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51. 发明授权

US08019114B2 Position and orientation measurement method and apparatus 有权
标题翻译：位置和方向测量方法和装置
公开(公告)号：US08019114B2
公开(公告)日：2011-09-13
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，以及位置和姿态估计单元，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。

52. 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。

53. 发明授权

US07752008B2 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：US07752008B2
公开(公告)日：2010-07-06
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： G01C9/00
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。

54. 发明申请

US20100166280A1 THREE-DIMENSIONAL SHAPE DATA PROCESSING APPARATUS AND THREE-DIMENSIONALSHAPE DATA PROCESSING METHOD 有权
标题翻译：三维形状数据处理装置和三维数据处理方法
公开(公告)号：US20100166280A1
公开(公告)日：2010-07-01
申请号：US12640285
申请日：2009-12-17
申请人： Takaaki Endo , Shinji Uchiyama
发明人： Takaaki Endo , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G06T11/00 , G06T7/33 , G06T2207/10072
摘要： A three-dimensional shape data processing apparatus includes a data input unit configured to input data of a first tomographic image group including a plurality of tomographic images and data of a second tomographic image group including a plurality of tomographic images, wherein at least a part of an image capturing area of the second tomographic image group is overlapped with at least a part of an image taking area of the first tomographic image groups, and a combination unit configured to combine first three-dimensional shape data and second three-dimensional shape data into one piece of three-dimensional shape data according to an estimated accuracy estimated values of the first and second three-dimensional shape data at a plurality of positions.
摘要翻译：三维形状数据处理装置包括：数据输入单元，被配置为输入包括多个断层图像的第一断层图像组的数据和包括多个断层图像的第二断层图像组的数据，其中至少部分第二断层图像组的图像捕获区域与第一断层图像组的图像拍摄区域的至少一部分重叠，以及组合单元，被配置为将第一三维形状数据和第二三维形状数据组合成根据在多个位置处的第一和第二三维形状数据的估计精度估计值的一条三维形状数据。

55. 发明授权

US07676079B2 Index identification method and apparatus 有权
标题翻译：指标识别方法和装置
公开(公告)号：US07676079B2
公开(公告)日：2010-03-09
申请号：US10951687
申请日：2004-09-29
申请人： Shinji Uchiyama , Kiyohide Satoh
发明人： Shinji Uchiyama , Kiyohide Satoh
IPC分类号： H04N9/077
CPC分类号： G06K9/3216 , G06K2009/3225 , G06T7/70 , G06T2207/30244
摘要： An index arranged on a real space is detected from an image sensed by a camera, and the position of the index in the image is calculated (S405). The index is projected onto the image sensing plane of the camera on the basis of the position and orientation information of the camera, the position information of the index, and the like (S403). A corresponding index is identified based on the distance between the detected and projected indices on the image plane, and geometric information of the index (e.g., directionality) (S408). With this method, an index can be accurately identified by a simple method.
摘要翻译：从照相机感测到的图像中检测布置在真实空间上的索引，并且计算图像中的索引的位置（S405）。基于相机的位置和方向信息，索引的位置信息等，将索引投影到相机的图像感测平面上（S403）。基于图像平面上的检测到和投影索引之间的距离以及索引的几何信息（例如，方向性）来识别相应的索引（S408）。使用这种方法，可以通过简单的方法准确地识别索引。

56. 发明授权

US07467061B2 Information processing method and apparatus for finding position and orientation of targeted object 有权
标题翻译：用于查找目标对象的位置和方向的信息处理方法和装置
公开(公告)号：US07467061B2
公开(公告)日：2008-12-16
申请号：US11126437
申请日：2005-05-11
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
IPC分类号： G01C9/00
CPC分类号： G06T7/74 , G06T7/33
摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.
摘要翻译：在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

57. 发明申请

US20080267454A1 MEASUREMENT APPARATUS AND CONTROL METHOD 有权
标题翻译：测量装置和控制方法
公开(公告)号：US20080267454A1
公开(公告)日：2008-10-30
申请号：US12108078
申请日：2008-04-23
申请人： Kazuhiko Kobayashi , Shinji Uchiyama
发明人： Kazuhiko Kobayashi , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G01B11/14 , G06K9/00201 , G06T7/33 , G06T7/73 , G06T2207/30244
摘要： A measurement apparatus (100), which measures the relative position and orientation of an image-capturing apparatus (50) capturing images of one or more measurement objects (10) with respect to the measurement object, acquires a captured image using the image-capturing apparatus (50). Moreover, the respective geometric features present in a 3D model of the measurement object (10) are projected onto the captured image based on the position and orientation of the image-capturing apparatus (50), thereby obtaining projection geometric features. Projection geometric features to be used in calculation of the position and orientation are then selected from the resultant projection geometric features based on distances between the projection geometric features in the captured image. The relative position and orientation of the image-capturing apparatus (50) with respect to the measurement object is then calculated using the selected projection geometric features and image geometric features corresponding to the selected projection geometric features detected in the captured image.
摘要翻译：测量装置（100），其测量相对于测量对象拍摄一个或多个测量对象（10）的图像的图像捕获设备（50）的相对位置和方向，使用图像捕获获取捕获的图像装置（50）。此外，基于图像捕获装置（50）的位置和取向将存在于测量对象（10）的3D模型中的各个几何特征投影到所捕获的图像上，从而获得投影几何特征。然后从基于捕获图像中的投影几何特征之间的距离的所得投影几何特征中选择要用于计算位置和取向的投影几何特征。然后使用所选择的投影几何特征和对应于在捕获图像中检测到的所选择的投影几何特征的图像几何特征来计算图像捕获设备（50）相对于测量对象的相对位置和取向。

58. 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。

59. 发明申请

US20070242899A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND POSITION AND ORIENTATION MEASUREMENT APPARATUS 有权
标题翻译：位置和方位测量方法和位置和方位测量装置
公开(公告)号：US20070242899A1
公开(公告)日：2007-10-18
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

60. 发明申请

US20070139322A1 INDEX IDENTIFICATION METHOD AND APPARATUS 有权
标题翻译：指标识别方法和装置
公开(公告)号：US20070139322A1
公开(公告)日：2007-06-21
申请号：US11610805
申请日：2006-12-14
申请人： Kazuki TAKEMOTO , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
发明人： Kazuki TAKEMOTO , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
IPC分类号： G09G3/36
CPC分类号： G06F3/0346 , G06F3/0321
摘要： The orientation of each index is estimated from a sensed image, and the index detected from the image is identified based on the orientation of an image sensing device and that of the index estimated from the known coordinate information of the index. In this way, indices which are located at nearby positions but have different orientations are never misidentified, and can be stably identified. Indices can be stably identified from the sensed image in which indices located in the physical space appear.
摘要翻译：从感测图像估计每个索引的取向，并且基于图像感测装置的取向和从索引的已知坐标信息估计的索引的方向来识别从图像检测到的索引。以这种方式，位于附近位置但具有不同取向的索引从未被错误识别，并且可以被稳定地识别。可以从感测到的图像中稳定地识别指示，其中位于物理空间中的索引出现。

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