US11091624
申请日：2005-03-29
申请人： Kazuki Takemoto , Kiyohide Satoh
发明人： Kazuki Takemoto , Kiyohide Satoh
IPC分类号： G06K9/00
CPC分类号： G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06T7/80 , G06T19/006 , G06T2207/10024 , G06T2207/30204
摘要： A marker detection method includes the steps of acquiring a captured image, detecting a marker from the captured image, and determining whether or not a surrounding region of the detected marker includes a pixel of a predetermined color. An additional step includes determining, as a valid marker, a marker for which it is determined that the surrounding region does not include any pixel of the predetermined color.
摘要翻译：标记检测方法包括以下步骤：获取捕获的图像，从捕获的图像中检测标记，以及确定检测标记的周围区域是否包括预定颜色的像素。附加步骤包括确定作为有效标记的标记，其被确定为周围区域不包括预定颜色的任何像素。

92. 发明申请

US20080228422A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20080228422A1
公开(公告)日：2008-09-18
申请号：US12045824
申请日：2008-03-11
申请人： Kiyohide Satoh
发明人： Kiyohide Satoh
IPC分类号： G01P21/00
CPC分类号： G01C11/00 , G06F3/011 , G06F3/038
摘要： A calibration information calculation unit (540) calculates a plurality of candidates of first coordinate transformation information using a plurality of candidates of second coordinate transformation information, a sensor measured value, and the position and orientation of a video camera (100) on the world coordinate system. The calibration information calculation unit (540) then calculates a piece of first coordinate transformation information by combining the plurality of calculated candidates. Then, the calibration information calculation unit (540) makes iterative calculations for correcting calibration information using a candidate of the second coordinate transformation information and the first coordinate transformation information as initial values of the calibration information.
摘要翻译：校准信息计算单元（540）使用第二坐标变换信息，传感器测量值的多个候选以及摄像机（100）在世界坐标上的位置和方位来计算多个候选的第一坐标变换信息系统。校准信息计算单元（540）然后通过组合多个计算的候选来计算一条第一坐标变换信息。然后，校准信息计算单元（540）使用第二坐标变换信息和第一坐标变换信息的候选作为校准信息的初始值进行用于校正校准信息的迭代计算。

93. 发明授权

US07414596B2 Data conversion method and apparatus, and orientation measurement apparatus 有权
标题翻译：数据转换方法和装置以及取向测量装置
公开(公告)号：US07414596B2
公开(公告)日：2008-08-19
申请号：US10952876
申请日：2004-09-30
申请人： Kiyohide Satoh , Mahoro Anabuki
发明人： Kiyohide Satoh , Mahoro Anabuki
IPC分类号： G09G5/00 , H04N7/00
CPC分类号： G06F3/012 , G01C9/00 , G01C21/20
摘要： An orientation sensor measures the orientation of the orientation sensor itself on a sensor coordinate system, and outputs an orientation measurement value. A first alignment data setting unit reads out first alignment data, which is recorded in an external storage device and represents the gravitational direction on a reference coordinate system, and sets that data in an orientation calculation unit. A second alignment data setting unit sets second alignment data, which represents a difference angle in the azimuth direction between the sensor coordinate system and reference coordinate system in the orientation calculation unit in accordance with a command input by an operator from a command input unit. The orientation calculation unit calculates the orientation of an object on the reference coordinate system using the first and second alignment data on the basis of the orientation measurement value input from the orientation sensor, and outputs it.
摘要翻译：方向传感器测量方位传感器本身在传感器坐标系上的方向，并输出方位测量值。第一对准数据设定单元读出记录在外部存储装置中的第一对准数据，并且在参考坐标系上表示重力方向，并将该数据设置在取向计算单元中。第二对准数据设定单元根据操作者从命令输入单元输入的命令，设定表示方位计算单元中的传感器坐标系与基准坐标系之间的方位角的差角的第二对准数据。取向计算单元基于从取向传感器输入的取向测量值，使用第一和第二对准数据来计算对象在参考坐标系上的取向，并将其输出。

