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81. 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。

82. 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。

83. 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。

84. 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。

85. 发明授权

US06760020B1 Image processing apparatus for displaying three-dimensional image 失效
标题翻译：用于显示三维图像的图像处理装置
公开(公告)号：US06760020B1
公开(公告)日：2004-07-06
申请号：US09266858
申请日：1999-03-12
申请人： Shinji Uchiyama , Hiroyuki Yamamoto
发明人： Shinji Uchiyama , Hiroyuki Yamamoto
IPC分类号： G06T1500
CPC分类号： G06T15/00 , H04N13/194 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/307 , H04N13/31
摘要： A stereoscopic image processing apparatus which can automatically assign stereoscopic viewing parameters to VRML data in which no stereoscopic viewing parameters are defined. VRML data is input, and the user sets or changes stereoscopic viewing parameters (initial values of the base line length and convergence angle) required for stereoscopic viewing on the basis of the input VRML data. The initial value of the base line length is set based on the maximum size of the range of the space of the VRML data, and the initial value of the convergence angle is set at “0”. These initial values are arbitrarily changed at a user interface.
摘要翻译：一种立体图像处理装置，其能够将立体观看参数自动分配给不定义立体观看参数的VRML数据。 VRML数据被输入，并且用户基于输入的VRML数据设置或改变立体观看所需的立体观看参数（基线长度和会聚角度的初始值）。基线长度的初始值基于关于VRML数据的空间范围的最大大小，并且会聚角的初始值被设置为“0”。这些初始值在用户界面任意改变。

86. 发明授权

US6151028A Image processing apparatus, method and system 失效
标题翻译：图像处理装置，方法和系统
公开(公告)号：US6151028A
公开(公告)日：2000-11-21
申请号：US38685
申请日：1998-03-09
申请人： Atsushi Kumagai , Akihiro Katayama , Shinji Uchiyama
发明人： Atsushi Kumagai , Akihiro Katayama , Shinji Uchiyama
IPC分类号： G06T19/00 , G06T15/10
CPC分类号： G06T15/00
摘要： In order to enable plural users to share a virtual environment which includes not only simple shape data, but also data of an object having a highly complicated shape, a terminal equipment displays the virtual environment. The virtual environment is obtained when viewed by a user of the terminal equipment on the basis of tree-structure data composing the shape data, light space data and the like as components. The tree-structure data is changed when the shape data or the light space data is subjected to a process such as movement or the like. The changed information of the tree-structure data is transmitted to a server, and the server changes data in a data memory device based on the received changed information. The changed information is transmitted to another terminal equipment which displays the virtual environment obtained when viewed by the user of the another terminal equipment on the basis of the received changed information.
摘要翻译：为了使多个用户能够共享不仅包括简单形状数据的虚拟环境，还包括具有高度复杂形状的对象的数据，终端设备显示虚拟环境。基于构成形状数据，光空间数据等的树结构数据作为组件，由终端设备的用户观看虚拟环境。当形状数据或光空间数据经受诸如运动等的处理时，树结构数据被改变。树结构数据的改变的信息被发送到服务器，并且服务器基于接收的改变的信息来改变数据存储装置中的数据。变更的信息被发送到另一个终端设备，该终端设备基于接收到的改变的信息显示由另一个终端设备的用户观看时获得的虚拟环境。

87. 发明授权

US09208395B2 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：US09208395B2
公开(公告)日：2015-12-08
申请号：US13811776
申请日：2011-08-12
申请人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
发明人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
IPC分类号： G06K9/32 , G01B11/00 , G06T7/00
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。

88. 发明授权

US09182221B2 Information processing apparatus and information processing method 有权
标题翻译：信息处理装置和信息处理方法
公开(公告)号：US09182221B2
公开(公告)日：2015-11-10
申请号：US13493344
申请日：2012-06-11
申请人： Yusuke Nakazato , Shinji Uchiyama
发明人： Yusuke Nakazato , Shinji Uchiyama
IPC分类号： G06F19/00 , G01B11/25
CPC分类号： G01B11/25
摘要： An information processing apparatus includes an acquisition unit configured to acquire a plurality of positions on a surface of a measurement target object using information of light reflected from the measurement target object on which structured light is projected, a position of a light source of the structured light, and a position of a light reception unit configured to receive the reflected light and acquire the information of the reflected light, a calculation unit configured to acquire at least one of a position and a direction on the surface of the measurement target object based on the plurality of the positions, and a correction unit configured to correct at least one of the plurality of the positions based on information about an error in measurement for acquiring the plurality of the positions and at least one of the position and the direction on the surface of the measurement target object.
摘要翻译：一种信息处理装置，包括获取单元，被配置为使用从其上投射有结构光的测量对象物体反射的光的信息获取测量对象物体的表面上的多个位置，结构化光的光源的位置以及被配置为接收所述反射光并获取所述反射光的信息的光接收单元的位置，所述计算单元被配置为基于所述测量对象物体的表面获取所述测量对象物体的表面上的位置和方向中的至少一个多个位置，以及校正单元，被配置为基于关于用于获取多个位置的测量误差的信息来校正多个位置中的至少一个，并且至少一个位置和方向在表面上测量目标对象。

89. 发明授权

US08483424B2 Information processing apparatus, processing method thereof, and computer-readable storage medium 有权
公开(公告)号：US08483424B2
公开(公告)日：2013-07-09
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： G06K9/00
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.

90. 发明申请

US20130010070A1 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：US20130010070A1
公开(公告)日：2013-01-10
申请号：US13538437
申请日：2012-06-29
申请人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/00 , H04N13/02
CPC分类号： B25J9/1697 , G01B11/002 , G05B2219/37425 , G05B2219/40548 , G06T7/75 , G06T2207/10021 , G06T2207/30108
摘要： An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference amount.
摘要翻译：一种被配置为使用成像装置估计测量对象的位置和姿态的信息处理装置，包括近似位置和方向输入单元，被配置为输入成像装置和测量对象之间的相对近似位置和取向，第一位置和方向更新单元，被配置为通过将三维形状模型与拍摄图像相匹配来更新近似位置和取向;位置和方位差信息输入单元，被配置为计算并获取所述成像装置相对于所述测量的位置和方位差量已经在成像装置捕获了测量对象的图像之后或者在获取了最后位置和方位差异信息之后已经移动的对象，以及被配置为基于位置和方向来更新大致位置和取向的第二位置和方位更新单元，取向差值。

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