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1. 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）。

2. 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）。

3. 发明授权

US07698094B2 Position and orientation measurement method and apparatus 失效
标题翻译：位置和方向测量方法和装置
公开(公告)号：US07698094B2
公开(公告)日：2010-04-13
申请号：US11934354
申请日：2007-11-02
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
IPC分类号： G06F9/00 , G06F19/00 , G06F17/40
CPC分类号： G01S5/163 , G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： An index detection unit (2030) detects indices allocated or set on an object from a sensed image. An evaluation amount calculation unit (2060) calculates evaluation amounts of the indices using two-dimensional geometric features of the indices on the image and/or three-dimensional geometric features that represent relationships between an image sensing device (2010) and the indices on a three-dimensional space. A reliability calculation unit (2070) calculates reliabilities of the indices according to the calculated evaluation amounts of the indices. A position and orientation calculation unit (2080) calculates the position and orientation of the object or the image sensing device (2010) using at least the calculated reliabilities of the indices and information associated with the image coordinates of the detected indices.
摘要翻译：索引检测单元（2030）检测从感测图像分配或设置在对象上的索引。评估量计算单元（2060）使用表示图像上的索引的二维几何特征和/或表示图像感测装置（2010）和图像感知装置（2010）之间的关系的三维几何特征来计算索引的评估量三维空间。可靠性计算单元（2070）根据所计算出的指数评价量来计算索引的可靠性。位置和姿势计算单元（2080）使用至少所计算的索引的可靠性和与检测到的索引的图像坐标相关联的信息来计算对象或图像感测装置（2010）的位置和取向。

4. 发明授权

US08019114B2 Position and orientation measurement method and apparatus 有权
标题翻译：位置和方向测量方法和装置
公开(公告)号：US08019114B2
公开(公告)日：2011-09-13
申请号：US11854121
申请日：2007-09-12
申请人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
发明人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G01B11/002 , G01B11/2504 , G06T7/73 , G06T2207/30244
摘要： A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.
摘要翻译：位置和姿态测量装置具有主观视点索引检测单元，其从由主观摄像机拍摄的图像检测物理空间上的索引;附加主观视图索引检测单元，其从由具有与主观摄像机不同的空间分辨率的附加主观摄像机拍摄的图像，以及位置和姿态估计单元，其使用与所述主观视野摄像机的图像坐标相关联的信息来计算主观摄像机的位置和姿态检测指标。

5. 发明授权

US07467061B2 Information processing method and apparatus for finding position and orientation of targeted object 有权
标题翻译：用于查找目标对象的位置和方向的信息处理方法和装置
公开(公告)号：US07467061B2
公开(公告)日：2008-12-16
申请号：US11126437
申请日：2005-05-11
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
IPC分类号： G01C9/00
CPC分类号： G06T7/74 , G06T7/33
摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.
摘要翻译：在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

6. 发明申请

US20050256391A1 Information processing method and apparatus for finding position and orientation of targeted object 有权
标题翻译：用于查找目标对象的位置和方向的信息处理方法和装置
公开(公告)号：US20050256391A1
公开(公告)日：2005-11-17
申请号：US11126437
申请日：2005-05-11
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Masahiro Suzuki
IPC分类号： G06T7/00 , A61B5/05
CPC分类号： G06T7/74 , G06T7/33
摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.
摘要翻译：在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

7. 发明申请

US20080109184A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND APPARATUS 失效
标题翻译：位置和方位测量方法和装置
公开(公告)号：US20080109184A1
公开(公告)日：2008-05-08
申请号：US11934354
申请日：2007-11-02
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Takaaki Endo
IPC分类号： G06F15/00
CPC分类号： G01S5/163 , G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： An index detection unit (2030) detects indices allocated or set on an object from a sensed image. An evaluation amount calculation unit (2060) calculates evaluation amounts of the indices using two-dimensional geometric features of the indices on the image and/or three-dimensional geometric features that represent relationships between an image sensing device (2010) and the indices on a three-dimensional space. A reliability calculation unit (2070) calculates reliabilities of the indices according to the calculated evaluation amounts of the indices. A position and orientation calculation unit (2080) calculates the position and orientation of the object or the image sensing device (2010) using at least the calculated reliabilities of the indices and information associated with the image coordinates of the detected indices.
摘要翻译：索引检测单元（2030）检测从感测图像分配或设置在对象上的索引。评估量计算单元（2060）使用表示图像上的索引的二维几何特征和/或表示图像感测装置（2010）和图像感知装置（2010）之间的关系的三维几何特征来计算索引的评估量三维空间。可靠性计算单元（2070）根据所计算出的指数评价量来计算索引的可靠性。位置和姿势计算单元（2080）使用至少所计算的索引的可靠性和与检测到的索引的图像坐标相关联的信息来计算对象或图像感测装置（2010）的位置和取向。

8. 发明申请

US20080069405A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND APPARATUS 有权
标题翻译：位置和方位测量方法和装置
公开(公告)号：US20080069405A1
公开(公告)日：2008-03-20
申请号：US11854121
申请日：2007-09-12
申请人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
发明人： Takaaki Endo , Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G01B11/002 , G01B11/2504 , G06T7/73 , G06T2207/30244
摘要： A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.
摘要翻译：位置和姿态测量装置具有主观视点索引检测单元，其从由主观摄像机拍摄的图像检测物理空间上的索引;附加主观视图索引检测单元，其从由具有与主观摄像机不同的空间分辨率的附加主观摄像机拍摄的图像，以及位置和姿势估计单元，其使用与所述主观视野摄像机的图像坐标相关联的信息来计算主观摄像机的位置和姿态检测指标。

9. 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。

10. 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。

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