94. 发明申请

US20080109184A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND APPARATUS 失效
标题翻译：位置和方位测量方法和装置
公开(公告)号：US20080109184A1
公开(公告)日：2008-05-08
申请号：US11934354
申请日：2007-11-02
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
IPC分类号： G06F15/00
CPC分类号： G01S5/163 , G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： An index detection unit (2030) detects indices allocated or set on an object from a sensed image. An evaluation amount calculation unit (2060) calculates evaluation amounts of the indices using two-dimensional geometric features of the indices on the image and/or three-dimensional geometric features that represent relationships between an image sensing device (2010) and the indices on a three-dimensional space. A reliability calculation unit (2070) calculates reliabilities of the indices according to the calculated evaluation amounts of the indices. A position and orientation calculation unit (2080) calculates the position and orientation of the object or the image sensing device (2010) using at least the calculated reliabilities of the indices and information associated with the image coordinates of the detected indices.
摘要翻译：索引检测单元（2030）检测从感测图像分配或设置在对象上的索引。评估量计算单元（2060）使用表示图像上的索引的二维几何特征和/或表示图像感测装置（2010）和图像感知装置（2010）之间的关系的三维几何特征来计算索引的评估量三维空间。可靠性计算单元（2070）根据所计算出的指数评价量来计算索引的可靠性。位置和姿势计算单元（2080）使用至少所计算的索引的可靠性和与检测到的索引的图像坐标相关联的信息来计算对象或图像感测装置（2010）的位置和取向。

95. 发明申请

US20080069405A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND APPARATUS 有权
标题翻译：位置和方位测量方法和装置
公开(公告)号：US20080069405A1
公开(公告)日：2008-03-20
申请号：US11854121
申请日：2007-09-12
申请人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
发明人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G01B11/002 , G01B11/2504 , G06T7/73 , G06T2207/30244
摘要： A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.
摘要翻译：位置和姿态测量装置具有主观视点索引检测单元，其从由主观摄像机拍摄的图像检测物理空间上的索引;附加主观视图索引检测单元，其从由具有与主观摄像机不同的空间分辨率的附加主观摄像机拍摄的图像，以及位置和姿势估计单元，其使用与所述主观视野摄像机的图像坐标相关联的信息来计算主观摄像机的位置和姿态检测指标。

96. 发明授权

US07295697B1 Depth information measurement apparatus and mixed reality presentation system 有权
标题翻译：深度信息测量装置和混合现实呈现系统
公开(公告)号：US07295697B1
公开(公告)日：2007-11-13
申请号：US09648295
申请日：2000-08-28
申请人： Kiyohide Satoh
发明人： Kiyohide Satoh
IPC分类号： G06K9/00
CPC分类号： G06T19/006 , G06T7/579 , G06T7/596 , G06T2200/08 , G06T2207/10012 , G06T2207/10021
摘要： There is disclosed a depth information generation apparatus capable of acquiring high-precision depth information within a short computation time. A depth information generation apparatus of this invention generates depth information at the capture position of a reference image from the reference image, and at least one peripheral image that forms a stereo image pair with the reference image, and has a high-speed stereo processor (30) for generating depth information at high speed from the reference image and peripheral image, and a high-precision stereo processor (40) for generating high-precision depth information. A motion detector (20) detects a motion in an image, and instructs an image composition unit (50) to select the output from the high-speed stereo processor (30) for a portion with a large motion, and the output from the high-precision stereo processor (40) for other portions. The image composition unit (50) composites the outputs from the high-speed stereo processor (30) and high-precision stereo processor (40) in accordance with an instruction from the motion detector (20), and outputs a depth map as final depth information.
摘要翻译：公开了能够在短的计算时间内获取高精度的深度信息的深度信息生成装置。本发明的深度信息生成装置从参考图像生成参考图像的拍摄位置的深度信息，以及与参考图像形成立体图像对的至少一个周边图像，并且具有高速立体声处理器 30），用于从参考图像和周边图像高速生成深度信息，以及用于产生高精度深度信息的高精度立体声处理器（40）。运动检测器（20）检测图像中的运动，并且指示图像合成单元（50）从高速立体声处理器（30）中输入具有大运动的部分，并且高输出 - 精密立体声处理器（40）用于其他部分。图像合成单元（50）根据来自运动检测器（20）的指令，合成来自高速立体声处理器（30）和高精度立体声处理器（40）的输出，并输出深度图作为最终深度信息。

