专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明授权

EP1796039B1 DEVICE AND METHOD FOR IMAGE PROCESSING 有权
公开(公告)号：EP1796039B1
公开(公告)日：2018-11-28
申请号：EP06025356.4
申请日：2006-12-07
申请人： TOPCON CORPORATION
发明人： Anai, Tetsuji , Kochi, Nobuo , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G06T7/00
CPC分类号： G06T7/33
摘要： A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points. An image processing device 100 according to the present invention includes: a photographed image acquisition 2 section for sequentially acquiring photographed images, that change gradually, of a relatively moving object; a characteristic extraction section 3 for extracting characteristic points from a photographed image acquired with the photographed image acquisition section; a characteristic point tracking section 4 for searching a plurality of the photographed images acquired before or after the photographed image from which the characteristic points have been extracted, for candidate corresponding points corresponding to the characteristic points, to keep track of the characteristic points; and a processing section 5 for determining corresponding points from the candidate corresponding points based on tracking results to calculate coordinates of a photographing position or the object using the determined corresponding points.

2. 发明公开

EP1796039A3 Determining photographing position or object position from plural images 审中-公开
标题翻译： Vorrichtung und Verfahren zur Bildverarbeitung
公开(公告)号：EP1796039A3
公开(公告)日：2014-09-10
申请号：EP06025356.4
申请日：2006-12-07
申请人： TOPCON CORPORATION
发明人： Anai, Tetsuji , Kochi, Nobuo , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G06T7/00
CPC分类号： G06T7/33
摘要： A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points. An image processing device 100 according to the present invention includes: a photographed image acquisition 2 section for sequentially acquiring photographed images, that change gradually, of a relatively moving object; a characteristic extraction section 3 for extracting characteristic points from a photographed image acquired with the photographed image acquisition section; a characteristic point tracking section 4 for searching a plurality of the photographed images acquired before or after the photographed image from which the characteristic points have been extracted, for candidate corresponding points corresponding to the characteristic points, to keep track of the characteristic points; and a processing section 5 for determining corresponding points from the candidate corresponding points based on tracking results to calculate coordinates of a photographing position or the object using the determined corresponding points.
摘要翻译：提供一种技术，即使在需要处理拍摄装置的摇摆的情况下，也可以精确地测量拍摄装置的拍摄位置和姿势以及从逐渐逐渐变化的运动图像或拍摄图像中的对象的坐标，以及特征点的消失和再现。根据本发明的图像处理装置100包括：拍摄图像获取2部分，用于顺序地获取相对移动的对象逐渐变化的拍摄图像; 特征提取部3，用于从由拍摄图像获取部获取的拍摄图像中提取特征点; 特征点追踪部分4，用于搜索在提取了特征点的拍摄图像之前或之后获取的多个拍摄图像，用于跟踪特征点的候选对应点，以跟踪特征点; 以及处理部分5，用于基于跟踪结果确定来自候选对应点的对应点，以使用所确定的对应点来计算拍摄位置或对象的坐标。

3. 发明授权

EP1855247B1 Three-dimensional reconstruction from an image sequence with outlier removal 有权转让
标题翻译：与异常值去除视频序列的三维重建
公开(公告)号：EP1855247B1
公开(公告)日：2016-03-02
申请号：EP07009320.8
申请日：2007-05-09
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi
IPC分类号： G06T7/00 , G06T7/20
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593

