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1. 发明授权

US09111177B2 Position/orientation measurement apparatus, processing method therefor, and non-transitory computer-readable storage medium 有权
标题翻译：位置/方向测量装置，其处理方法和非暂时计算机可读存储介质
公开(公告)号：US09111177B2
公开(公告)日：2015-08-18
申请号：US13702365
申请日：2011-06-09
申请人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
发明人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
IPC分类号： H04N13/00 , H04N13/04 , G06K9/62 , G01B11/03 , G01B11/25 , G06K9/78 , G06T7/00 , H04N5/92 , H04N5/84 , H04N5/89
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。

2. 发明申请

US20130076865A1 POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 有权
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：US20130076865A1
公开(公告)日：2013-03-28
申请号：US13702365
申请日：2011-06-09
申请人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
发明人： Keisuke Tateno , Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06K9/62 , G06K9/78
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. 发明授权

US09519971B2 Position and orientation measurement device and position and orientation measurement method 有权
标题翻译：位置和方向测量装置及位置和方位测量方法
公开(公告)号：US09519971B2
公开(公告)日：2016-12-13
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 , G06T7/00
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。

4. 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。

5. 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。

6. 发明申请

US20100289797A1 POSITION AND ORIENTATION ESTIMATION APPARATUS AND METHOD 审中-公开
标题翻译：位置和方位估计装置和方法
公开(公告)号：US20100289797A1
公开(公告)日：2010-11-18
申请号：US12778385
申请日：2010-05-12
申请人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06T15/00
CPC分类号： G06T17/00 , G06T7/13 , G06T7/75 , G06T2207/30164
摘要： A position and orientation estimation apparatus detects correspondence between a real image obtained by an imaging apparatus by imaging a target object to be observed and a rendered image. The rendered image is generated by projecting a three dimensional model onto an image plane based on three dimensional model data expressing the shape and surface information of the target object, and position and orientation information of the imaging apparatus. The position and orientation estimation apparatus then calculates a relative position and orientation of the imaging apparatus and the target object to be observed based on the correspondence. Then, the surface information of the three dimensional model data is updated by associating image information of the target object to be observed in the real image with the surface information of the three dimensional model data, based on the calculated positions and orientations.
摘要翻译：位置和姿态估计装置通过对要观察的目标对象进行成像和渲染图像来检测由成像装置获得的实际图像之间的对应关系。基于表示目标对象的形状和表面信息的三维模型数据以及成像装置的位置和取向信息，将三维模型投影到图像平面上来生成渲染图像。然后，位置和姿势估计装置基于对应来计算成像装置和要观察的目标对象的相对位置和取向。然后，基于计算出的位置和方向，通过将实际图像中要观察的目标对象的图像信息与三维模型数据的表面信息相关联来更新三维模型数据的表面信息。

7. 发明授权

US09437005B2 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：US09437005B2
公开(公告)日：2016-09-06
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： G06T7/00 , G01B11/00 , B25J9/16
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。

8. 发明申请

US20130011018A1 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：US20130011018A1
公开(公告)日：2013-01-10
申请号：US13538383
申请日：2012-06-29
申请人： Keisuke Tateno , Shinji Uchiyama
发明人： Keisuke Tateno , Shinji Uchiyama
IPC分类号： G06K9/36
CPC分类号： G01B11/002 , B25J9/1697 , G05B2219/37425 , G05B2219/40548 , G06T7/75 , G06T2207/10028 , G06T2207/30141 , G06T2207/30148
摘要： An information processing apparatus which estimates a three-dimensional position-and-orientation of a measuring object using an imaging apparatus capable of capturing a two-dimensional image and a range image, includes a data storing unit configured to store verification data for estimating a position-and-orientation of a measuring object, a two-dimensional image input unit configured to input a two-dimensional image captured by the imaging apparatus in a first position-and-orientation, a range image input unit configured to input a range image captured by the imaging apparatus in a second position-and-orientation, a position-and-orientation information input unit configured to acquire position-and-orientation difference information which is relative position-and-orientation information in the first position-and-orientation and the second position-and-orientation, and a calculation unit configured to calculate, based on the position-and-orientation difference information, a position-and-orientation of the measuring object so that the verification data for estimating the position-and-orientation matches the two-dimensional image and the range image.
摘要翻译：使用能够拍摄二维图像和距离图像的摄像装置估计测量对象的三维位置和取向的信息处理装置包括：数据存储单元，被配置为存储用于估计位置的验证数据测量对象的取向;二维图像输入单元，被配置为以第一位置和方向输入由成像装置拍摄的二维图像;距离图像输入单元，被配置为输入捕获的范围图像位置取向信息输入单元，被配置为获取位置和取向差分信息，所述位置取向差分信息是位于第一位置和取向中的相对位置和取向信息;以及第二位置取向和计算单元，其被配置为基于位置和取向差异信息来计算位置定位差异信息测量对象的d取向，使得用于估计位置和取向的验证数据与二维图像和范围图像匹配。

