专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

31. 发明授权

US08223146B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US08223146B2
公开(公告)日：2012-07-17
申请号：US12418082
申请日：2009-04-03
申请人： Daisuke Kotake , Shinji Uchiyama
发明人： Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06T17/00
CPC分类号： G06F3/011 , G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06T7/12 , G06T7/73 , G06T19/006 , G06T2207/10016
摘要： A unit (110) acquires an image, sensed by an image sensing device (100), of a physical object having an outer appearance that can be expressed by line segments. A unit (120) stores defining data used to classify line segments configuring a 3D virtual object that simulates the outer appearance of the physical object into a plurality of groups and to define respective line segments belonging to the groups. A unit (130) selects one group from the groups one by one without any repetition. The unit (130) projects line segments which belong to the selected group onto a physical space using the defining data used to define that line segments, and the image of the physical space. The unit (130) then updates a position and orientation of the image sensing unit based on the line segments projected onto the physical space and a feature in the image of the physical object.
摘要翻译：单元（110）获取由图像感测装置（100）感测到的具有可以由线段表示的外观的物理对象的图像。单元（120）存储定义用于将配置3D虚拟对象的线段分类的数据，所述3D虚拟对象将物理对象的外观模拟成多个组，并且定义属于组的各个线段。一个单元（130）从一个接一个地选择一个组而不重复。单元（130）使用用于定义该线段的定义数据和物理空间的图像将属于所选择的组的线段投射到物理空间上。然后，单元（130）基于投影到物理空间上的线段和物理对象的图像中的特征来更新图像感测单元的位置和方位。

32. 发明申请

US20120148100A1 POSITION AND ORIENTATION MEASUREMENT DEVICE AND POSITION AND ORIENTATION MEASUREMENT METHOD 有权
标题翻译：位置和方位测量设备和位置和方位测量方法
公开(公告)号：US20120148100A1
公开(公告)日：2012-06-14
申请号：US13323504
申请日：2011-12-12
申请人： Daisuke Kotake , Keisuke Tateno , Shinji Uchiyama
发明人： Daisuke Kotake , Keisuke Tateno , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G06T7/0046 , G06T7/75 , G06T2207/10004 , G06T2207/10028
摘要： A position and orientation measurement device includes a grayscale image input unit that inputs a grayscale image of an object, a distance image input unit that inputs a distance image of the object, an approximate position and orientation input unit that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device, and a position and orientation calculator that updates the approximate position and orientation. The position and orientation calculator calculates a first position and orientation so that an object image on an image plane and a projection image of the three-dimensional shape model overlap each other, associates the three-dimensional shape model with the image features of the grayscale image and the distance image, and calculates a second position and orientation on the basis of a result of the association.
摘要翻译：位置和姿态测量装置包括灰度图像输入单元，输入物体的灰度图像，输入物体的距离图像的距离图像输入单元，输入近似位置和方位的近似位置和方向输入单元，相对于位置和方向测量装置的对象，以及更新近似位置和方向的位置和方向计算器。位置和姿态计算器计算第一位置和方向，使得图像平面上的对象图像和三维形状模型的投影图像彼此重叠，将三维形状模型与灰度图像的图像特征相关联和距离图像，并且基于关联的结果来计算第二位置和取向。

33. 发明申请

US20120121135A1 POSITION AND ORIENTATION CALIBRATION METHOD AND APPARATUS 有权
标题翻译：位置和方位校准方法和装置
公开(公告)号：US20120121135A1
公开(公告)日：2012-05-17
申请号：US13387090
申请日：2010-07-06
申请人： Daisuke Kotake , Shinji Uchiyama
发明人： Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G01S5/163 , G01S11/12 , G01S17/875 , G06K9/4604 , G06K9/52 , G06K9/6215 , G06T7/40 , G06T7/73 , G06T7/75 , G06T7/80 , G06T2207/20068
摘要： A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.
摘要翻译：位置和姿态测量装置计算物体的二维图像的图像特征与投影在二维图像上的对象的存储位置和取向的三维模型的投影图像之间的差。位置和姿态测量装置进一步计算存储在物体的位置和方向上的三维坐标信息和三维模型之间的差异。位置和姿态测量装置然后转换第一差异和/或第二差异的尺寸，以使第一差异和第二差异具有等效尺寸并校正存储的位置和取向。

