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1. 发明申请

WO2012066769A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 审中-公开
标题翻译：信息处理设备和信息处理方法
公开(公告)号：WO2012066769A1
公开(公告)日：2012-05-24
申请号：PCT/JP2011/006352
申请日：2011-11-15
申请人： CANON KABUSHIKI KAISHA , TATENO, Keisuke , KOTAKE, Daisuke , UCHIYAMA, Shinji
发明人： TATENO, Keisuke , KOTAKE, Daisuke , UCHIYAMA, Shinji
IPC分类号： G06T7/00
CPC分类号： G06T19/003 , G06T7/75 , G06T2207/10004 , G06T2207/10028 , G06T2207/30108
摘要： An information processing apparatus according to the present invention includes a three-dimensional model storage unit configured to store data of a three-dimensional model that describes a geometric feature of an object, a two-dimensional image input unit configured to input a two-dimensional image in which the object is imaged, a range image input unit configured to input a range image in which the object is imaged, an image feature detection unit configured to detect an image feature from the two-dimensional image input from the two-dimensional image input unit, an image feature three-dimensional information calculation unit configured to calculate three-dimensional coordinates corresponding to the image feature from the range image input from the range image input unit, and a model fitting unit configured to fit the three-dimensional model into the three-dimensional coordinates of the image feature.
摘要翻译：根据本发明的信息处理装置包括：三维模型存储单元，被配置为存储描述对象的几何特征的三维模型的数据;二维图像输入单元，被配置为输入二维对象被成像的图像，被配置为输入对象被成像的范围图像的范围图像输入单元，被配置为从二维图像输入的二维图像中检测图像特征的图像特征检测单元输入单元，图像特征三维信息计算单元，被配置为从所述范围图像输入单元输入的范围图像中计算与所述图像特征对应的三维坐标;以及模型拟合单元，被配置为将所述三维模型拟合为图像特征的三维坐标。

2. 发明申请

WO2011158885A1 POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
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：WO2011158885A1
公开(公告)日：2011-12-22
申请号：PCT/JP2011/063752
申请日：2011-06-09
申请人： CANON KABUSHIKI KAISHA , TATENO, Keisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： TATENO, Keisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/03 , G01B11/25 , G06T1/00
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。

3. 发明申请

WO2016185704A1 INFORMATION PROCESSING APPARATUS, METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，方法和程序
公开(公告)号：WO2016185704A1
公开(公告)日：2016-11-24
申请号：PCT/JP2016/002365
申请日：2016-05-13
申请人： CANON KABUSHIKI KAISHA
发明人： HIROTA, Yuichiro , TATENO, Keisuke , SUZUKI, Masahiro , KOTAKE, Daisuke , KATAYAMA, Akihiro , FUJIKI, Masakazu
IPC分类号： G06T19/00 , G01B11/00 , G06T1/00 , H04N5/225 , H04N5/232
CPC分类号： G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： In order to shorten the time required for a setting operation of features, an information processing apparatus includes an acquisition unit configured to acquire features used for deriving a positional attitude of an imaging device from an image captured by the imaging device, a setting unit configured to set a plurality of partial regions included in the image as a plurality of candidate regions to which a feature is to be added, an evaluation unit configured to evaluate the plurality of set candidate regions, a determination unit configured to determine a position and/or an orientation of a feature to be newly added based on the plurality of evaluated candidate regions, and an output unit configured to output the determined position and/or the orientation.
摘要翻译：为了缩短特征的设置操作所需的时间，信息处理设备包括：获取单元，被配置为从由成像设备拍摄的图像获取用于导出成像设备的位置姿态的特征;设置单元，被配置为将包括在图像中的多个部分区域设置为要添加特征的多个候选区域，评估单元，被配置为评估多个集合候选区域;确定单元，被配置为确定位置和/或基于多个评估候选区域来新添加的特征的取向;以及输出单元，被配置为输出确定的位置和/或取向。