9. 发明申请

US20110206274A1 POSITION AND ORIENTATION ESTIMATION APPARATUS AND POSITION AND ORIENTATION ESTIMATION METHOD 审中-公开
标题翻译：位置和方位估计装置和位置和方位估计方法
公开(公告)号：US20110206274A1
公开(公告)日：2011-08-25
申请号：US13030487
申请日：2011-02-18
申请人： Keisuke Tateno , Daisuke Kotake , Kazuhiko Kobayashi , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Kazuhiko Kobayashi , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T2207/10028
摘要： A position and orientation estimation apparatus inputs an image capturing an object, inputs a distance image including three-dimensional coordinate data representing the object, extracts an image feature from the captured image, determines whether the image feature represents a shape of the object based on three-dimensional coordinate data at a position on the distance image corresponding to the image feature, correlates the image feature representing the shape of the object with a part of a three-dimensional model representing the shape of the object, and estimates the position and orientation of the object based on a correlation result.
摘要翻译：位置和姿态估计装置输入拍摄对象的图像，输入包括表示对象的三维坐标数据的距离图像，从拍摄图像中提取图像特征，基于三个图像特征来确定图像特征是否表示对象的形状在与图像特征相对应的距离图像上的位置处的三维坐标数据将表示对象的形状的图像特征与表示对象的形状的三维模型的一部分相关联，并且估计对象的位置和方向该对象基于相关结果。

10. 发明授权

US09279661B2 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：US09279661B2
公开(公告)日：2016-03-08
申请号：US13538383
申请日：2012-06-29
申请人： Keisuke Tateno , Shinji Uchiyama
发明人： Keisuke Tateno , Shinji Uchiyama
IPC分类号： G01B11/00 , B25J9/16 , G06T7/00
CPC分类号： G01B11/002 , B25J9/1697 , G05B2219/37425 , G05B2219/40548 , G06T7/75 , G06T2207/10028 , G06T2207/30141 , G06T2207/30148
摘要： An information processing apparatus which estimates a three-dimensional position-and-orientation of a measuring object using an imaging apparatus capable of capturing a two-dimensional image and a range image, includes a data storing unit configured to store verification data for estimating a position-and-orientation of a measuring object, a two-dimensional image input unit configured to input a two-dimensional image captured by the imaging apparatus in a first position-and-orientation, a range image input unit configured to input a range image captured by the imaging apparatus in a second position-and-orientation, a position-and-orientation information input unit configured to acquire position-and-orientation difference information which is relative position-and-orientation information in the first position-and-orientation and the second position-and-orientation, and a calculation unit configured to calculate, based on the position-and-orientation difference information, a position-and-orientation of the measuring object so that the verification data for estimating the position-and-orientation matches the two-dimensional image and the range image.
摘要翻译：使用能够拍摄二维图像和距离图像的摄像装置估计测量对象的三维位置和取向的信息处理装置包括：数据存储单元，被配置为存储用于估计位置的验证数据测量对象的取向;二维图像输入单元，被配置为以第一位置和方向输入由成像装置拍摄的二维图像;距离图像输入单元，被配置为输入捕获的范围图像位置取向信息输入单元，被配置为获取位置和取向差分信息，所述位置取向差分信息是位于第一位置和取向中的相对位置和取向信息;以及第二位置取向和计算单元，其被配置为基于位置和取向差异信息来计算位置定位差异信息测量对象的d取向，使得用于估计位置和取向的验证数据与二维图像和范围图像匹配。

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