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11. 发明授权

US08786700B2 Position and orientation measurement apparatus, position and orientation measurement method, and storage medium 有权
标题翻译：位置和方向测量装置，位置和方向测量方法以及存储介质
公开(公告)号：US08786700B2
公开(公告)日：2014-07-22
申请号：US13195478
申请日：2011-08-01
申请人： Kazuhiko Kobayashi , Shinji Uchiyama
发明人： Kazuhiko Kobayashi , Shinji Uchiyama
IPC分类号： G01S17/89
CPC分类号： G01B11/002 , G01B11/25 , G01S5/163
摘要： A position and orientation measurement apparatus comprises: a distance information obtaining unit adapted to obtain distance information of a target object captured by a capturing unit; a grayscale image obtaining unit adapted to obtain a grayscale image of the target object; a first position and orientation estimation unit adapted to estimate a position and orientation of the target object based on the information of a three-dimensional shape model and the distance information; a second position and orientation estimation unit adapted to estimate a position and orientation of the target object based on a geometric feature of the grayscale image and projection information obtained by projecting, on the grayscale image, the information of the three-dimensional shape model; and a determination unit adapted to determine whether a parameter of the capturing unit is needed to be calibrated or not, based on both a first and second estimated values.
摘要翻译：位置和姿势测量装置包括：距离信息获取单元，用于获取由拍摄单元拍摄的目标对象的距离信息; 灰度图像获取单元，其适于获得所述目标对象的灰度图像; 第一位置和姿态估计单元，其适于基于三维形状模型和距离信息的信息来估计目标对象的位置和姿态; 第二位置和姿势估计单元，其适于基于灰度图像的几何特征和通过在灰度图像上投影三维形状模型的信息获得的投影信息来估计目标对象的位置和取向; 以及确定单元，其适于基于第一和第二估计值来确定捕获单元的参数是否需要被校准。

12. 发明授权

US08718405B2 Position and orientation measurement apparatus, position and orientation measurement method, and program 有权
标题翻译：位置和方向测量装置，位置和方向测量方法以及程序
公开(公告)号：US08718405B2
公开(公告)日：2014-05-06
申请号：US13517164
申请日：2011-02-23
申请人： Masakazu Fujiki , Shinji Uchiyama
发明人： Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： G06T7/75 , G05B2219/37205 , G05B2219/40564 , G06T17/00 , G06T2207/10028 , G06T2207/30164
摘要： A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.
摘要翻译：一种用于测量目标对象的位置和方向的位置和方向测量装置，包括：第一搜索单元，其在几何模型中搜索与范围图像中的丢失图像区域相对应的丢失模型区域;确定单元，其确定是否对应于目标对象的范围图像上的像素的几何模型上的点落在丢失的模型区域内;校正单元，其校正范围图像上的像素的组合和被确定为落入丢失模型区域内的对应点以及计算单元，其基于所述范围图像上的像素的校正组合和所述几何模型上的点来计算所述目标对象的位置和取向。

13. 发明申请

US20130121592A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS,POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 有权
标题翻译：位置和方位测量装置，位置和方位测量方法和存储介质
公开(公告)号：US20130121592A1
公开(公告)日：2013-05-16
申请号：US13811776
申请日：2011-07-12
申请人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
发明人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
IPC分类号： G06K9/32
CPC分类号： G06K9/3241 , G01B11/002 , G06T7/75 , G06T2207/10004
摘要： An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.
摘要翻译：一种装置包括：提取装置，用于提取在所获得的二维图像中遮挡被照射到目标物体上的照明被遮挡的遮挡区域; 投影装置，用于基于目标对象的位置/取向的近似值将构成三维模型的线段投影到二维图像上; 关联装置，用于将构成投影线段的点与构成二维图像中的边缘的点相关联; 确定装置，用于确定构成二维图像中的边缘的相关联点是否存在于封闭区域内; 以及测量装置，用于基于构成投影线段的点和构成边缘的点之间的二维图像上的距离来测量目标对象的位置/取向，该点与该对相关联，并且确定结果。

