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1. 发明授权

US07783443B2 Information processing apparatus, information processing method, and calibration Jig 有权
标题翻译：信息处理装置，信息处理方法和校准夹具
公开(公告)号：US07783443B2
公开(公告)日：2010-08-24
申请号：US12037489
申请日：2008-02-26
申请人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
发明人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
IPC分类号： G06F19/00 , G06K9/00
CPC分类号： G06T7/70 , G06T7/80 , G06T2207/30244
摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).
摘要翻译：当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标提取由图像感测装置（200）感测的多个图像。提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。

2. 发明申请

US20080228434A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND CALIBRATION JIG 有权
标题翻译：信息处理设备，信息处理方法和校准
公开(公告)号：US20080228434A1
公开(公告)日：2008-09-18
申请号：US12037489
申请日：2008-02-26
申请人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
发明人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
IPC分类号： G06F15/00
CPC分类号： G06T7/70 , G06T7/80 , G06T2207/30244
摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).
摘要翻译：当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标提取由图像感测装置（200）感测的多个图像。提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。

3. 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。

4. 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。

5. 发明申请

US20080284864A1 IMAGE PROCESSING APPARATUS AND METHOD 有权
标题翻译：图像处理装置和方法
公开(公告)号：US20080284864A1
公开(公告)日：2008-11-20
申请号：US11836077
申请日：2007-08-08
申请人： Daisuke Kotake , Toshihiro Nakazawa , Masahiro Suzuki , Rika Takemoto , Kiyohide Satoh , Yoshihiko Iwase
发明人： Daisuke Kotake , Toshihiro Nakazawa , Masahiro Suzuki , Rika Takemoto , Kiyohide Satoh , Yoshihiko Iwase
IPC分类号： H04N5/228
CPC分类号： G06K9/3216
摘要： In position and orientation measurement based on natural features, erroneous detection of the natural features is prevented when an observation target object is occluded by another object, and registration stability is improved. To this end, an occluding object that can occlude the observation target object is defined, and an occluding region where the occluding object occludes the observation target object is detected in an input captured image. Image features of the observation target object are detected in a region of the captured image other than the detected occluding region. Therefore, the position or orientation of an image pickup apparatus that captured the captured image, or the position or orientation of the observation target object in the captured image are calculated.
摘要翻译：在基于自然特征的位置和姿态测量中，当观察目标物体被另一物体遮挡时，防止了自然特征的错误检测，并提高了对准稳定性。为此，限定可遮挡观察目标物体的闭塞物体，并且在输入的拍摄图像中检测出遮挡对象遮挡观察对象物体的遮挡区域。在除了检测到的闭塞区域之外的捕获图像的区域中检测观察目标对象的图像特征。因此，计算拍摄图像的摄像装置的位置或取向，或者拍摄图像中的观察对象物的位置或取向。

6. 发明授权

US08144238B2 Image processing apparatus and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US08144238B2
公开(公告)日：2012-03-27
申请号：US11836077
申请日：2007-08-08
申请人： Daisuke Kotake , Toshihiro Nakazawa , Masahiro Suzuki , Rika Takemoto , Kiyohide Satoh , Yoshihiko Iwase
发明人： Daisuke Kotake , Toshihiro Nakazawa , Masahiro Suzuki , Rika Takemoto , Kiyohide Satoh , Yoshihiko Iwase
IPC分类号： G03B13/00 , H04N5/232 , H04N5/262 , G06K9/00 , G06K9/48
CPC分类号： G06K9/3216
摘要： In position and orientation measurement based on natural features, erroneous detection of the natural features is prevented when an observation target object is occluded by another object, and registration stability is improved. To this end, an occluding object that can occlude the observation target object is defined, and an occluding region where the occluding object occludes the observation target object is detected in an input captured image. Image features of the observation target object are detected in a region of the captured image other than the detected occluding region. Therefore, the position or orientation of an image pickup apparatus that captured the captured image, or the position or orientation of the observation target object in the captured image are calculated.
摘要翻译：在基于自然特征的位置和姿态测量中，当观察目标物体被另一物体遮挡时，防止了自然特征的错误检测，并提高了对准稳定性。为此，限定可遮挡观察目标物体的闭塞物体，并且在输入的拍摄图像中检测出遮挡对象遮挡观察对象物体的遮挡区域。在除了检测到的闭塞区域之外的捕获图像的区域中检测观察目标对象的图像特征。因此，计算拍摄图像的摄像装置的位置或取向，或者拍摄图像中的观察对象物的位置或取向。

