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21. 发明申请

US20080267531A1 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：US20080267531A1
公开(公告)日：2008-10-30
申请号：US12109073
申请日：2008-04-24
申请人： Kiyohide Satoh , Shinji Uchiyama
发明人： Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/36
CPC分类号： G06K9/209 , G06K9/3216 , G06K2009/3225 , G06T7/80 , G06T2207/30208
摘要： An index detection unit (110) detects the image coordinates of indices from a captured image. An index allocation information updating unit (160) calculates the position and orientation of an image capturing apparatus using the image coordinates of the indices and allocation information of each of these indices. Furthermore, the index allocation information updating unit (160) re-calibrates allocation information of an unreliable index having a reliability indicating that the allocation information is unreliable. The index allocation information updating unit (160) updates allocation information held by an allocation information holding unit (140) in association with the unreliable index to the re-calibrated allocation information and a reliability indicating that the allocation information is reliable.
摘要翻译：索引检测单元（110）从拍摄图像检测索引的图像坐标。索引分配信息更新单元（160）使用索引的图像坐标和这些索引中的每一个的分配信息来计算图像捕获装置的位置和方向。此外，索引分配信息更新单元（160）重新校准具有指示分配信息不可靠的可靠性的不可靠索引的分配信息。索引分配信息更新单元（160）将由分配信息保持单元（140）保存的分配信息与不可靠索引相关联地更新为重新校准的分配信息，并且指示分配信息是可靠的可靠性。

22. 发明授权

US07423553B2 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：US07423553B2
公开(公告)日：2008-09-09
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： 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置的外部索引。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。

23. 发明授权

US07092109B2 Position/orientation measurement method, and position/orientation measurement apparatus 有权
标题翻译：位置/方向测量方法以及位置/方向测量装置
公开(公告)号：US07092109B2
公开(公告)日：2006-08-15
申请号：US10752487
申请日：2004-01-08
申请人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
IPC分类号： H04N7/18
CPC分类号： G06F3/0325 , G01B11/002
摘要： A first error coordinate between the image coordinate of a first indicator, which is arranged on the real space and detected on a first image captured by a first image sensing unit, and the estimated image coordinate of the first indicator, which is estimated to be located on the first image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to a previously calculated position/orientation parameter) and the first indicator, is calculated. On the other-hand, a second error coordinate between the image coordinate of a second indicator, which is arranged on the first image sensing unit and detected on a second image that includes the first image sensing unit, and the estimated image coordinate of the second indicator, which is estimated to be located on the second image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to the position/orientation parameter), and the second indicator, is calculated. Using the first and second error coordinates, the position/orientation parameter is corrected.
摘要翻译：布置在实际空间上并在第一图像感测单元拍摄的第一图像上检测到的第一指示符的图像坐标之间的第一误差坐标和估计位于的第一指示器的估计图像坐标根据第一图像感测单元（根据先前计算的位置/方向参数的位置和方向）与第一指示符之间的位置/取向关系，在第一图像上计算。另一方面，布置在第一图像感测单元上并且在包括第一图像感测单元的第二图像上检测的第二指示符的图像坐标与第二指示器的估计图像坐标之间的第二误差坐标，根据第一图像感测单元（根据位置/方向参数的位置和取向）与第二指示符之间的位置/取向关系被估计位于第二图像上。使用第一个和第二个误差坐标，校正位置/方向参数。

24. 发明申请

US20060094955A1 Method and apparatus for processing information 有权
公开(公告)号：US20060094955A1
公开(公告)日：2006-05-04
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： 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.

25. 发明申请

US20050253870A1 Marker placement information estimating method and information processing device 失效
标题翻译：标记位置信息估计方法和信息处理装置
公开(公告)号：US20050253870A1
公开(公告)日：2005-11-17
申请号：US11126916
申请日：2005-05-11
申请人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
发明人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G06T1/00 , G06T7/00 , G06T7/60 , A61B5/05
CPC分类号： G06T7/73
摘要： A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.
摘要翻译：一种标记放置信息估计方法，包括：约束条件设定步骤，用于设定可以利用关于标记的放置信息的几何条件来定义的约束条件;捕获步骤，用于捕获包括标记图像的拍摄图像，用于检测标记的标记检测步骤以及估计步骤，用于使用检测到的标记在图像上的位置和约束条件来估计标记的放置信息。因此，即使存在关于标记的放置的约束条件，也可以精确地获得放置信息，以满足约束条件。

26. 发明申请

US20050008256A1 Position and orientation detection method and apparatus 有权
标题翻译：位置和方位检测方法和装置
公开(公告)号：US20050008256A1
公开(公告)日：2005-01-13
申请号：US10885664
申请日：2004-07-08
申请人： Shinji Uchiyama , Kiyohide Satoh
发明人： Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G01B11/00 , G06T7/00 , H04N5/232 , G06K9/36
CPC分类号： G06T7/73 , G06T7/80 , G06T2207/30244
摘要： The present invention provides a method and apparatus for inputting a signal indicating a change in position of an image sensing apparatus to predict present position and orientation of the image sensing apparatus using previously obtained position and orientation, by identifying corresponding pairs of indicators detected from an image in real space sensed by the image sensing apparatus and indicators contained in an image when sensed from a predicted position and orientation and using a correction method determined by the number of identified indicator pairs either to correct all or some of the degrees of freedom of the predicted camera position and orientation or to use the predicted camera position and orientation directly as is. As a result, highly accurate detection results can be obtained using a simple structure in the detection of the position and orientation of the image sensing apparatus.
摘要翻译：本发明提供一种方法和装置，用于输入指示图像检测装置的位置变化的信号，以通过使用先前获得的位置和取向来预测图像感测装置的当前位置和姿态，通过识别从图像检测到的相应指示对在由预测的位置和方向感测时由图像感测装置感测的实际空间和包含在图像中的指示，并且使用由所识别的指示符对的数量确定的校正方法来校正预测的全部或部分自由度照相机的位置和方向，或直接使用预测的摄像机位置和方向。结果，在检测图像检测装置的位置和取向方面使用简单的结构可以获得高精度的检测结果。

27. 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。

28. 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。

29. 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。

30. 发明申请

US20090022369A1 POSITION/ORIENTATION MEASUREMENT METHOD AND APPARATUS 有权
标题翻译：位置/方位测量方法和装置
公开(公告)号：US20090022369A1
公开(公告)日：2009-01-22
申请号：US11815540
申请日：2006-02-03
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
IPC分类号： G06K9/46
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244
摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).
摘要翻译：本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

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