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1. 发明授权

US07860345B2 Position and orientation measurement method and position and orientation measurement apparatus 有权
标题翻译：位置和方向测量方法以及位置和方向测量装置
公开(公告)号：US07860345B2
公开(公告)日：2010-12-28
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36 , G06K7/00 , H04N5/225
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

2. 发明申请

US20070242899A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND POSITION AND ORIENTATION MEASUREMENT APPARATUS 有权
标题翻译：位置和方位测量方法和位置和方位测量装置
公开(公告)号：US20070242899A1
公开(公告)日：2007-10-18
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

3. 发明申请

US20070024712A1 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：US20070024712A1
公开(公告)日：2007-02-01
申请号：US11491945
申请日：2006-07-25
申请人： Kenji Morita , Shinji Uchiyama
发明人： Kenji Morita , Shinji Uchiyama
IPC分类号： H04N17/00
CPC分类号： H04N17/002
摘要： Indices are detected from a pattern image including a plurality of indices, and first positions of the detected indices on the captured image are calculated. Using parameters associated with an image capturing apparatus, second positions indicating the positions of the indices on the captured image are calculated. While a parameter of a radial distortion of a lens of the image capturing apparatus is fixed, the parameters other than the parameter of the radial distortion of the lens of the image capturing apparatus are corrected using the differences between the first positions and the second positions. Using the corrected parameters, third positions indicating the positions of the indices on the captured image are calculated. Using the differences between the first positions and the third positions, the parameter of the radial distortion is corrected.
摘要翻译：从包括多个索引的图案图像检测指示，并且计算所捕获图像上检测到的索引的第一位置。使用与图像拍摄装置相关联的参数，计算指示拍摄图像上的索引的位置的第二位置。虽然图像拍摄装置的透镜的径向失真的参数是固定的，但是使用第一位置和第二位置之间的差异来校正除了摄像装置的透镜的径向失真的参数之外的参数。使用校正的参数，计算指示捕获图像上的索引的位置的第三位置。使用第一位置和第三位置之间的差异，校正径向失真的参数。

4. 发明申请

US20090022369A1 POSITION/ORIENTATION MEASUREMENT METHOD AND APPARATUS 有权
标题翻译：位置/方位测量方法和装置
公开(公告)号：US20090022369A1
公开(公告)日：2009-01-22
申请号：US11815540
申请日：2006-02-03
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
IPC分类号： G06K9/46
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244
摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).
摘要翻译：本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

5. 发明授权

US08073201B2 Position/orientation measurement method and apparatus 有权
标题翻译：位置/方向测量方法和装置
公开(公告)号：US08073201B2
公开(公告)日：2011-12-06
申请号：US11815540
申请日：2006-02-03
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
IPC分类号： G06K9/00 , H04N5/932
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244
摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).
摘要翻译：本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

6. 发明授权

US07821535B2 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：US07821535B2
公开(公告)日：2010-10-26
申请号：US11491945
申请日：2006-07-25
申请人： Kenji Morita , Shinji Uchiyama
发明人： Kenji Morita , Shinji Uchiyama
IPC分类号： H04N17/00
CPC分类号： H04N17/002
摘要： Indices are detected from a pattern image including a plurality of indices, and first positions of the detected indices on the captured image are calculated. Using parameters associated with an image capturing apparatus, second positions indicating the positions of the indices on the captured image are calculated. While a parameter of a radial distortion of a lens of the image capturing apparatus is fixed, the parameters other than the parameter of the radial distortion of the lens of the image capturing apparatus are corrected using the differences between the first positions and the second positions. Using the corrected parameters, third positions indicating the positions of the indices on the captured image are calculated. Using the differences between the first positions and the third positions, the parameter of the radial distortion is corrected.
摘要翻译：从包括多个索引的图案图像检测指示，并且计算所捕获图像上检测到的索引的第一位置。使用与图像拍摄装置相关联的参数，计算指示拍摄图像上的索引的位置的第二位置。虽然图像拍摄装置的透镜的径向失真的参数是固定的，但是使用第一位置和第二位置之间的差异来校正除了摄像装置的透镜的径向失真的参数之外的参数。使用校正的参数，计算指示捕获图像上的索引的位置的第三位置。使用第一位置和第三位置之间的差异，校正径向失真的参数。

7. 发明授权

US10158767B2 Image capturing apparatus, image forming apparatus, distance measuring method, and computer-readable recording medium 有权
公开(公告)号：US10158767B2
公开(公告)日：2018-12-18
申请号：US15174143
申请日：2016-06-06
申请人： Tomohiro Sasa , Nobuyuki Satoh , Yuichi Sakurada , Kenji Morita , Masaya Kawarada , Daisaku Horikawa
发明人： Tomohiro Sasa , Nobuyuki Satoh , Yuichi Sakurada , Kenji Morita , Masaya Kawarada , Daisaku Horikawa
IPC分类号： H04N1/04 , H04N1/00 , H04N1/60 , G01J3/50 , H04N1/387
摘要： An image capturing apparatus includes: a casing having an opening; a light source arranged inside the casing; a sensor arranged inside the casing and configured to capture, through the opening, an image of an object present outside the casing while the light source is on; and a distance calculator to calculate a distance between the casing and the object, based on an image that has been captured by the sensor and contains, within an image region of the object defined by the opening, a high-luminance region and low-luminance regions located more outside than the high-luminance region.

