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1. 发明授权

US07064776B2 Object tracking apparatus, object tracking method and recording medium 有权
标题翻译：物体跟踪装置，物体跟踪方法和记录介质
公开(公告)号：US07064776B2
公开(公告)日：2006-06-20
申请号：US10078882
申请日：2002-02-19
申请人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama , Fumio Kubo
发明人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama , Fumio Kubo
IPC分类号： H04N5/232
CPC分类号： G01S3/7865
摘要： An object movement tracking apparatus and its method tracks an object with an unknown initial position and which object is continually moving, the apparatus for recovering a tracking process even when the tracking has failed and includes an observing device such as a video camera for observing a scene at a video frame rate. Time-sequentially acquired image data from the observing device are stored in an image memory device and the data processed in parallel. During data processing, an object recognition module selects a frame memory based on predetermined information. An estimated value of position/posture of the object are calculated from the image data and transmitted. A movement tracking module receives transmitted data from the object recognition module, replacing a current frame with a next frame and waits until image data in the next frame are inputted. When image data inputting is finished, the up dated replacement in position/posture of the object and its evaluated value are calculated by comparing image data and the object model. The system mode is changed and updated based on the obtained evaluated value.
摘要翻译：物体运动跟踪装置及其方法跟踪具有未知初始位置和哪个物体不断移动的物体，即使跟踪失败也用于恢复跟踪处理的装置，并且包括用于观察场景的诸如摄像机的观察装置以视频帧速率。来自观察装置的时间顺序获取的图像数据被存储在图像存储装置中，并且并行处理数据。在数据处理期间，对象识别模块基于预定信息来选择帧存储器。根据图像数据计算物体的位置/姿势的估计值并发送。移动跟踪模块从对象识别模块接收发送的数据，用下一帧代替当前帧，并等待直到下一帧中的图像数据被输入。当图像数据输入完成时，通过比较图像数据和对象模型来计算对象的位置/姿势的更新日期替换及其评估值。基于获得的评估值改变和更新系统模式。

2. 发明授权

US5845006A Method of processing image formation 失效
标题翻译：处理图像形成的方法
公开(公告)号：US5845006A
公开(公告)日：1998-12-01
申请号：US683708
申请日：1996-07-18
申请人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
发明人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
IPC分类号： G06T1/00 , G06T7/00 , G06T7/20 , G06T7/60 , H04N13/00 , G06K9/00 , G06K9/34
CPC分类号： G06T7/0042 , G06T7/0075 , G06T7/2033 , G06T2207/10012 , H04N13/0055 , H04N13/0059 , H04N13/0239 , H04N13/0296 , H04N2013/0081
摘要： A method of processing image information is disclosed, for detecting the movement of an object with a simplifed system structure, and high speed treatment. The method is comprised of the steps of entry of a stereoscopic image of an object, extraction of edges of the object, and dividing it into segments based on the local feature of the image. On each segment, tracing points (sampling points) are selected, the inter-frame correlation of selected points is obtained, the three-dimensional coordinates of the points are measured, and thus the position and attitude of the object are detected, wherein the inter-frame correlation is performed by evaluating the similarity between frames based on correlation between the tangential direction of tracing points and the luminance value of the surface.
摘要翻译：公开了一种处理图像信息的方法，用于以简化的系统结构和高速处理来检测物体的移动。该方法包括以下步骤：输入物体的立体图像，提取物体的边缘，并根据图像的局部特征将其分割成段。在每个段上，选择跟踪点（采样点），获得所选点的帧间相关性，测量点的三维坐标，从而检测对象的位置和姿态，其中，通过基于跟踪点的切线方向和表面的亮度值之间的相关性来评估帧之间的相似度来执行帧相关。