4. 发明申请

WO2016084316A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：WO2016084316A1
公开(公告)日：2016-06-02
申请号：PCT/JP2015/005596
申请日：2015-11-09
申请人： CANON KABUSHIKI KAISHA
发明人： KOTAKE, Daisuke , FUJIKI, Masakazu , TATENO, Keisuke
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00
CPC分类号： G06T1/0007
摘要： An information processing apparatus for determining a placement of an image capturing apparatus capable of accurately measuring the position and orientation of an object through model fitting includes a holding unit that holds a 3D model representing a 3D shape of the object, a generating unit that generates candidates of the position and orientation of the image capturing apparatus relative to the object, an evaluating unit that evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object based on a result of matching between data that virtually generates the object observed when the image capturing apparatus is placed in the position and orientation generated by the generating unit and the 3D model, and a determining unit that determines the position and orientation of the image capturing apparatus relative to the object based on the result of evaluation performed by the evaluating unit.
摘要翻译：一种用于确定能够通过模型拟合精确地测量对象的位置和取向的图像捕获装置的放置的信息处理装置，包括：保持单元，其保存表示对象的3D形状的3D模型;生成单元，生成候选图像拍摄装置相对于对象的位置和取向的评估单元，评估单元，其基于虚拟地生成观察到的对象的数据之间的匹配结果来评估图像拍摄装置相对于对象的位置和姿态的候选当图像拍摄设备被放置在由生成单元和3D模型生成的位置和方向上时，以及确定单元，其基于由所述3D模型执行的评估结果来确定图像捕获装置相对于对象的位置和取向评估单位

5. 发明公开

EP3298590A1 INFORMATION PROCESSING APPARATUS, METHOD, AND PROGRAM 有权
标题翻译：信息处理装置，方法和程序
公开(公告)号：EP3298590A1
公开(公告)日：2018-03-28
申请号：EP16796100.2
申请日：2016-05-13
申请人： Canon Kabushiki Kaisha
发明人： HIROTA, Yuichiro , TATENO, Keisuke , SUZUKI, Masahiro , KOTAKE, Daisuke , KATAYAMA, Akihiro , FUJIKI, Masakazu
IPC分类号： G06T19/00 , G01B11/00 , G06T1/00 , H04N5/225 , H04N5/232
CPC分类号： G06T7/73 , G06F3/011 , G06F3/012 , G06F3/0325 , G06K9/00671 , G06K9/3216 , G06T2207/30204 , G06T2207/30244
摘要： In order to shorten the time required for a setting operation of features, an information processing apparatus includes an acquisition unit configured to acquire features used for deriving a positional attitude of an imaging device from an image captured by the imaging device, a setting unit configured to set a plurality of partial regions included in the image as a plurality of candidate regions to which a feature is to be added, an evaluation unit configured to evaluate the plurality of set candidate regions, a determination unit configured to determine a position and/or an orientation of a feature to be newly added based on the plurality of evaluated candidate regions, and an output unit configured to output the determined position and/or the orientation.

6. 发明授权

EP2466543B1 POSITION AND ORIENTATION MEASUREMENT DEVICE AND POSITION AND ORIENTATION MEASUREMENT METHOD 失效转让
公开(公告)号：EP2466543B1
公开(公告)日：2018-07-04
申请号：EP11193591.2
申请日：2011-12-14
申请人： CANON KABUSHIKI KAISHA
发明人： KOTAKE, Daisuke , TATENO, Keisuke , UCHIYAMA, Shinji
IPC分类号： G06T7/73
CPC分类号： G06T7/75 , G06T2207/10004 , G06T2207/10028
摘要： A position and orientation measurement device (100) includes a grayscale image input unit (130) that inputs a grayscale image of an object, a distance image input unit (150) that inputs a distance image of the object, an approximate position and orientation input unit 120 that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device (100), and a position and orientation calculator (160) that updates the approximate position and orientation. The position and orientation calculator (160) 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.

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