8. 发明授权

US09716124B2 Image capturing apparatus, medium type determining apparatus, and image forming apparatus 有权
公开(公告)号：US09716124B2
公开(公告)日：2017-07-25
申请号：US14563741
申请日：2014-12-08
申请人： Mamoru Yorimoto , Nobuyuki Satoh , Masato Kobayashi , Masayuki Fujii , Hiroshi Matsumoto , Daisaku Horikawa , Suguru Yokozawa , Kenji Morita
发明人： Mamoru Yorimoto , Nobuyuki Satoh , Masato Kobayashi , Masayuki Fujii , Hiroshi Matsumoto , Daisaku Horikawa , Suguru Yokozawa , Kenji Morita
IPC分类号： H01L27/146 , H04N1/60
CPC分类号： H01L27/14643 , H04N1/6044
摘要： An apparatus includes: a light source; a two-dimensional image sensor that receives reflected light from a subject including specular light of the source and outputs an image of the subject; and an optical member arranged in an optical path of light emitted from the source to the subject. When a specular position of the source in the subject arranged apart from the two-dimensional image sensor by a certain distance is defined as a first specular position, whereas a specular position of the source in the optical member is defined as a second specular position, a relative positional relation of the optical member and the source with respect to the two-dimensional image sensor is determined so that a difference between an incident angle from the source toward the first specular position and an incident angle from the source toward the second specular position is a reference value or more.

9. 发明授权

US08909561B2 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：US08909561B2
公开(公告)日：2014-12-09
申请号：US12879781
申请日：2010-09-10
申请人： Daisuke Furukawa , Kenji Morita
发明人： Daisuke Furukawa , Kenji Morita
IPC分类号： G06F15/18 , G06K9/62 , G06K9/00
CPC分类号： G06K9/00993 , G06K9/6228
摘要： An information processing apparatus that selects a plurality of feature amounts acquired by applying a filter to learning data and generates a discriminator based on the selected feature amounts includes a time specification unit configured to specify a calculation time required for acquiring a feature amount of a selection candidate by applying the filter to the selected feature amounts or the learning data, a precision specification unit configured to specify a precision of a discriminator generated based on the feature amount of the selection candidate and the selected feature amounts, a selection unit configured to select the feature amount of the selection candidate based on the calculation time and the precision, and a generation unit configured to generate the discriminator based on the selected feature amounts.
摘要翻译：一种信息处理装置，其选择通过对学习数据应用滤波器而获取的多个特征量，并且基于所选择的特征量生成鉴别器，包括：时间指定单元，被配置为指定获取选择候选者的特征量所需的计算时间通过将滤波器应用于所选择的特征量或学习数据，精度指定单元，被配置为基于选择候选的特征量和所选择的特征量来指定生成的鉴别器的精度;选择单元，被配置为选择特征基于计算时间和精度的选择候选的量;以及生成单元，被配置为基于所选择的特征量生成鉴别器。

10. 发明授权

US08823779B2 Information processing apparatus and control method thereof 有权
标题翻译：信息处理装置及其控制方法
公开(公告)号：US08823779B2
公开(公告)日：2014-09-02
申请号：US12763672
申请日：2010-04-20
申请人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
发明人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
IPC分类号： H04N13/02
CPC分类号： G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244 , H04N13/221 , H04N13/296
摘要： A technique for reducing the time required before a tracking process is performed again in calculating the position and orientation of an image capturing apparatus or an object. Images captured by the apparatus are acquired, the acquired images are stored in order per frame, straight lines detected in the captured images and straight lines in a three-dimensional space model are matched, the position and orientation of the apparatus are initialized by obtaining correspondences having the highest consistency, a captured image to be processed is selected from the captured images, the change in position and orientation of the apparatus is measured using the change in position and orientation of a target object in the selected image based on the initialized position and orientation of the apparatus, and if the measured change in position and orientation is not within a predetermined threshold, initialization is performed using the selected image.
摘要翻译：一种用于在计算图像捕获设备或对象的位置和方位时再次执行跟踪处理之前减少所需时间的技术。获取由装置拍摄的图像，所获取的图像按照每帧顺序存储，在捕获的图像中检测到的直线和三维空间模型中的直线相匹配，通过获得对应关系来初始化装置的位置和取向具有最高的一致性，从捕获的图像中选择要处理的捕获图像，使用基于初始化位置的所选图像中的目标对象的位置和取向的改变来测量装置的位置和取向的变化，以及方位，并且如果所测量的位置和方向的改变不在预定阈值内，则使用所选择的图像执行初始化。

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