97. 发明申请

US20050264433A1 Image display apparatus, image display method, measurement apparatus, measurement method, information processing method, information processing apparatus, and identification method 有权
标题翻译：图像显示装置，图像显示方法，测量装置，测量方法，信息处理方法，信息处理装置和识别方法
公开(公告)号：US20050264433A1
公开(公告)日：2005-12-01
申请号：US11180524
申请日：2005-07-14
申请人： Yasuyoshi Yokokohji , Shinji Uchiyama , Kiyohide Satoh , Daisuke Eto , Tomoyasu Nakatsuru , Tsuneo Yoshikawa
发明人： Yasuyoshi Yokokohji , Shinji Uchiyama , Kiyohide Satoh , Daisuke Eto , Tomoyasu Nakatsuru , Tsuneo Yoshikawa
IPC分类号： G01C21/36 , G01S5/16 , G02B27/00 , G02B27/01 , G08G1/0962 , G08G1/017
CPC分类号： G01C21/365 , G01S5/163 , G02B27/01 , G02B2027/0138 , G02B2027/0187 , G06T7/277 , G06T7/70 , G06T2207/10016 , G06T2207/30268 , G08G1/0962
摘要： An external index detection unit (105) receives an image sensed by a camera (100), and detects an external index set in a real scene. A tachometer (110) measures the rotational velocities of two rear wheels of a vehicle. A vehicle measurement unit (120) measures the position and azimuth of the vehicle on the basis of the image coordinate position of the external index and the rotational velocities of the two rear wheels of the vehicle. A head index detection unit (135) receives an image sensed by a camera (130), and detects a head index set on the head of a passenger (132). A head measurement unit (140) measures the position of the head on the basis of the image coordinate position of the head index. An image generation unit (150) generates a display image based on the position and azimuth of the vehicle and the position of the head, so that the passenger can observe predetermined navigation information superimposed at a predetermined position of the real scene, and controls a projector (160) to project the generated image.
摘要翻译：外部索引检测单元（105）接收由相机（100）感测的图像，并且检测在真实场景中设定的外部索引。转速计（110）测量车辆的两个后轮的旋转速度。车辆测量单元（120）基于外部指标的图像坐标位置和车辆的两个后轮的旋转速度来测量车辆的位置和方位角。头部索引检测单元（135）接收由照相机（130）感测的图像，并且检测设置在乘客的头部上的头部索引（132）。头部测量单元（140）基于头部索引的图像坐标位置来测量头部的位置。图像生成单元（150）基于车辆的位置和方位以及头部的位置生成显示图像，使得乘客可以观察叠加在真实场景的预定位置的预定导航信息，并且控制投影仪（160）来投影所生成的图像。

