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1. 发明专利

JP2005044102A Image reproduction method and device 审中-公开
标题翻译：图像再现方法和设备
公开(公告)号：JP2005044102A
公开(公告)日：2005-02-17
申请号：JP2003202525
申请日：2003-07-28
申请人： Canon Inc , Toppan Printing Co Ltd , キヤノン株式会社 , 凸版印刷株式会社
发明人： KOTAKE DAISUKE , KATAYAMA AKIHIRO , SAKAKAWA YUKIO , ENDO TAKAAKI , YAMADA SHUICHI , HIRAOKA TAKAHIRO
IPC分类号： G06T11/60 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To solve the problem with an image reproduction device which provides an observer with an experience of walking through a virtual space wherein annotations to objects within the virtual space are sometimes not easy to observe. SOLUTION: Map information is displayed in a virtual space image which represents the virtual space. A mark indicating the observer's viewing position and direction and a mark indicating an area and a direction in which the annotations can be observed are displayed together in the map information. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：为了解决图像再现装置的问题，该图像再现装置向观察者提供走过虚拟空间的体验，其中对虚拟空间内的对象的注释有时不容易观察。解决方案：映射信息显示在虚拟空间映像中，虚拟空间映像表示虚拟空间。在地图信息中一起显示表示观察者的观看位置和方向的标记，以及指示区域的标记和注释的观察方向。版权所有（C）2005，JPO＆NCIPI

2. 发明专利

JP2005050100A Image processing system 审中-公开
标题翻译：图像处理系统
公开(公告)号：JP2005050100A
公开(公告)日：2005-02-24
申请号：JP2003280978
申请日：2003-07-28
申请人： Canon Inc , Toppan Printing Co Ltd , キヤノン株式会社 , 凸版印刷株式会社
发明人： HIRAOKA TAKAHIRO , YAMADA SHUICHI , KATAYAMA AKIHIRO , SAKAKAWA YUKIO , ENDO TAKAAKI , KOTAKE DAISUKE
IPC分类号： G06T17/40
摘要： PROBLEM TO BE SOLVED: To provide a video processing system for acquiring a virtual space which is much richer in variety by making a video go back and forth across the virtual spaces of a plurality of video processors. SOLUTION: A control PC 20 controls a CCW device 30, CGVR device 40 and video switcher 50 to shift a view point position from a current virtual space to a virtual space at the destination of shift based on the current view point position and direction in the current virtual space. COPYRIGHT: (C)2005,JPO&NCIPI
摘要翻译：要解决的问题：提供一种视频处理系统，用于通过使多个视频处理器的虚拟空间中的视频前后进行来获取更丰富多样的虚拟空间。控制PC20控制CCW设备30，CGVR设备40和视频切换器50，以根据当前视点位置将视点位置从当前虚拟空间移动到移位目的地的虚拟空间;以及方向在当前的虚拟空间。版权所有（C）2005，JPO＆NCIPI

3. 发明专利

JP2012026895A Position attitude measurement device, position attitude measurement method, and program 有权
标题翻译：位置姿态测量装置，位置姿态测量方法和程序
公开(公告)号：JP2012026895A
公开(公告)日：2012-02-09
申请号：JP2010166500
申请日：2010-07-23
申请人： Canon Inc , キヤノン株式会社
发明人： KOTAKE DAISUKE , UCHIYAMA SHINJI
IPC分类号： G01B11/00 , G01B11/26
CPC分类号： G06K9/00 , G01B11/002 , G01B11/24 , G01B11/272
摘要： PROBLEM TO BE SOLVED: To measure the position attitude of an object at high speed and with high accuracy when low-quality data are included in measurement data.SOLUTION: A position attitude measurement device includes: a holding part for holding a three-dimensional model of an object; an input part for inputting the approximate value of the position attitude of the object; an acquisition part for acquiring the distance image of the object; a conversion part for converting information held in the distance image to the position information of three-dimensional points on a three-dimensional coordinate system; a reliability calculation part for calculating the reliability of the position information of the three-dimensional points due to a measurement error included in the distance image; a selection part for selecting a prescribed number of three-dimensional points to be used in position attitude measurement in the order from the three-dimensional point of high reliability; a correspondence part for making a surface configuring the three-dimensional model and each of the prescribed number of three-dimensional points selected by the selection part correspond by subjecting the three-dimensional model to parallel rotational movement on the basis of the approximate value; and a determination part for determining, as the position attitude of the object, the position attitude at which the square sum of the three-dimensional distances of the prescribed number of three-dimensional points and the surface configuring the three-dimensional model in correspondence becomes a minimum.
摘要翻译：要解决的问题：当在测量数据中包括低质量数据时，以高速和高精度测量物体的位置姿态。解决方案：位置姿势测量装置包括：用于保持物体的三维模型的保持部分; 用于输入物体的位置姿态的近似值的输入部分; 用于获取对象的距离图像的获取部分; 用于将保持在距离图像中的信息转换为三维坐标系上的三维点的位置信息的转换部分; 可靠性计算部分，用于计算由距离图像中包括的测量误差引起的三维点的位置信息的可靠性; 选择部，用于从高可靠性的三维点依次选择要在位置姿态测量中使用的规定数量的三维点; 用于使构成三维模型的表面和由选择部选择的每个规定数量的三维点的对应部分对应于基于近似值对三维模型进行平行旋转运动; 以及确定部分，用于确定作为对象的位置姿态的三维点的三维距离和构成三维模型的表面的三维距离的平方和对应的位置姿态变为最低限度。版权所有（C）2012，JPO＆INPIT

