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11. 发明申请

US20070092161A1 INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS 有权
标题翻译：信息处理方法和信息处理装置
公开(公告)号：US20070092161A1
公开(公告)日：2007-04-26
申请号：US11459746
申请日：2006-07-25
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
IPC分类号： G06K9/36 , G09G5/00
CPC分类号： G06T7/73
摘要： An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.
摘要翻译：一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法，包括：图像输入步骤，输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息，并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息关于索引的图像坐标。

12. 发明申请

US20050256395A1 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：US20050256395A1
公开(公告)日：2005-11-17
申请号：US11127000
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
发明人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
IPC分类号： G06T7/00 , G06T7/20 , A61B5/05
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译：一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。

13. 发明授权

US07782361B2 Method and apparatus for measuring position and orientation 有权
标题翻译：测量位置和方位的方法和装置
公开(公告)号：US07782361B2
公开(公告)日：2010-08-24
申请号：US11398350
申请日：2006-04-05
申请人： Daisuke Kotake , Kiyohide Satoh
发明人： Daisuke Kotake , Kiyohide Satoh
IPC分类号： H04N5/225 , H04N7/18 , H04N5/228 , H04N5/232 , G01C17/38 , G01C9/00 , G06K9/00 , G06K9/36
CPC分类号： G01C11/00 , G02B2027/0138 , G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： A position and an orientation of an image capturing device or an object to which an inclination sensor is mounted are obtained without performing iterative calculation. A position and orientation measuring method includes the steps of: inputting a measured inclination value of an inclination sensor mounted to one of an object and an image capturing device; inputting a captured image from the image capturing device; detecting an index on the object from the captured image; and calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and already-known positional information on the detected index without performing iterative calculation.
摘要翻译：获得了不进行迭代计算的图像拍摄装置或安装有倾斜传感器的物体的位置和取向。位置和姿态测量方法包括以下步骤：输入安装到物体和图像捕获装置中的一个的倾斜传感器的测量的倾斜度值; 从图像捕获装置输入捕获的图像; 从所捕获的图像检测对象上的索引; 并根据所测量的倾斜值，检测到的索引的图像坐标和已检测到的已知的位置信息来计算安装有倾斜传感器的对象和图像捕获装置之一的位置和方位索引，而不执行迭代计算。

14. 发明授权

US07657065B2 Marker placement information estimating method and information processing device 失效
标题翻译：标记位置信息估计方法和信息处理装置
公开(公告)号：US07657065B2
公开(公告)日：2010-02-02
申请号：US11126916
申请日：2005-05-11
申请人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
发明人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
IPC分类号： G06K9/00 , G01C9/00 , G01C17/00 , G01C19/00 , G09G5/00
CPC分类号： G06T7/73
摘要： A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.
摘要翻译：一种标记放置信息估计方法，包括：约束条件设定步骤，用于设定可以利用关于标记的放置信息的几何条件来定义的约束条件;捕获步骤，用于捕获包括标记图像的拍摄图像，用于检测标记的标记检测步骤以及估计步骤，用于使用检测到的标记在图像上的位置和约束条件来估计标记的放置信息。因此，即使存在关于标记的放置的约束条件，也可以精确地获得放置信息，以满足约束条件。

15. 发明授权

US07613361B2 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：US07613361B2
公开(公告)日：2009-11-03
申请号：US11127000
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
发明人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
IPC分类号： G06K9/36 , G06K9/32 , G06K9/00
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译：一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。

16. 发明授权

US07848903B2 Information processing method and information processing apparatus 有权
标题翻译：信息处理方法和信息处理装置
公开(公告)号：US07848903B2
公开(公告)日：2010-12-07
申请号：US11459746
申请日：2006-07-25
申请人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Shinji Uchiyama , Kiyohide Satoh , Daisuke Kotake
IPC分类号： G01C7/00
CPC分类号： G06T7/73
摘要： An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.
摘要翻译：一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法，包括：图像输入步骤，输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息，并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息关于索引的图像坐标。