7. 发明授权

US08103127B2 Image processing method and image processing apparatus of calculating position and orientation of target objects located in image 有权
标题翻译：图像处理方法和图像处理装置，用于计算位于图像中的目标对象的位置和方向
公开(公告)号：US08103127B2
公开(公告)日：2012-01-24
申请号：US11833396
申请日：2007-08-03
申请人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
发明人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
IPC分类号： G06K9/46 , G06F15/00
CPC分类号： G06K9/3216 , G06T7/73 , G06T7/80 , G06T2200/24 , G06T2207/10016 , G06T2207/30208
摘要： Indices in an image of a physical space on which a plurality of indices are allocated are identified, and the positions and orientations, on the physical space, of all or some identified indices are calculated.
摘要翻译：识别其上分配有多个索引的物理空间的图像中的指示，并且计算所有或一些所识别的索引的物理空间上的位置和取向。

8. 发明申请

US20080037901A1 IMAGE PROCESSING METHOD AND IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理方法和图像处理装置
公开(公告)号：US20080037901A1
公开(公告)日：2008-02-14
申请号：US11833396
申请日：2007-08-03
申请人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
发明人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
IPC分类号： G06K9/46 , G06F15/00
CPC分类号： G06K9/3216 , G06T7/73 , G06T7/80 , G06T2200/24 , G06T2207/10016 , G06T2207/30208
摘要： Indices in an image of a physical space on which a plurality of indices are allocated are identified, and the positions and orientations, on the physical space, of all or some identified indices are calculated (S142).
摘要翻译：识别其上分配有多个索引的物理空间的图像中的指标，并且计算所有或某些识别的索引的物理空间上的位置和取向（S 142）。

9. 发明申请

US20070091125A1 INDEX LAYOUT MEASUREMENT METHOD, POSITION AND ORIENTATION ESTIMATION METHOD, INDEX LAYOUT MEASUREMENT APPARATUS, AND POSITION AND ORIENTATION ESTIMATION APPARATUS 失效
标题翻译：指数布局测量方法，位置和方位估计方法，指数布局测量装置，位置和方位估计装置
公开(公告)号：US20070091125A1
公开(公告)日：2007-04-26
申请号：US11611404
申请日：2006-12-15
申请人： Rika Takemoto , Shinji Uchiyama
发明人： Rika Takemoto , Shinji Uchiyama
IPC分类号： G09G5/00
CPC分类号： G06T7/33 , G06T7/80
摘要： The layout relationship between indices included in a first image and those included in a second image are calculated using the layout relationship between a common index commonly included in the first and second images, and the indices included in the first image, and that between the common index and the indices included in the second image.
摘要翻译：使用通常包括在第一和第二图像中的公共索引与包括在第一图像中的索引之间的布局关系以及公共的第一图像之间的布局关系来计算包括在第一图像中的索引与包括在第二图像中的索引之间的布局关系索引和包含在第二图像中的索引。

10. 发明授权

US07664341B2 Index layout measurement method, position and orientation estimation method, index layout measurement apparatus, and position and orientation estimation apparatus 失效
标题翻译：索引布局测量方法，位置和方向估计方法，索引布局测量装置，位置和方向估计装置
公开(公告)号：US07664341B2
公开(公告)日：2010-02-16
申请号：US11611404
申请日：2006-12-15
申请人： Rika Takemoto , Shinji Uchiyama
发明人： Rika Takemoto , Shinji Uchiyama
IPC分类号： G06K9/36 , H04N1/46
CPC分类号： G06T7/33 , G06T7/80
摘要： An index layout measurement method and apparatus measures a relative layout relationship between a first index or index group which exists in a given first region in a physical space and a second index or index group which exists in a second region. The method includes a first image sensing step of sensing an image so as to simultaneously include some or all of the first index/index group and an auxiliary index which is temporarily laid out in the physical space and a position and orientation in a three-dimensional space of which can be defined, a second image sensing step of sensing an image so as to simultaneously include some or all of the second index/index group and the auxiliary index, and a layout calculation step of calculating a relative layout relationship among the first index/index group, the auxiliary index, and the second index/index group from one or a plurality of images obtained by performing the first image sensing step once or repeating it a plurality of number of times, and one or a plurality of images obtained by performing the second image sensing step once or repeating it a plurality of number of times. The auxiliary index is removed after the layout relationship among the respective indices laid out in the physical space is calculated.
摘要翻译：索引布局测量方法和装置测量存在于物理空间中的给定第一区域中的第一索引或索引组与存在于第二区域中的第二索引或索引组之间的相对布局关系。该方法包括：第一图像感测步骤，用于感测图像，以便同时包括临时布置在物理空间中的第一索引/索引组和辅助索引中的一些或全部，以及三维中的位置和取向可以定义其空间的第二图像感测步骤，感测图像以同时包括第二索引/索引组和辅助索引中的一些或全部的第二图像感测步骤，以及布局计算步骤，用于计算第一索引/索引组，辅助索引和第二索引/索引组，通过执行第一图像感测步骤而获得的一个或多个图像或重复多次，并且获得一个或多个图像通过执行第二图像感测步骤一次或重复多次。在计算物理空间中布置的各个索引之间的布局关系之后，去除辅助索引。

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