34. 发明授权

US07848903B2 Information processing method and information processing apparatus 有权
标题翻译：信息处理方法和信息处理装置
公开(公告)号：US07848903B2
公开(公告)日：2010-12-07
申请号：US11459746
申请日：2006-07-25
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
IPC分类号： G01C7/00
CPC分类号： G06T7/73
摘要： An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.
摘要翻译：一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法，包括：图像输入步骤，输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息，并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息关于索引的图像坐标。

35. 发明申请

US20080228434A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND CALIBRATION JIG 有权
标题翻译：信息处理设备，信息处理方法和校准
公开(公告)号：US20080228434A1
公开(公告)日：2008-09-18
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： G06F15/00
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。

36. 发明申请

US20060071946A1 Information processing method and apparatus 有权
标题翻译：信息处理方法和装置
公开(公告)号：US20060071946A1
公开(公告)日：2006-04-06
申请号：US11235556
申请日：2005-09-26
申请人： Mahoro Anabuki , Daisuke Kotake , Shinji Uchiyama
发明人： Mahoro Anabuki , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G09G5/00
CPC分类号： G06F3/0325 , G06F3/0346 , G06K9/3216 , G06K2009/3225 , G06T7/246 , G06T7/73 , G06T19/006
摘要： In a case where a position and/or orientation of a shooting viewpoint is calculated by using information about image coordinates of markers placed in a scene, the present invention enables a user to easily determine positions of the markers so that the position and orientation can be calculated more accurately. Information about markers placed in a physical space is obtained and area information about mixing accuracy between a physical space image and a virtual space image is obtained based on the information about the markers, so that a virtual space image is generated in accordance with the obtained area information.
摘要翻译：在通过使用关于放置在场景中的标记的图像坐标的信息来计算拍摄视点的位置和/或取向的情况下，本发明使得用户能够容易地确定标记的位置，使得位置和取向可以计算更准确。获得关于放置在物理空间中的标记的信息，并且基于关于标记的信息获得关于物理空间图像和虚拟空间图像之间的混合精度的区域信息，从而根据获得的区域生成虚拟空间图像信息。

37. 发明授权

US09355453B2 Three-dimensional measurement apparatus, model generation apparatus, processing method thereof, and non-transitory computer-readable storage medium 有权
标题翻译：三维测量装置，模型生成装置，其处理方法和非暂时计算机可读存储介质
公开(公告)号：US09355453B2
公开(公告)日：2016-05-31
申请号：US13517293
申请日：2011-02-23
申请人： Daisuke Watanabe , Masakazu Fujiki , Shinji Uchiyama
发明人： Daisuke Watanabe , Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06T17/00 , G06T7/00
CPC分类号： G06T7/75
摘要： A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.
摘要翻译：三维测量装置产生通过使用三维几何模型从多个不同观点观察测量对象而获得的多个视点图像，从多个视点图像检测测量对象的边缘作为第二边缘，基于当第二边缘与第一边缘相关联时获得的结果来计算三维几何模型的第一边缘的相应可靠性，基于相应的可靠性来对每个第一边缘进行加权，将从第具有加权的第一边缘的捕获图像，并且基于关联结果计算测量对象的位置和取向。

38. 发明申请

US20120262455A1 THREE-DIMENSIONAL MEASUREMENT APPARATUS, MODEL GENERATION APPARATUS, PROCESSING METHOD THEREOF, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 有权
标题翻译：三维测量装置，型号发生装置，其处理方法和非终端计算机可读存储介质
公开(公告)号：US20120262455A1
公开(公告)日：2012-10-18
申请号：US13517293
申请日：2011-02-23
申请人： Daisuke Watanabe , Masakazu Fujiki , Shinji Uchiyama
发明人： Daisuke Watanabe , Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06T17/00
CPC分类号： G06T7/75
摘要： A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.
摘要翻译：三维测量装置产生通过使用三维几何模型从多个不同观点观察测量对象而获得的多个视点图像，从多个视点图像检测测量对象的边缘作为第二边缘，基于当第二边缘与第一边缘相关联时获得的结果来计算三维几何模型的第一边缘的相应可靠性，基于相应的可靠性来对每个第一边缘进行加权，将从第具有加权的第一边缘的捕获图像，并且基于关联结果计算测量对象的位置和取向。

39. 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。

40. 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。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式