4. 发明授权

EP1906140B1 Device and method for position measurement 有权转让
标题翻译： Vorrichtung und Verfahren zur Positionsmessung
公开(公告)号：EP1906140B1
公开(公告)日：2015-07-08
申请号：EP07019031.9
申请日：2007-09-27
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G01C11/10 , G01C21/16 , G06T7/20
CPC分类号： G01C11/00 , G01C11/10 , G01C21/005 , G01C21/165 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/30252
摘要： A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.
摘要翻译：提供一种位置测量装置，其可以基于顺序地改变拍摄的图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。本发明的位置测量装置100包括：图像获取部分2，用于获取一系列相对于要拍摄的对象连续或一点一点地改变位置位移的拍摄图像; 用于测量图像获取部分2的位置偏移和姿势变化的位置关系测量部分9; 特征提取部分3，用于从由图像获取部分2获得的拍摄图像中提取特征点; 特征点跟踪部分4，用于通过搜索与多个拍摄图像上的特征点对应的对应点来跟踪特征点; 图像选择部分61，用于基于由位置关系测量部分9进行的测量结果从一系列拍摄的图像中选择要处理的图像; 以及位置测量部分7，用于基于通过图像选择部分61选择的被处理图像来测量图像获取部分2的拍摄位置和拍摄姿态。

5. 发明公开

EP1843292A1 Image processing device and method 有权转让
标题翻译：图像处理装置和方法
公开(公告)号：EP1843292A1
公开(公告)日：2007-10-10
申请号：EP07007175.8
申请日：2007-04-05
申请人： TOPCON CORPORATION
发明人： Anai, Tetsuji , Kochi, Nobuo , Otani, Hitoshi
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244
摘要： An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which characteristic points are extracted. The characteristic points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
摘要翻译：提供了一种图像处理装置，其能够基于依次改变的拍摄图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪和关联。从相关的一系列拍摄图像中选择立体图像。在执行定向和3D测量之前，可选作为立体图像的图像被分组为一组图像，从中选择立体图像。根据从物体到拍摄位置或拍摄倍率的距离将图像分组。具有突变的图像被移除以提高测量精度。

6. 发明公开

EP1906140A3 Device and method for position measurement 有权转让
标题翻译：装置和方法的位置测量
公开(公告)号：EP1906140A3
公开(公告)日：2012-09-19
申请号：EP07019031.9
申请日：2007-09-27
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G01C11/10 , G01C21/16 , G06T7/20
CPC分类号： G01C11/00 , G01C11/10 , G01C21/005 , G01C21/165 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/30252
摘要： A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.

7. 发明授权

EP1843292B1 Image processing device and method 有权转让
标题翻译： Vorrichtung und Verfahren zur Bildverarbeitung
公开(公告)号：EP1843292B1
公开(公告)日：2012-09-05
申请号：EP07007175.8
申请日：2007-04-05
申请人： TOPCON CORPORATION
发明人： Anai, Tetsuji , Kochi, Nobuo , Otani, Hitoshi
IPC分类号： G06T7/00
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244

8. 发明授权

EP1906140B2 Device and method for position measurement 有权转让
公开(公告)号：EP1906140B2
公开(公告)日：2019-03-20
申请号：EP07019031.9
申请日：2007-09-27
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G01C11/10 , G01C21/16 , G06T7/20

9. 发明公开

EP1906140A2 Device and method for position measurement 有权转让
标题翻译：装置和方法的位置测量
公开(公告)号：EP1906140A2
公开(公告)日：2008-04-02
申请号：EP07019031.9
申请日：2007-09-27
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi , Sato, Hirokazu
IPC分类号： G01C11/06
CPC分类号： G01C11/00 , G01C11/10 , G01C21/005 , G01C21/165 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/30252
摘要： A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.

10. 发明公开

EP1855247A1 Three-dimensional reconstruction from an image sequence with outlier removal 有权转让
标题翻译： Dreidimensionale Rekonstruktion aus einer Videosequenz mitAusreißer-Beseitigung
公开(公告)号：EP1855247A1
公开(公告)日：2007-11-14
申请号：EP07009320.8
申请日：2007-05-09
申请人： TOPCON CORPORATION
发明人： Kochi, Nobuo , Anai, Tetsuji , Otani, Hitoshi
IPC分类号： G06T7/00 , G06T7/20
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593
摘要： An image processing device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.
摘要翻译：提供一种图像处理装置，其可以基于顺序地改变拍摄的图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪并相互关联。从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。计算通过3D测量获得的对应点的误差范围。基于计算的误差范围，确定对应的点是否适用于3D测量。确定为不适当的对应点将被删除。使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式