3. 发明授权

US06950550B1 Tracing technique and recording media of object motion 有权
标题翻译：跟踪技术和记录媒体的物体运动
公开(公告)号：US06950550B1
公开(公告)日：2005-09-27
申请号：US09669384
申请日：2000-09-26
申请人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
发明人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
IPC分类号： G01B11/00 , G01C3/06 , G06K9/00 , G06K9/32 , G06T1/00 , G06T7/00 , G06T7/20 , G06T7/60 , H04N5/225 , H04N13/00
CPC分类号： G06K9/32 , G06T7/285 , G06T7/75 , H04N13/243
摘要： After stereo image is inputted (S1), the tracing point corresponding to the silhouette of a curved object observed by the stereo image is selected on the basis of the information on the present position of the object (S2), using a three-dimensional geometric model. And the corresponding points on the silhouette corresponding to respective tracing points are sampled from the stereo image (S3), and their three-dimensional coordinates are measured (S4). Then, from the group of the three-dimensional coordinates of tracing points and corresponding points, the position/posture of the object concerned and the measurement error are determined (S5), to discriminate the error (S6). In case the error is not small enough, processes starting from (S2) are repeated, regarding the detected position/posture as a renewed present position, while, if the error is small enough, processes are repeated starting from (S1), regarding the detected position/posture as a renewed present position, thereby providing the technique for high-speed tracing of three-dimensional rigid body motion of an arbitrarily-curved and smooth faced object utilizing an object model, applying a stereo camera system as sensors.
摘要翻译：在输入立体声图像之后（S1），根据关于对象的当前位置的信息（S 2）选择与立体图像观察到的对象的轮廓对应的跟踪点，立体几何模型。并且从立体图像（S 3）中对与各个跟踪点对应的轮廓上的对应点进行采样，并测量它们的三维坐标（S 4）。然后，从跟踪点和对应点的三维坐标组中，确定对象的位置/姿势和测量误差（S 5），以区分误差（S 6）。在误差不够小的情况下，对于作为更新的当前位置的检测到的位置/姿势，重复从（S 2）开始的处理，而如果误差足够小，则从（S 1）开始重复处理，关于作为更新的当前位置的检测到的位置/姿势，从而提供使用对象模型来高速跟踪任意弯曲和平滑面对象的三维刚体运动的技术，应用立体摄像机系统作为传感器。

4. 发明授权

US5887083A Method of processing image information based on object model 失效
标题翻译：基于对象模型处理图像信息的方法
公开(公告)号：US5887083A
公开(公告)日：1999-03-23
申请号：US683710
申请日：1996-07-18
申请人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
发明人： Yasushi Sumi , Fumiaki Tomita , Yutaka Ishiyama
IPC分类号： H04N7/18 , G06K9/64 , G06T1/00 , G06T7/00 , G06T7/60 , H04N13/00 , G06K9/00 , G06K9/48 , G06T17/10
CPC分类号： G06T7/0046 , G06K9/6204 , G06T7/0075 , G06T2207/10012 , H04N13/0055 , H04N13/0059 , H04N13/0239 , H04N2013/0081 , H04N2013/0092
摘要： A method of processing image information is disclosed, for recognizing the position and attitude of an object with a high speed treatment and improved recognition accuracy. The method comprised of the steps of entry of a stereoscopic image of an object, extraction of edges of the object, and dividing it into segments based on the local feature of the image, adding the apex information to the segments to produce the recognition data, verifying the recognition data with reference to an object model based on local geometric features to detect a corresponding candidate; finely adjusting each of corresponding candidates based on an entire geometric features; and detecting the position and attitude of the object on the basis of recognition including the initial verification and the fine adjustment.
摘要翻译：公开了一种处理图像信息的方法，用于以高速处理识别对象的位置和姿态并提高识别精度。该方法包括步骤：输入对象的立体图像，提取对象的边缘，并根据图像的局部特征将其划分成多个段，将顶点信息添加到段以产生识别数据，参照基于局部几何特征的对象模型来验证识别数据以检测相应的候选者; 基于整个几何特征精细调整每个相应的候选者; 并且基于包括初始验证和微调的识别来检测对象的位置和姿态。

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