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1. 发明公开

EP1882895A1 3-DIMENSIONAL SHAPE MEASURING METHOD AND DEVICE THEREOF 审中-公开
标题翻译：测量方法的三维形状及其装置
公开(公告)号：EP1882895A1
公开(公告)日：2008-01-30
申请号：EP05741283.5
申请日：2005-05-12
申请人： Techno Dream 21 Co., Ltd. , Kawasaki, Hiroshi , Furukawa, Ryo
发明人： KAWASAKI, Hiroshi , FURUKAWA, Ryo
IPC分类号： G01B11/25
CPC分类号： G01B11/2545 , G01B11/2509 , G06T7/521 , G06T7/80
摘要： It is possible to measure a 3-dimensional shape by using a projector and an imaging device without requiring calibration in advance. A pattern light (1-5) is applied from a projector (1-1) to an object (1-4) and this is imaged by an imaging device (1-3) to capture an image as an input. An in camera parameter, an in-projector parameter, a parameter of positional relationship between the camera and the projector are estimated. By using the estimation results, a 3-dimensional shape of the object is measured. When a laser pointer (1-2) is attached to the projector and a laser is applied to the object for capturing an image as an input, scaling of the object shape can also be estimated. Moreover, when measuring a plurality of objects or measuring the same objects a plurality of times, the accuracy of the 3-dimensional shape respectively obtained can be increased by simultaneously processing the inputs. Moreover, when one of projector and the camera is fixed and the other is moved while measuring the same object a plurality of times, the accuracy of the 3-dimensinnal shape obtained as a result can be increased by performing bundle adjustment.

2. 发明授权

EP2295932B1 IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM 有权
标题翻译：图像处理装置，图像处理和程序
公开(公告)号：EP2295932B1
公开(公告)日：2014-10-08
申请号：EP09762230.2
申请日：2009-06-04
申请人： Techno Dream 21 Co., Ltd.
发明人： KAWASAKI, Hiroshi , FURUKAWA, Ryo , SAGAWA, Ryusuke , YAGI, Yasushi
IPC分类号： G06T7/00 , G01B11/25 , G06T1/00 , G06T17/00
CPC分类号： G01B11/25 , G06T1/00 , G06T7/521 , G06T2200/08 , G06T2207/10028

3. 发明公开

EP1777485A4 THREE-DIMENSIONAL SHAPE MEASURING METHOD AND APPARATUS FOR THE SAME 审中-公开
标题翻译：方法和设备测量的三维形状
公开(公告)号：EP1777485A4
公开(公告)日：2012-09-19
申请号：EP04771393
申请日：2004-08-03
申请人： TECHNO DREAM 21 CO LTD , KAWASAKI HIROSHI , FURUKAWA RYO
发明人： KAWASAKI HIROSHI , FURUKAWA RYO
IPC分类号： G01B11/24
CPC分类号： G01B11/2513

4. 发明公开

EP2295932A4 IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM 有权
标题翻译： BILDVERARBEITUNGSEINRICHTUNG，BILDVERARBEITUNGSVERFAHREN UND PROGRAMM
公开(公告)号：EP2295932A4
公开(公告)日：2012-09-05
申请号：EP09762230
申请日：2009-06-04
申请人： TECHNO DREAM 21 CO LTD
发明人： KAWASAKI HIROSHI , FURUKAWA RYO , SAGAWA RYUSUKE , YAGI YASUSHI
IPC分类号： G06T7/00 , G01B11/25 , G06T1/00 , G06T17/00
CPC分类号： G01B11/25 , G06T1/00 , G06T7/521 , G06T2200/08 , G06T2207/10028