4. 发明专利

JP2011027724A Three-dimensional measurement apparatus, measurement method therefor, and program 有权
标题翻译：三维测量装置，其测量方法及程序
公开(公告)号：JP2011027724A
公开(公告)日：2011-02-10
申请号：JP2010137680
申请日：2010-06-16
申请人： Canon Inc , キヤノン株式会社
发明人： KOTAKE DAISUKE , UCHIYAMA SHINJI
IPC分类号： G01B11/00 , G01B11/26
CPC分类号： G01B11/25 , G06T7/521
摘要： PROBLEM TO BE SOLVED: To precisely measure the position and the posture of a measurement object without complicating the apparatus configuration even when the relation of the position and the posture between the three-dimensional measurement apparatus and the measurement object changes at a high rate. SOLUTION: The three-dimensional measurement apparatus includes a model holding unit configured to hold a three-dimensional shape model of a measurement object, a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object, an illumination unit configured to irradiate the measurement object with a predetermined illumination pattern, an image sensing unit configured to sense an image of the measurement object while the illumination unit irradiates the measurement object, a distance calculation unit configured to calculate distance information indicating a distance from the image sensing unit to the measurement object based on region corresponding to the distance measurement region within the sensed image, and a position and posture calculation unit configured to calculate a position and posture of the measurement object based on the distance information and the three-dimensional shape model. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：即使当三维测量装置和测量对象之间的位置和姿态的关系变高时，也可以精确地测量测量对象的位置和姿势而不会使装置构型复杂化率。解决方案：三维测量装置包括被配置为保持测量对象的三维形状模型的模型保持单元，确定单元，被配置为基于指示三维的信息来确定测量对象上的距离测量区域测量对象的三维形状，被配置为以预定的照明图案照射测量对象的照明单元，被配置为在照明单元照射测量对象时感测测量对象的图像的图像感测单元，配置在距离计算单元基于与感测图像内的距离测量区域对应的区域来计算表示从图像感测单元到测量对象的距离的距离信息，以及位置和姿势计算单元，其被配置为基于所测量对象的位置和姿势，基于距离信息和th 立体形状模型。版权所有（C）2011，JPO＆INPIT

5. 发明专利

JP2011027623A Method and device of measuring position and posture 有权
标题翻译：测量位置和姿势的方法和设备
公开(公告)号：JP2011027623A
公开(公告)日：2011-02-10
申请号：JP2009175387
申请日：2009-07-28
申请人： Canon Inc , キヤノン株式会社
发明人： KOTAKE DAISUKE , UCHIYAMA SHINJI
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T19/00
CPC分类号： G01S5/163 , G01S11/12 , G01S17/875 , G06K9/4604 , G06K9/52 , G06K9/6215 , G06T7/40 , G06T7/73 , G06T7/75 , G06T7/80 , G06T2207/20068
摘要： PROBLEM TO BE SOLVED: To precisely measure the position and posture of an object by using a camera and a distance sensor. SOLUTION: The shift between image characteristics of a two-dimensional image of an object and a projection image obtained by projecting a three-dimensional shape model in the position and posture of the held object on the two-dimensional image is calculated. The shift between three-dimensional coordinate information and the three-dimensional shape model in the held position and posture is calculated. The measures of both the shifts are converted so as to be equivalent, so that the held position and posture are corrected. COPYRIGHT: (C)2011,JPO&INPIT
摘要翻译：要解决的问题：通过使用照相机和距离传感器来精确地测量物体的位置和姿势。解决方案：计算对象的二维图像的图像特性与通过将三维形状模型投影在二维图像上的被保持物体的位置和姿势而获得的投影图像之间的偏移。计算三维坐标信息与三维形状模型在握持位置和姿势之间的偏移。两个移位的测量被转换为等同的，使得保持的位置和姿势被校正。版权所有（C）2011，JPO＆INPIT

