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1. 发明授权

US09700210B2 Image processing apparatus and method for controlling the same 有权
公开(公告)号：US09700210B2
公开(公告)日：2017-07-11
申请号：US12714798
申请日：2010-03-01
申请人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
发明人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G06K9/00 , A61B5/00 , G06T7/00
CPC分类号： A61B5/0066 , A61B5/0073 , G06K2209/05 , G06T7/0012 , G06T2207/10072 , G06T2207/30041
摘要： An image processing apparatus includes an image acquisition unit configured to acquire a tomographic image of an object, a layer detection unit configured to detect a layer that constitutes the object from the tomographic image acquired by the image acquisition unit, and a normal structure estimation unit configured to estimate a normal structure of the layer based on the layer detected by the layer detection unit and a feature that is modified by a lesion of the layer.

2. 发明申请

US20100220914A1 IMAGE PROCESSING APPARATUS AND METHOD FOR CONTROLLING THE SAME 有权
标题翻译：图像处理装置及其控制方法
公开(公告)号：US20100220914A1
公开(公告)日：2010-09-02
申请号：US12714798
申请日：2010-03-01
申请人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
发明人： Yoshihiko Iwase , Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G06K9/00
CPC分类号： A61B5/0066 , A61B5/0073 , G06K2209/05 , G06T7/0012 , G06T2207/10072 , G06T2207/30041
摘要： An image processing apparatus includes an image acquisition unit configured to acquire a tomographic image of an object, a layer detection unit configured to detect a layer that constitutes the object from the tomographic image acquired by the image acquisition unit, and a normal structure estimation unit configured to estimate a normal structure of the layer based on the layer detected by the layer detection unit and a feature that is modified by a lesion of the layer.
摘要翻译：一种图像处理装置包括：图像获取单元，被配置为获取对象的断层图像;层检测单元，被配置为从由图像获取单元获取的断层图像中检测构成对象的层;以及正常结构估计单元，基于由层检测单元检测到的层和由层的损伤修改的特征来估计层的正常结构。

3. 发明授权

US07812871B2 Index identification method and apparatus 有权
标题翻译：指标识别方法和装置
公开(公告)号：US07812871B2
公开(公告)日：2010-10-12
申请号：US11610805
申请日：2006-12-14
申请人： Kazuki Takemoto , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
发明人： Kazuki Takemoto , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
IPC分类号： H04N9/077 , G06K9/00
CPC分类号： G06F3/0346 , G06F3/0321
摘要： The orientation of each index is estimated from a sensed image, and the index detected from the image is identified based on the orientation of an image sensing device and that of the index estimated from known coordinate information of the index. In this way, indices which are located at nearby positions but have different orientations are never misidentified, and can be stably identified. Indices can be stably identified from the sensed image in which indices located in the physical space appear.
摘要翻译：根据感测图像估计每个索引的取向，并且基于图像感测装置的取向和根据索引的已知坐标信息估计的索引的方向来识别从图像检测到的索引。以这种方式，位于附近位置但具有不同取向的索引从未被错误识别，并且可以被稳定地识别。可以从感测到的图像中稳定地识别指示，其中位于物理空间中的索引出现。

4. 发明申请

US20100239150A1 INFORMATION PROCESSING APPARATUS FOR REGISTRATING MEDICAL IMAGES, INFORMATION PROCESSING METHOD AND PROGRAM 有权
标题翻译：信息处理设备注册医学图像，信息处理方法和程序
公开(公告)号：US20100239150A1
公开(公告)日：2010-09-23
申请号：US12755276
申请日：2010-04-06
申请人： Ryo Ishikawa , Kiyohide Satoh , Shinji Uchiyama
发明人： Ryo Ishikawa , Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/32
CPC分类号： A61B8/13 , A61B5/0095 , A61B6/03 , A61B6/5229 , A61B6/5241 , A61B6/5247 , A61B8/08 , A61B8/4245 , A61B8/4254 , A61B8/5238 , G06F19/00 , G06T7/254 , G06T7/30 , G06T2207/10072 , G06T2207/10132 , G06T2207/30004 , Y10S128/922
摘要： An information processing apparatus to register an ultrasonic image and a three-dimensional medical image at high speed is disclosed. The information processing apparatus includes: a medical image acquisition unit which acquires a medical image captured by a medical imaging apparatus in which an imaging unit captures an image of an object at a non-contact position with respect to the object, an ultrasonic image acquisition unit which acquires an ultrasonic image captured by an ultrasonic imaging apparatus in which an ultrasonic probe captures an image of the object at a position in contact with a surface of the object, and a coordinate transformation unit which transforms coordinates of the medical image or ultrasonic image with reference to the contact position on the ultrasonic image, so that image information of the medical image matches that of the ultrasonic image.
摘要翻译：公开了一种以高速度登记超声波图像和三维医学图像的信息处理装置。信息处理装置包括：医疗图像获取单元，其获取由摄像单元拍摄相对于被摄体的非接触位置的被摄体的图像的医疗摄像装置拍摄的医用图像;超声波图像获取单元，其获取超声波成像装置拍摄的超声波图像，其中超声波探头在与物体的表面接触的位置处捕获物体的图像;以及坐标变换单元，其将医学图像或超声波图像的坐标变换为参考超声波图像上的接触位置，使得医学图像的图像信息与超声波图像的图像信息匹配。