5. 发明公开

EP1777485A1 THREE-DIMENSIONAL SHAPE MEASURING METHOD AND APPARATUS FOR THE SAME 审中-公开
标题翻译： VERFAHREN UND VORRICHTUNG ZUR MESSUNG DREIDIMENSIONALER FORMEN
公开(公告)号：EP1777485A1
公开(公告)日：2007-04-25
申请号：EP04771393.8
申请日：2004-08-03
申请人： Techno Dream 21 Co., Ltd. , Kawasaki, Hiroshi , Furukawa, Ryo
发明人： KAWASAKI, Hiroshi , FURUKAWA, Ryo
IPC分类号： G01B11/24
CPC分类号： G01B11/2513
摘要： A three dimensional shape measuring apparatus comprising a line laser light source (1-1) and an imaging unit (1-2). A three-dimensional shape measuring method and apparatus characterized by having a process (2-1) for irradiating a line laser beam to an object (1-3) to be measured by using a laser unit (1-1), a process (2-2) for imaging by the imaging unit (1-2) a point (1-6) irradiated with the laser beam, a process (2-3) for detecting a point on an image as a cross point (1-8), the point being detected from the taken image arrays and being detected as a common point where line laser beams pass, a process (2-4) for deriving equations including the position of a laser plane and the three-dimensional position of the cross point as unknowns based on the cross point, a process (2-5) for determining the three-dimensional position of the cross point and the position of a laser plane by solving simultaneous equations consisting of the plurality of equations, a process (2-6) for calculating, according to the principle of triangulation, the three-dimensional position of a point irradiated with the laser beam other than the cross point by using the position of a laser plane, and a process for obtaining the three-dimensional shape of the object by repeating the series of process.
摘要翻译：一种三维形状测量装置，包括行激光光源（1-1）和成像单元（1-2），其特征在于具有用于将线激光束照射到物体（1-3）的处理（2-1）

6. 发明授权

US08659593B2 Image processing apparatus, method and program 失效
标题翻译：图像处理装置，方法和程序
公开(公告)号：US08659593B2
公开(公告)日：2014-02-25
申请号：US12670953
申请日：2008-07-24
申请人： Ryo Furukawa , Hiroshi Kawasaki , Akihiko Morisaka , Tomoya Itano
发明人： Ryo Furukawa , Hiroshi Kawasaki , Akihiko Morisaka , Tomoya Itano
IPC分类号： G06T19/00 , G06T15/08
CPC分类号： G01B11/24 , G01B21/20 , G06T15/40 , G06T17/00
摘要： The image processing apparatus of the present invention comprises signed distance calculation unit calculating signed distance fields from each input 3D shape data, signed distance integration unit integrating all the signed distances calculated by signed distance calculation unit for each shape data, classification unit classifying each voxel to be outside of the observed object, near the surface of the object or the other, estimation unit estimating whether voxel is inside or outside of the object, and determination unit determining voxel to be inside, outside or near-surface of the object based on the calculation results of the previous units.
摘要翻译：本发明的图像处理装置包括带符号距离计算单元，从每个输入的3D形状数据计算有符号的距离场，将每个形状数据对由带符号距离计算单元计算的所有有符号距离进行积分的有符号距离积分单元，将每个体素分类的分类单元在对象的表面附近，估计单元估计体素是否在对象内部或外部，以及确定单元基于所述对象的内部，外部或近表面来确定体素，以前单位的计算结果。

7. 发明公开

EP1882895A4 3-DIMENSIONAL SHAPE MEASURING METHOD AND DEVICE THEREOF 审中-公开
标题翻译： MESSVERFAHRENFÜRDREIDIMENSIONALES FORMEN UND EINRICHTUNGDAFÜR
公开(公告)号：EP1882895A4
公开(公告)日：2012-06-27
申请号：EP05741283
申请日：2005-05-12
申请人： TECHNO DREAM 21 CO LTD , KAWASAKI HIROSHI , FURUKAWA RYO
发明人： KAWASAKI HIROSHI , FURUKAWA RYO
IPC分类号： G01B11/25 , G06T7/00
CPC分类号： G01B11/2545 , G01B11/2509 , G06T7/521 , G06T7/80