6. 发明专利

JP2008122109A Information processing device 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：JP2008122109A
公开(公告)日：2008-05-29
申请号：JP2006303378
申请日：2006-11-08
申请人： Canon Inc , キヤノン株式会社
发明人： SUZUKI MASAHIRO , UCHIYAMA SHINJI , MORITA KENJI , KOTAKE DAISUKE
IPC分类号： G01B11/00 , G06T1/00 , G06T7/60
摘要： PROBLEM TO BE SOLVED: To provide a technology for acquiring arrangement information of an index highly accurately. SOLUTION: An image taking part 220 acquires an image on which a scene including the index is photographed. An index detection identification part 230 detects the index from the image. An index position attitude size calculation part 235 estimates arrangement information in the scene of the detected index. An index arrangement condition setting part 240 corrects at least one of the estimated arrangement information to a known value. An index position attitude calculation part 250 estimates the arrangement information of the index by using the corrected index arrangement information as a constant. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：提供一种高精度地获取索引的排列信息的技术。解决方案：图像拍摄部分220获取其上拍摄包括索引的场景的图像。索引检测识别部230从图像检测索引。索引位置姿态大小计算部件235估计检测到的索引的场景中的配置信息。索引排列条件设置部分240将估计排列信息中的至少一个校正为已知值。索引位置姿态计算部250通过使用校正的索引排列信息作为常数来估计索引的排列信息。版权所有（C）2008，JPO＆INPIT

7. 发明专利

JP2008065807A Marker arrangement information measurement unit and method 有权
标题翻译：标记安排信息测量单位和方法
公开(公告)号：JP2008065807A
公开(公告)日：2008-03-21
申请号：JP2007131573
申请日：2007-05-17
申请人： Canon Inc , キヤノン株式会社
发明人： KOTAKE DAISUKE , TAKEMOTO KAZUKI , MORITA KENJI , MAEDA SONOKO
IPC分类号： G06T1/00 , G01B11/00 , G01B11/26 , G06T7/60
CPC分类号： G06T7/73 , G06T2207/30208
摘要： PROBLEM TO BE SOLVED: To present a user with information necessary for measuring a position and a posture of a marker. SOLUTION: A marker arrangement information measurement unit includes an image acquisition means for acquiring an imaged image, a marker detection means for detecting the marker from the imaged image, a marker identification means for identifying the marker detected by the marker detection means, and an arrangement information calculation means for calculating arrangement information of the marker from the identification result of the marker identification means. The marker arrangement information measurement unit further includes an analysis means for analyzing the identification result of the marker identification means and a display means for presenting the user with the above analysis result by displaying an image corresponding to the analysis result by the analysis means on the imaged image. COPYRIGHT: (C)2008,JPO&INPIT
摘要翻译：要解决的问题：向用户呈现测量标记的位置和姿势所需的信息。标记装置信息测量单元包括用于获取成像图像的图像获取装置，用于从成像图像检测标记的标记检测装置，用于识别由标记检测装置检测到的标记的标记识别装置，以及排列信息计算装置，用于根据标记识别装置的识别结果计算标记的排列信息。标记布置信息测量单元还包括用于分析标记识别装置的识别结果的分析装置和用于通过分析装置对成像的图像显示与分析结果相对应的图像向用户呈现上述分析结果的显示装置图片。版权所有（C）2008，JPO＆INPIT

