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1. 发明申请

WO2011105616A1 THREE-DIMENSIONAL MEASUREMENT APPARATUS, MODEL GENERATION APPARATUS, PROCESSING METHOD THEREOF, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
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：WO2011105616A1
公开(公告)日：2011-09-01
申请号：PCT/JP2011/054678
申请日：2011-02-23
申请人： CANON KABUSHIKI KAISHA , WATANABE, Daisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： WATANABE, Daisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/24 , G06T1/00
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：三维测量装置生成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。

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

WO2012023593A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 审中-公开
标题翻译：位置和方位测量装置，位置和方位测量方法和存储介质
公开(公告)号：WO2012023593A1
公开(公告)日：2012-02-23
申请号：PCT/JP2011/068726
申请日：2011-08-12
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , NAKAZATO, Yusuke , UCHIYAMA, Shinji
发明人： FUJIKI, Masakazu , NAKAZATO, Yusuke , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T7/60
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点是否存在于遮挡区域内; 以及测量装置，用于基于构成投影线段的点与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。

4. 发明申请

WO2011105615A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND PROGRAM 审中-公开
标题翻译：位置和方向测量装置，位置和方位测量方法和程序
公开(公告)号：WO2011105615A1
公开(公告)日：2011-09-01
申请号：PCT/JP2011/054677
申请日：2011-02-23
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T7/60
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。

5. 发明申请

WO2012091144A4 INFORMATION PROCESSING APPARATUS AND METHOD 审中-公开
公开(公告)号：WO2012091144A4
公开(公告)日：2012-07-05
申请号：PCT/JP2011/080551
申请日：2011-12-22
申请人： CANON KABUSHIKI KAISHA , WATANABE, Daisuke , UCHIYAMA, Shinji , KOTAKE, Daisuke
发明人： WATANABE, Daisuke , UCHIYAMA, Shinji , KOTAKE, Daisuke
IPC分类号： G06T7/00
摘要： An information processing apparatus includes a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object, an image acquiring unit configured to acquire an image of the measurement target object, a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image, and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.

6. 发明申请

WO2012008618A1 POSITION/ORIENTATION MEASUREMENT APPARATUS, MEASUREMENT PROCESSING METHOD THEREOF, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：位置/方向测量装置，其测量处理方法和非终端计算机可读存储介质
公开(公告)号：WO2012008618A1
公开(公告)日：2012-01-19
申请号：PCT/JP2011/066642
申请日：2011-07-14
申请人： CANON KABUSHIKI KAISHA , SUZUKI, Masahiro , UCHIYAMA, Shinji
发明人： SUZUKI, Masahiro , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26
CPC分类号： G01B11/002 , G01B11/14 , G01C11/04 , G06K9/00208 , G06T7/75 , G06T2200/24 , G06T2207/10028 , G06T2207/20092
摘要： A position/orientation measurement apparatus inputs the two-dimensional image of a measurement object captured by an image capturing apparatus, obtains the distance data of the measurement object measured by a distance sensor, detects an image feature of the measurement object from the two-dimensional image, determines the state of the measurement object, sets, based on the determined state, a usage mode regarding the image feature and the distance data when measuring the position/orientation, and measures the position/orientation of the measurement object in accordance with the set usage mode.
摘要翻译：位置/姿态测量装置输入由摄像装置拍摄的测量对象的二维图像，获取由距离传感器测量的测量对象的距离数据，从二维方向检测测量对象的图像特征图像，确定测量对象的状态，基于所确定的状态，在测量位置/方向时设置关于图像特征和距离数据的使用模式，并且根据所述测量对象的位置/方向设置使用模式。

7. 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。

8. 发明申请

WO2011013301A1 POSITION AND ORIENTATION CALIBRATION METHOD AND APPARATUS 审中-公开
标题翻译：位置和方位校准方法和装置
公开(公告)号：WO2011013301A1
公开(公告)日：2011-02-03
申请号：PCT/JP2010/004424
申请日：2010-07-06
申请人： CANON KABUSHIKI KAISHA , KOTAKE, Daisuke , UCHIYAMA, Shinji
发明人： KOTAKE, Daisuke , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T17/40
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位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。

9. 发明申请

WO2012011608A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 审中-公开
标题翻译：位置和方位测量装置，位置和方位测量方法和存储介质
公开(公告)号：WO2012011608A1
公开(公告)日：2012-01-26
申请号：PCT/JP2011/067178
申请日：2011-07-21
申请人： CANON KABUSHIKI KAISHA , KOTAKE, Daisuke , UCHIYAMA, Shinji
发明人： KOTAKE, Daisuke , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26
CPC分类号： G06K9/00 , G01B11/002 , G01B11/24 , G01B11/272
摘要： A position and orientation measurement apparatus for measuring a position and orientation of a target object, comprising: storage means for storing a three-dimensional model representing three-dimensional shape information of the target object; obtaining means for obtaining a plurality of measurement data about the target object sensed by image sensing means; reliability calculation means for calculating reliability for each of the pieces of measurement data; selection means for selecting the measurement data by a predetermined number from the plurality of measurement data based on the reliability; association means for associating planes forming the three-dimensional model with each of the measurement data selected by the selection means; and decision means for deciding the position and orientation of the target object based on the result associated by the association means.
摘要翻译：一种用于测量目标物体的位置和姿态的位置和姿态测量装置，包括：存储装置，用于存储表示目标物体的三维形状信息的三维模型; 获取用于获得关于由图像感测装置感测的目标对象的多个测量数据的装置; 用于计算每个测量数据的可靠性的可靠性计算装置; 选择装置，用于根据可靠性从多个测量数据中选择预定数量的测量数据; 用于将形成三维模型的平面与由选择装置选择的每个测量数据相关联的关联装置; 以及用于基于由所述关联装置相关联的结果来确定所述目标对象的位置和方向的决定装置。

10. 发明授权

EP1852821B1 Method and device for measuring the position and orientation of an object 有权
标题翻译：测量方法和设置用于确定对象的位置和取向
公开(公告)号：EP1852821B1
公开(公告)日：2013-04-10
申请号：EP06713019.5
申请日：2006-02-03
申请人： CANON KABUSHIKI KAISHA
发明人： SATOH, Kiyohide , UCHIYAMA, Shinji , ENDO, Takaaki , MORITA, Kenji
IPC分类号： G06T7/00 , G01B21/22 , G01B21/04
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244

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