8. 发明公开

EP2295932A1 IMAGE PROCESSING DEVICE, IMAGE PROCESSING METHOD, AND PROGRAM 有权
标题翻译：图像处理装置，图像处理方法和程序
公开(公告)号：EP2295932A1
公开(公告)日：2011-03-16
申请号：EP09762230.2
申请日：2009-06-04
申请人： Techno Dream 21 Co., Ltd.
发明人： KAWASAKI, Hiroshi , FURUKAWA, Ryo , SAGAWA, Ryusuke , YAGI, Yasushi
IPC分类号： G01B11/25 , G06T1/00
CPC分类号： G01B11/25 , G06T1/00 , G06T7/521 , G06T2200/08 , G06T2207/10028
摘要： [PROBLEM] Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing.
[METHOD FOR SOLUTION] An image processing device (10) mainly consists of a projector (12) serving as a projection means, a camera (14) as a photographing means, and an image processing means (16) consisting of, for example, a personal computer. The image processing means (16) acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector (12) and the camera (14). The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.
摘要翻译：提供能够实现高密度复原并且对图像处理也很强的图像处理装置，图像处理方法和程序。 [解决方法]图像处理装置（10）主要由作为投影单元的投影仪（12），作为摄影单元的照相机（14），以及例如由图像处理单元（16）一台个人电脑。图像处理装置（16）从拍摄图像中获取图案之间的交点，并且通过使用第一假定平面的约束条件和包括该交点的第二假定平面以及获得的约束条件来计算包括自由度的第一解从投影仪（12）和照相机（14）之间的位置关系。主要搜索取消了自由度，从而恢复了三维形状。

9. 发明授权

US08837812B2 Image processing device, image processing method, and program 有权
标题翻译：图像处理装置，图像处理方法和程序
公开(公告)号：US08837812B2
公开(公告)日：2014-09-16
申请号：US12997088
申请日：2009-06-04
申请人： Hiroshi Kawasaki , Ryo Furukawa , Ryusuke Sagawa , Yasushi Yagi
发明人： Hiroshi Kawasaki , Ryo Furukawa , Ryusuke Sagawa , Yasushi Yagi
IPC分类号： G06K9/00 , G06T1/00 , G01B11/25 , G06T7/00
CPC分类号： G01B11/25 , G06T1/00 , G06T7/521 , G06T2200/08 , G06T2207/10028
摘要： Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing. An image processing device mainly consists of a projector serving as a projection means, a camera as a photographing means, and an image processing means consisting of, for example, a personal computer. The image processing means acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector and the camera. The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.
摘要翻译：提供能够进行高密度恢复并且对于图像处理也很强的图像处理装置，图像处理方法和程序。图像处理装置主要由用作投影装置的投影仪，作为拍摄装置的照相机和由例如个人计算机组成的图像处理装置组成。图像处理装置从拍摄图像获取图案之间的交点，并且通过使用第一临时平面的约束条件和包括从该位置获得的交点和约束条件的第二临时平面来计算包括自由度的第一解投影机和相机之间的关系。通过主要搜索取消自由度，从而恢复三维形状。

10. 发明申请

US20100231583A1 IMAGE PROCESSING APPARATUS, METHOD AND PROGRAM 失效
标题翻译：图像处理设备，方法和程序
公开(公告)号：US20100231583A1
公开(公告)日：2010-09-16
申请号：US12670953
申请日：2008-07-24
申请人： Ryo Furukawa , Hiroshi Kawasaki , Akihiko Morisaka , Tomoya Itano
发明人： Ryo Furukawa , Hiroshi Kawasaki , Akihiko Morisaka , Tomoya Itano
IPC分类号： G06T15/00
CPC分类号： G01B11/24 , G01B21/20 , G06T15/40 , G06T17/00
摘要： The image processing apparatus of the present invention comprises signed distance calculation unit calculating signed distance fields from each input 3D shape data, signed distance integration unit integrating all the signed distances calculated by signed distance calculation unit for each shape data, classification unit classifying each voxel to be outside of the observed object, near the surface of the object or the other, estimation unit estimating whether voxel is inside or outside of the object, and determination unit determining voxel to be inside, outside or near-surface of the object based on the calculation results of the previous units.
摘要翻译：本发明的图像处理装置包括带符号距离计算单元，从每个输入的3D形状数据计算有符号的距离场，将每个形状数据对由带符号距离计算单元计算的所有有符号距离进行积分的有符号距离积分单元，将每个体素分类的分类单元在对象的表面附近，估计单元估计体素是否在对象内部或外部，以及确定单元基于所述对象的内部，外部或近表面来确定体素，以前单位的计算结果。

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