98. 发明申请

US20050261573A1 Method and apparatus for determining position and orientation 有权
标题翻译：用于确定位置和方向的方法和装置
公开(公告)号：US20050261573A1
公开(公告)日：2005-11-24
申请号：US11126917
申请日：2005-05-11
申请人： Kiyohide Satoh , Shinji Uchiyama
发明人： Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G01C19/00 , G06T7/00 , A61B5/05
CPC分类号： G06K9/3216 , G06K9/3208 , G06T7/73
摘要： An index detector detects image coordinates of indices arranged on a scene from an image shot by an imaging device. An orientation sensor is attached to the imaging device, and outputs a measured orientation. An orientation prediction unit predicts an orientation of the imaging device on the basis of the measured orientation obtained by the orientation sensor. A position/orientation calculator receives the predicted orientation of the imaging device and a set of the image coordinates and world coordinates of each index, determines the position of the imaging device and an update value for an azimuth-drift-error correction value of the orientation sensor, and calculates the position and orientation of the imaging device.
摘要翻译：索引检测器从由成像装置拍摄的图像检测布置在场景上的索引的图像坐标。将取向传感器附接到成像装置，并输出测量的取向。取向预测单元基于由取向传感器获得的测量取向来预测成像装置的取向。位置/取向计算器接收成像装置的预测取向和每个索引的图像坐标和世界坐标的集合，确定成像装置的位置和取向的方位漂移误差校正值的更新值传感器，并计算成像装置的位置和方向。

99. 发明申请

US20050253871A1 Information processing method and system 失效
标题翻译：信息处理方法和系统
公开(公告)号：US20050253871A1
公开(公告)日：2005-11-17
申请号：US11126919
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh
发明人： Mahoro Anabuki , Kiyohide Satoh
IPC分类号： G01B11/26 , G01S5/16 , G06T7/60 , A61B5/05
CPC分类号： G01S5/16
摘要： An information-processing system for calibrating an orientation sensor mounted on an image-pickup device calculates a relative orientation between the orientation sensor and the image-pickup device by using information about image coordinates of indices detected from a photographed image and an orientation-measurement value. At the same time, the information-processing system obtains parameters for minimizing an error between actual measured values of the image coordinates of the indices and theoretical values of the image coordinates of the indices, where the theoretical values are calculated from estimates of unknown parameters, by using a position of the image-pickup device and the relative orientation between the orientation sensor and the image-pickup device, as the unknown parameters.
摘要翻译：用于校准安装在图像拾取装置上的方向传感器的信息处理系统通过使用关于从拍摄图像检测到的索引的图像坐标的信息和方向测量值来计算取向传感器和图像拾取装置之间的相对取向。同时，信息处理系统获得用于最小化索引的图像坐标的实际测量值与索引的图像坐标的理论值之间的误差的参数，其中理论值由未知参数的估计计算，通过使用图像拾取装置的位置和定向传感器和图像拾取装置之间的相对定向作为未知参数。

100. 发明申请

US20050234333A1 Marker detection method and apparatus, and position and orientation estimation method 有权
标题翻译：标记检测方法和装置，位置和方位估计方法
公开(公告)号：US20050234333A1
公开(公告)日：2005-10-20
申请号：US11091624
申请日：2005-03-29
申请人： Kazuki Takemoto , Kiyohide Satoh
发明人： Kazuki Takemoto , Kiyohide Satoh
IPC分类号： A61B5/05 , G06T1/00 , G06T5/00 , G06T7/00 , H04N5/232
CPC分类号： G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06T7/80 , G06T19/006 , G06T2207/10024 , G06T2207/30204
摘要： This invention relates to a mixed reality presentation apparatus for obtaining the position and orientation of an image sensing unit using markers. Whether or not a marker detected in a captured image has suspicion of partial occlusion is determined by checking if a region that neighbors a marker region includes a predetermined color, thus inhibiting information obtained from the marker with suspicion of partial occlusion from being used in position and orientation estimation of the image sensing unit. The precision of the obtained position and orientation can be improved.
摘要翻译：本发明涉及一种用于使用标记获得图像感测单元的位置和方向的混合现实呈现装置。通过检查邻近标记区域的区域是否包含预定颜色来确定在捕获图像中检测到的标记是否具有部分闭塞的怀疑，从而抑制从标记获得的信息，其中怀疑部分遮挡被用于位置，并且摄像单元的姿态估计。可以提高获得的位置和取向的精度。

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