14. 发明申请

US20130076865A1 POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 有权
标题翻译：位置/方向测量装置，其处理方法和非终端计算机可读存储介质
公开(公告)号：US20130076865A1
公开(公告)日：2013-03-28
申请号：US13702365
申请日：2011-06-09
申请人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
发明人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06K9/62 , G06K9/78
CPC分类号： G06K9/6217 , G01B11/03 , G01B11/25 , G06K9/78 , G06T7/75 , G06T2207/30164
摘要： A position/orientation measurement apparatus holds a three-dimensional shape model of a object, acquires approximate value indicating a position and an orientation of the object, acquires a two-dimensional image of the object, projects a geometric feature of the three-dimensional shape model on the two-dimensional image based on the approximate value, calculates the direction of the geometric feature of the three-dimensional shape model projected on the two-dimensional image, detects an image feature based on the two-dimensional image, calculates the direction of the image feature, associates the image feature and the geometric feature by comparing the direction of the image feature calculated based on the two-dimensional image and the direction of the geometric feature calculated based on the three-dimensional shape model, and calculates the position and orientation of the object by correcting the approximate value based on the distance between the geometric feature and the image feature associated therewith.
摘要翻译：位置/取向测量装置保持对象的三维形状模型，获取表示对象的位置和取向的近似值，获取对象的二维图像，投影三维形状的几何特征基于近似值的二维图像模型，计算投影在二维图像上的三维形状模型的几何特征的方向，基于二维图像检测图像特征，计算方向通过比较基于二维图像计算的图像特征的方向和基于三维形状模型计算的几何特征的方向，将图像特征和几何特征相关联，并且计算图像特征通过基于几何特征和图像专长之间的距离校正近似值来确定对象的方位与其相关联。

15. 发明申请

US20120288216A1 INFORMATION PROCESSING METHOD AND APPARATUS FOR CALCULATING INFORMATION REGARDING MEASUREMENT TARGET ON THE BASIS OF CAPTURED IMAGES 审中-公开
标题翻译：信息处理方法和计算关于捕获图像基准测量目标的信息的设备
公开(公告)号：US20120288216A1
公开(公告)日：2012-11-15
申请号：US13561473
申请日：2012-07-30
申请人： Shinichi Aratani , Daisuke Kotake , Shinji Uchiyama
发明人： Shinichi Aratani , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/60
CPC分类号： G06T7/74 , G06K9/3216 , G06K2009/3225 , G06T7/73 , G06T2207/30204
摘要： From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.
摘要翻译：从图像拾取单元拍摄的图像序列中，自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。为此，在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息，确定是否使用与位置和方位对应的拍摄图像。使用确定使用的拍摄图像，获得标记放置信息，关于测量对象的放置信息，或者用作未知参数的图像拾取单元的位置和方向，以便使测量的图像坐标和基于参数的粗略值估计的每个标记的理论图像坐标。

16. 发明申请

US20100328682A1 THREE-DIMENSIONAL MEASUREMENT APPARATUS, MEASUREMENT METHOD THEREFOR, AND COMPUTER-READABLE STORAGE MEDIUM 有权
标题翻译：三维测量装置，其测量方法和计算机可读存储介质
公开(公告)号：US20100328682A1
公开(公告)日：2010-12-30
申请号：US12818538
申请日：2010-06-18
申请人： Daisuke Kotake , Shinji Uchiyama
发明人： Daisuke Kotake , Shinji Uchiyama
IPC分类号： G01B11/14
CPC分类号： G01B11/25 , G06T7/521
摘要： A three-dimensional measurement apparatus comprises: a model holding unit configured to hold a three-dimensional shape model of a measurement object; a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object; an illumination unit configured to irradiate the measurement object with a predetermined illumination pattern; an image sensing unit configured to sense an image of the measurement object while the illumination unit irradiates the measurement object; a distance calculation unit configured to calculate distance information indicating a distance from the image sensing unit to the measurement object based on region corresponding to the distance measurement region within the sensed image; and a position and orientation calculation unit configured to calculate a position and orientation of the measurement object based on the distance information and the three-dimensional shape model.
摘要翻译：三维测量装置包括：模型保持单元，被配置为保持测量对象的三维形状模型; 确定单元，被配置为基于指示所述测量对象的三维形状的信息来确定所述测量对象上的距离测量区域; 照明单元，被配置为以预定的照明图案照射所述测量对象; 图像感测单元，被配置为在照明单元照射测量对象时感测测量对象的图像; 距离计算单元，被配置为基于与感测图像内的距离测量区域对应的区域来计算指示从图像感测单元到测量对象的距离的距离信息; 以及位置和姿势计算单元，被配置为基于所述距离信息和所述三维形状模型来计算所述测量对象的位置和取向。