5. 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。

6. 发明授权

US07630555B2 Position and orientation measuring 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：US07630555B2
公开(公告)日：2009-12-08
申请号：US11418168
申请日：2006-05-04
申请人： Kiyohide Satoh , Shinji Uchiyama
发明人： Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/46
CPC分类号： G06F3/0325 , G06F3/0346
摘要： A position and orientation measuring apparatus includes an inside-out index detecting section that can obtain an image from an imaging apparatus and detect an index provided on a measuring object body, an outside-in index detecting section that can observe and detect indices provided on the imaging apparatus and on the measuring object body based on an image obtained from an outside-in camera provided in an environment, and a position and orientation calculating section that can calculate positions and orientations of the imaging apparatus and the measuring object body based on information relating to image coordinates of the detected indices.
摘要翻译：位置和方向测量装置包括可以从成像装置获得图像并检测在测量对象体上提供的指标的内向外索引检测部分，能够观察和检测设置在测量对象体上的索引的外部索引检测部分基于从设置在环境中的外部摄像机获得的图像的摄像装置和测量对象物体，以及位置和姿势计算部分，其可以基于相关信息计算成像装置和测量对象体的位置和取向以检测检测到的索引的坐标。

7. 发明申请

US20080267531A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20080267531A1
公开(公告)日：2008-10-30
申请号：US12109073
申请日：2008-04-24
申请人： Kiyohide Satoh , Shinji Uchiyama
发明人： Kiyohide Satoh , Shinji Uchiyama
IPC分类号： G06K9/36
CPC分类号： G06K9/209 , G06K9/3216 , G06K2009/3225 , G06T7/80 , G06T2207/30208
摘要： An index detection unit (110) detects the image coordinates of indices from a captured image. An index allocation information updating unit (160) calculates the position and orientation of an image capturing apparatus using the image coordinates of the indices and allocation information of each of these indices. Furthermore, the index allocation information updating unit (160) re-calibrates allocation information of an unreliable index having a reliability indicating that the allocation information is unreliable. The index allocation information updating unit (160) updates allocation information held by an allocation information holding unit (140) in association with the unreliable index to the re-calibrated allocation information and a reliability indicating that the allocation information is reliable.
摘要翻译：索引检测单元（110）从拍摄图像检测索引的图像坐标。索引分配信息更新单元（160）使用索引的图像坐标和这些索引中的每一个的分配信息来计算图像捕获装置的位置和方向。此外，索引分配信息更新单元（160）重新校准具有指示分配信息不可靠的可靠性的不可靠索引的分配信息。索引分配信息更新单元（160）将由分配信息保持单元（140）保存的分配信息与不可靠索引相关联地更新为重新校准的分配信息，并且指示分配信息是可靠的可靠性。