8. 发明专利

JP2007033257A Information processing method and device 有权
标题翻译：信息处理方法和装置
公开(公告)号：JP2007033257A
公开(公告)日：2007-02-08
申请号：JP2005217555
申请日：2005-07-27
申请人： Canon Inc , キヤノン株式会社
发明人： ARAYA SHINICHI , UCHIYAMA SHINJI , SATO KIYOHIDE , KOTAKE DAISUKE
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T7/60
CPC分类号： G06T7/73
摘要： PROBLEM TO BE SOLVED: To acquire simply and accurately arrangement information to an object, of a six-degree-of-freedom position attitude sensor mounted on the object. SOLUTION: This information processing method for acquiring the arrangement information to the object, of the first position attitude sensor mounted on the object as calibration information has an image input process for inputting an image acquired by photographing the object by an imaging device, a sensor measured value input process for inputting a measured value by the first position attitude sensor and a measured value by the second position attitude sensor mounted on the imaging device, an index detection process for detecting information on an image coordinate of an index mounted on the object from the image, and a calibration information calculation process for calculating the calibration information by using each measured value by the first and second position attitude sensors inputted in the sensor measured value input process and the information on the image coordinate of the index detected in the index detection process. COPYRIGHT: (C)2007,JPO&INPIT
摘要翻译：要解决的问题：将安装在物体上的六自由度位置姿态传感器简单而准确地将物体排列信息提取给物体。解决方案：用于获取作为校准信息安装在物体上的第一位置姿态传感器的物体的布置信息的信息处理方法具有用于输入通过成像装置拍摄物体而获取的图像的图像输入处理，用于通过第一位置姿态传感器输入测量值的传感器测量值输入处理和安装在成像装置上的第二位置姿态传感器的测量值，用于检测安装在成像装置上的索引的图像坐标的信息的索引检测处理以及校正信息计算处理，用于通过使用输入到传感器测量值输入处理中的第一和第二位置姿态传感器的每个测量值和关于在该传感器测量值输入处理中检测到的索引的图像坐标的信息来计算校准信息指标检测过程。版权所有（C）2007，JPO＆INPIT

9. 发明专利

JP2004094523A Information processor and information processing method 审中-公开
公开(公告)号：JP2004094523A
公开(公告)日：2004-03-25
申请号：JP2002253894
申请日：2002-08-30
申请人： Canon Inc , キヤノン株式会社
发明人： SAKAKAWA YUKIO , KATAYAMA AKIHIRO , ENDO TAKAAKI , KOTAKE DAISUKE , SUZUKI MASAHIRO
IPC分类号： G06T1/00 , G06F12/00 , G06T3/00 , G06T11/80 , H04N5/91 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To much more smoothly display a walk-through scene by increasing the reading efficiency of the image data of a panorama photographic image storage part in performing walk-through in a virtual space expressed by a panorama image group. SOLUTION: This information processor for processing a plurality of divided images for generating a panoramic image is provided with a divided image acquisition means for acquiring divided images by dividing the panoramic image into multiples, a duplicated divided image preparing means for creating the duplicates of one or more divided images among the divided images, and a storage means in which the divided images and the duplicated divided images are arranged side by side and stored as a joint file. COPYRIGHT: (C)2004,JPO

10. 发明专利

JP2004062755A Image providing device and image processing method 审中-公开
公开(公告)号：JP2004062755A
公开(公告)日：2004-02-26
申请号：JP2002223278
申请日：2002-07-31
申请人： Canon Inc , キヤノン株式会社
发明人： ENDO TAKAAKI , KATAYAMA AKIHIRO , KOTAKE DAISUKE , SUZUKI MASAHIRO
IPC分类号： G09B29/00 , G06T3/00 , G06T11/60 , G09B29/10 , G06T17/40
摘要： PROBLEM TO BE SOLVED: To enable a user to limit a traveling path in walk-through in a virtual space using a panoramic real image. SOLUTION: An image providing device is provided with: a panoramic real image storing means holding a plurality of panoramic real images; a movable path setting means for setting movable path information; a movable path storing means holding a plurality of pieces of the movable path information; an operating part; a movable path selecting means for selecting desired movable path information from the movable path storing means; a viewpoint calculating means for calculating viewpoint information consisting of viewpoint position information and visual line direction information on the basis of operation information sent from the operating means and the movable path information; an image generating means for generating a segmented image from the panoramic real images on the basis of the viewpoint information, generating a path drawing representing the movable path on the basis of the movable path information and combining the segmented image and the path drawing to generate a display image; and an image display part for displaying the display image. COPYRIGHT: (C)2004,JPO

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