17. 发明申请

US20100220914A1 IMAGE PROCESSING APPARATUS AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：图像处理装置及其控制方法
公开(公告)号：US20100220914A1
公开(公告)日：2010-09-02
申请号：US12714798
申请日：2010-03-01
申请人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
发明人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G06K9/00
CPC分类号： A61B5/0066 , A61B5/0073 , G06K2209/05 , G06T7/0012 , G06T2207/10072 , G06T2207/30041
摘要： An image processing apparatus includes an image acquisition unit configured to acquire a tomographic image of an object, a layer detection unit configured to detect a layer that constitutes the object from the tomographic image acquired by the image acquisition unit, and a normal structure estimation unit configured to estimate a normal structure of the layer based on the layer detected by the layer detection unit and a feature that is modified by a lesion of the layer.
摘要翻译：一种图像处理装置包括：图像获取单元，被配置为获取对象的断层图像;层检测单元，被配置为从由图像获取单元获取的断层图像中检测构成对象的层;以及正常结构估计单元，基于由层检测单元检测到的层和由层的损伤修改的特征来估计层的正常结构。

18. 发明授权

US07783443B2 Information processing apparatus, information processing method, and calibration Jig 有权
标题翻译：信息处理装置，信息处理方法和校准夹具
公开(公告)号：US07783443B2
公开(公告)日：2010-08-24
申请号：US12037489
申请日：2008-02-26
申请人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
发明人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
IPC分类号： G06F19/00 , G06K9/00
CPC分类号： G06T7/70 , G06T7/80 , G06T2207/30244
摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).
摘要翻译：当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标提取由图像感测装置（200）感测的多个图像。提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。

19. 发明申请

US20100142826A1 INFORMATION PROCESSING APPARATUS, PROCESSING METHOD THEREOF, AND COMPUTER-READABLE STORAGE MEDIUM 有权
标题翻译：信息处理装置，其处理方法和计算机可读存储介质
公开(公告)号：US20100142826A1
公开(公告)日：2010-06-10
申请号：US12627279
申请日：2009-11-30
申请人： Daisuke Kotake , Shinji Uchiyama
发明人： Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/46
CPC分类号： G06T7/75 , G06T2207/30244
摘要： An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, holds three-dimensional information including a plurality of line segments that constitute the object, acquires an image of the object captured by the image capture device, detects an image feature indicating a line segment from the acquired image, calculates a position and orientation of the image capture device based on correspondence between the image feature indicating the detected line segment and the held line segment, and determines, for each of the held line segments, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature, and information acquired in the calculation of the position and orientation.
摘要翻译：一种信息处理装置，其计算关于图像捕获装置相对于由图像捕获装置拍摄的对象的位置和姿态的信息，保存包括构成该对象的多个线段的三维信息，获取通过图像拍摄装置捕获的对象，从所获取的图像检测指示线段的图像特征，基于指示检测到的线段的图像特征与所保持的线段之间的对应关系，计算图像捕获装置的位置和方向，以及基于所检测到的图像特征的结果中的至少一个和在位置的计算中获取的信息中的至少一个，为每个所保持的线段确定是否使用线段来计算位置和方向和方向。

20. 发明授权

US07580027B2 Method and apparatus for processing information 有权
标题翻译：处理信息的方法和装置
公开(公告)号：US07580027B2
公开(公告)日：2009-08-25
申请号：US11265981
申请日：2005-11-03
申请人： Kiyohide Satoh , Daisuke Kotake , Shinichi Aratani , Shinji Uchiyama
发明人： Kiyohide Satoh , Daisuke Kotake , Shinichi Aratani , Shinji Uchiyama
IPC分类号： G09G5/00 , A61B5/05
CPC分类号： G01S5/163
摘要： An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.
摘要翻译：获得在客观视点位置拍摄的物体的客观视点图像，接收传感器的测量值，从目标视点图像检测关于校准索引的图像坐标的信息，以及校准的两种排列信息基于测量值和关于校准指标的图像坐标的信息，获得放置在物体上并相对于物体的传感器。由此，同时容易且准确地获得两种布置信息。

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