8. 发明授权

US07423553B2 Image display apparatus, image display method, measurement apparatus, measurement method, information processing method, information processing apparatus, and identification method 有权
标题翻译：图像显示装置，图像显示方法，测量装置，测量方法，信息处理方法，信息处理装置和识别方法
公开(公告)号：US07423553B2
公开(公告)日：2008-09-09
申请号：US11180524
申请日：2005-07-14
申请人： Yasuyoshi Yokokohji , Shinji Uchiyama , Kiyohide Satoh , Daisuke Eto , Tomoyasu Nakatsuru , Tsuneo Yoshikawa
发明人： Yasuyoshi Yokokohji , Shinji Uchiyama , Kiyohide Satoh , Daisuke Eto , Tomoyasu Nakatsuru , Tsuneo Yoshikawa
IPC分类号： G08G1/017
CPC分类号： G01C21/365 , G01S5/163 , G02B27/01 , G02B2027/0138 , G02B2027/0187 , G06T7/277 , G06T7/70 , G06T2207/10016 , G06T2207/30268 , G08G1/0962
摘要： An external index detection unit (105) receives an image sensed by a camera (100), and detects an external index set in a real scene. A tachometer (110) measures the rotational velocities of two rear wheels of a vehicle. A vehicle measurement unit (120) measures the position and azimuth of the vehicle on the basis of the image coordinate position of the external index and the rotational velocities of the two rear wheels of the vehicle. A head index detection unit (135) receives an image sensed by a camera (130), and detects a head index set on the head of a passenger (132). A head measurement unit (140) measures the position of the head on the basis of the image coordinate position of the head index. An image generation unit (150) generates a display image based on the position and azimuth of the vehicle and the position of the head, so that the passenger can observe predetermined navigation information superimposed at a predetermined position of the real scene, and controls a projector (160) to project the generated image.
摘要翻译：外部索引检测单元（105）接收由相机（100）感测的图像，并且检测在真实场景中设置的外部索引。转速计（110）测量车辆的两个后轮的旋转速度。车辆测量单元（120）基于外部指标的图像坐标位置和车辆的两个后轮的旋转速度来测量车辆的位置和方位角。头部索引检测单元（135）接收由照相机（130）感测的图像，并且检测设置在乘客的头部上的头部索引（132）。头部测量单元（140）基于头部索引的图像坐标位置来测量头部的位置。图像生成单元（150）基于车辆的位置和方位以及头部的位置生成显示图像，使得乘客可以观察叠加在真实场景的预定位置的预定导航信息，并且控制投影仪（160）来投影所生成的图像。

9. 发明授权

US07092109B2 Position/orientation measurement method, and position/orientation measurement apparatus 有权
标题翻译：位置/方向测量方法以及位置/方向测量装置
公开(公告)号：US07092109B2
公开(公告)日：2006-08-15
申请号：US10752487
申请日：2004-01-08
申请人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
IPC分类号： H04N7/18
CPC分类号： G06F3/0325 , G01B11/002
摘要： A first error coordinate between the image coordinate of a first indicator, which is arranged on the real space and detected on a first image captured by a first image sensing unit, and the estimated image coordinate of the first indicator, which is estimated to be located on the first image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to a previously calculated position/orientation parameter) and the first indicator, is calculated. On the other-hand, a second error coordinate between the image coordinate of a second indicator, which is arranged on the first image sensing unit and detected on a second image that includes the first image sensing unit, and the estimated image coordinate of the second indicator, which is estimated to be located on the second image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to the position/orientation parameter), and the second indicator, is calculated. Using the first and second error coordinates, the position/orientation parameter is corrected.
摘要翻译：布置在实际空间上并在第一图像感测单元拍摄的第一图像上检测到的第一指示符的图像坐标之间的第一误差坐标和估计位于的第一指示器的估计图像坐标根据第一图像感测单元（根据先前计算的位置/方向参数的位置和方向）与第一指示符之间的位置/取向关系，在第一图像上计算。另一方面，布置在第一图像感测单元上并且在包括第一图像感测单元的第二图像上检测的第二指示符的图像坐标与第二指示器的估计图像坐标之间的第二误差坐标，根据第一图像感测单元（根据位置/方向参数的位置和取向）与第二指示符之间的位置/取向关系被估计位于第二图像上。使用第一个和第二个误差坐标，校正位置/方向参数。

10. 发明申请

US20060094955A1 Method and apparatus for processing information 有权
公开(公告)号：US20060094955A1
公开(公告)日：2006-05-04
申请号：US11265981
申请日：2005-11-03
申请人： Kiyohide Satoh , Daisuke Kotake , Shinichi Aratani , Shinji Uchiyama
发明人： Kiyohide Satoh , Daisuke Kotake , Shinichi Aratani , Shinji Uchiyama
IPC分类号： A61B5/05
CPC分类号： G01S5/163
摘要： An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.

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