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1. 发明申请

US20110096093A1 IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD AND PROGRAM 有权
标题翻译：图像处理装置，图像处理方法和程序
公开(公告)号：US20110096093A1
公开(公告)日：2011-04-28
申请号：US12879536
申请日：2010-09-10
申请人： Kenichiro OI , Jingjing Guo , Yasuhiro Suto
发明人： Kenichiro OI , Jingjing Guo , Yasuhiro Suto
IPC分类号： G09G5/00
CPC分类号： G06T19/006 , G06T7/74 , G06T2207/20164
摘要： There is provided an image processing device, including: a data storage unit storing feature data indicating a feature of appearance of an object; an environment map generating unit for generating an environment map representing a position of one or more objects existing in a real space based on an input image obtained by imaging the real space using an imaging device and the feature data stored in the data storage unit; and an output image generating unit for generating an output image obtained by erasing an erasing target object from the input image based on a position of the erasing target object specified out of objects present in the input image represented in the environment map and a position of the imaging device.
摘要翻译：提供了一种图像处理装置，包括：数据存储单元，存储指示对象的外观特征的特征数据; 环境地图生成单元，用于基于通过使用成像装置对实际空间进行成像而获得的输入图像和存储在数据存储单元中的特征数据来生成表示存在于实际空间中的一个或多个对象的位置的环境地图; 以及输出图像生成单元，用于基于由在环境地图中表示的输入图像中存在的对象中指定的擦除目标对象的位置，生成通过从输入图像中擦除擦除目标对象而获得的输出图像，成像装置。

2. 发明申请

US20070265741A1 Position Estimation Apparatus, Position Estimation Method and Program Recording Medium 有权
标题翻译：位置估计装置，位置估计方法和程序记录介质
公开(公告)号：US20070265741A1
公开(公告)日：2007-11-15
申请号：US11745947
申请日：2007-05-08
申请人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
发明人： Kenichiro OI , Masahiro Fujita , Takayuki Yoshigahara , Steffen Gutmann , Masaki Fukuchi
IPC分类号： G06F17/10
CPC分类号： G01C21/12 , G01C22/02
摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.
摘要翻译：本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或基于正确位置预测的移动物体的姿态。

3. 发明申请

US20120039511A1 Information Processing Apparatus, Information Processing Method, and Computer Program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US20120039511A1
公开(公告)日：2012-02-16
申请号：US13281518
申请日：2011-10-26
申请人： Kenichiro OI , Steffen GUIMANN , Takayuki YOSHIGAHARA
发明人： Kenichiro OI , Steffen GUIMANN , Takayuki YOSHIGAHARA
IPC分类号： G06K9/46 , G06K9/00
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit having stored therein dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image acquired by the camera with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data registered in the dictionary data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于相机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及具有存储的字典数据存储单元其中注册了对象信息的字典数据。图像识别处理单元参照字典数据执行从摄像机获取的图像中检测物体的处理。数据构成单元将登录在字典数据中的三维形状数据应用于环境地图，并在环境地图上执行对象排列。

4. 发明申请

US20130108108A1 Information Processing Apparatus, Information Processing Method, and Computer Program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US20130108108A1
公开(公告)日：2013-05-02
申请号：US13664834
申请日：2012-10-31
申请人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
发明人： Kenichiro OI , Steffen Gutmann , Takayuki Yoshigahara
IPC分类号： G06T7/00
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit storing dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于摄像机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及字典数据存储单元，存储字典记录了对象信息的数据。图像识别处理单元参照字典数据执行从图像检测对象的处理。数据构成单元将三维形状数据应用于环境地图，并在环境地图上执行对象排列。

5. 发明申请

US20080304707A1 Information Processing Apparatus, Information Processing Method, and Computer Program 有权
标题翻译：信息处理装置，信息处理方法和计算机程序
公开(公告)号：US20080304707A1
公开(公告)日：2008-12-11
申请号：US12134354
申请日：2008-06-06
申请人： Kenichiro OI , Steffen GUIMANN , Takayuki YOSHIGAHARA
发明人： Kenichiro OI , Steffen GUIMANN , Takayuki YOSHIGAHARA
IPC分类号： G06K9/00
CPC分类号： G06K9/00664 , G06K9/72 , G06T7/70
摘要： An information processing apparatus that executes processing for creating an environmental map includes a camera that photographs an image, a self-position detecting unit that detects a position and a posture of the camera on the basis of the image, an image-recognition processing unit that detects an object from the image, a data constructing unit that is inputted with information concerning the position and the posture of the camera and information concerning the object and executes processing for creating or updating the environmental map, and a dictionary-data storing unit having stored therein dictionary data in which object information is registered. The image-recognition processing unit executes processing for detecting an object from the image acquired by the camera with reference to the dictionary data. The data constructing unit applies the three-dimensional shape data registered in the dictionary data to the environmental map and executes object arrangement on the environmental map.
摘要翻译：执行用于创建环境地图的处理的信息处理装置包括拍摄图像的照相机，基于图像检测照相机的位置和姿势的自身位置检测单元，图像识别处理单元，从图像检测对象，输入有关于相机的位置和姿势的信息的数据构成单元以及关于对象的信息，并且执行用于创建或更新环境地图的处理，以及具有存储的字典数据存储单元其中注册了对象信息的字典数据。图像识别处理单元参照字典数据执行从摄像机获取的图像中检测物体的处理。数据构成单元将登录在字典数据中的三维形状数据应用于环境地图，并在环境地图上执行对象排列。

6. 发明申请

US20110044504A1 INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING METHOD AND PROGRAM 有权
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：US20110044504A1
公开(公告)日：2011-02-24
申请号：US12855075
申请日：2010-08-12
申请人： Kenichiro OI , Masaki Fukuchi
发明人： Kenichiro OI , Masaki Fukuchi
IPC分类号： G06K9/00
CPC分类号： G06T7/0042 , G06T7/73
摘要： An information processing device, including: a three-dimensional information generating section for obtaining position and attitude of a moving camera or three-dimensional positions of feature points by successively receiving captured images from different viewpoints, and updating status data using observation information which includes tracking information of the feature points, the status data including three-dimensional positions of the feature points within the images and position and attitude information of the camera; and a submap generating section for generating submaps by dividing an area for which the three-dimensional position is to be calculated. The three-dimensional information generating section obtains position and attitude of the camera or three-dimensional positions of the feature points by generating status data corresponding to the submaps not including information about feature points outside of a submap area for each of the generated submaps and updating the generated status data corresponding to the submaps.
摘要翻译：一种信息处理设备，包括：三维信息产生部分，用于通过从不同视点连续接收捕获的图像来获得运动相机的位置和姿态或特征点的三维位置，以及使用包括跟踪的观察信息来更新状态数据特征点的信息，包括图像内的特征点的三维位置的状态数据以及相机的位置和姿态信息; 以及子图生成部，其通过划分要计算三维位置的区域来生成子图。三维信息生成部通过生成与不包含关于每个生成的子图下的子图区域以外的特征点的信息对应的状态数据，来获取相机的位置和姿态或特征点的三维位置，并且更新生成的状态数据对应于子地图。

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