17. 发明授权

US07411594B2 Information processing apparatus and method 有权
标题翻译：信息处理装置和方法
公开(公告)号：US07411594B2
公开(公告)日：2008-08-12
申请号：US10331549
申请日：2002-12-31
申请人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
发明人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
IPC分类号： G06T3/60 , G09G5/00
CPC分类号： G06T15/20 , G09B29/10
摘要： In order to improve the ease of operation of a conventional walk-through system using panoramic photographic images, a system is provided with a view calculating unit for calculating view information in accordance with a user instruction from an operation unit, the view information including view position information and view direction information; a panoramic image storing unit for storing a plurality of panoramic images; a path storing unit for storing path information of the panoramic images; an allowable path calculating unit for calculating allowable path information at a next dividing point in accordance with the view information and the path information; and an image generating unit for generating a cut-out image from the panoramic image in accordance with the view information, generating a sign figure representative of the allowable path in accordance with the allowable path information, and synthesizing the cut-out image and the sign figure to generate a display image.
摘要翻译：为了提高使用全景摄影图像的常规步行系统的操作的便利性，系统设置有用于根据来自操作单元的用户指令来计算视图信息的视图计算单元，视图信息包括视点位置信息和查看方向信息; 全景图像存储单元，用于存储多个全景图像; 路径存储单元，用于存储全景图像的路径信息; 允许路径计算单元，用于根据视图信息和路径信息来计算下一分割点处的可允许路径信息; 以及图像生成单元，用于根据视图信息从全景图像生成切出图像，根据允许路径信息生成表示允许路径的符号图形，并且合成切出图像和符号图来生成显示图像。

18. 发明申请

US20090009522A1 INFORMATION PROCESSING APPARATUS AND METHOD 有权
标题翻译：信息处理装置和方法
公开(公告)号：US20090009522A1
公开(公告)日：2009-01-08
申请号：US12169926
申请日：2008-07-09
申请人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
发明人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
IPC分类号： G06T13/00
CPC分类号： G06T15/20 , G09B29/10
摘要： In order to improve the operationality of a walk-through system using panorama photography images, the system is provided with a view calculating unit for calculating view information in accordance with a user instruction from an operation unit, the view information including view position information and view direction information; a panorama image storing unit for storing a plurality of panorama images; a path storing unit for storing path information of the panorama images; an advancable path calculating unit for calculating advancable path information at a next dividing point in accordance with the view information and the path information; and an image generating unit for generating a cut-out image from the panorama image in accordance with the view information, generating a sign figure representative of the advancable path in accordance with the advancable path information, and synthesizing the cut-out image and the sign figure to generate a display image.
摘要翻译：为了提高使用全景拍摄图像的步行系统的操作性，系统设置有用于根据来自操作单元的用户指令来计算视图信息的视图计算单元，包括视图位置信息和视图的视图信息方向信息; 全景图像存储单元，用于存储多个全景图像; 路径存储单元，用于存储全景图像的路径信息; 用于根据视图信息和路径信息在下一个分割点处计算可行路径信息的可行路径计算单元; 以及图像生成单元，用于根据视图信息从全景图像生成切出图像，根据可推荐路径信息生成代表可行路径的符号图形，并且合成切出图像和符号图来生成显示图像。

19. 发明授权

US07673246B2 Image information processing apparatus and method, virtual space presentation apparatus, information administration apparatus, and control methods thereof 有权
标题翻译：图像信息处理装置和方法，虚拟空间呈现装置，信息管理装置及其控制方法
公开(公告)号：US07673246B2
公开(公告)日：2010-03-02
申请号：US10314286
申请日：2002-12-09
申请人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake , Yukio Sakagawa
发明人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake , Yukio Sakagawa
IPC分类号： G06F3/00
CPC分类号： G06T15/205
摘要： An image information processing apparatus is provided to generate, from previously held image data, a display image according to a viewpoint designated by a user, and to communicate with a control apparatus which can communicate with plural image information processing apparatuses respectively generating display images and has a controller for controlling viewpoint information shared by the plural image information processing apparatuses on the basis of viewpoint information sent from the image information processing apparatus. This apparatus comprises a transmitter to calculate the viewpoint information based on a user's instruction and transmit it to the controller, a receiver to receive from the controller the viewpoint information for generating the display image, and an image generator to read the image data corresponding to the viewpoint information from the previously held image data for generating the display image, and generate and output the display image to a display.
摘要翻译：提供一种图像信息处理装置，用于根据用户指定的视点从先前保存的图像数据生成显示图像，并且与可以与分别生成显示图像的多个图像信息处理装置通信的控制装置进行通信，并具有控制器，用于基于从图像信息处理设备发送的视点信息来控制由多个图像信息处理设备共享的视点信息。该装置包括基于用户指令计算视点信息并将其发送到控制器的发送器，从控制器接收用于生成显示图像的视点信息的接收器和用于读取对应于图像数据的图像数据的图像生成器来自先前保持的用于生成显示图像的图像数据的视点信息，并且生成并将显示图像输出到显示器。

20. 发明授权

US07791618B2 Information processing apparatus and method 有权
标题翻译：信息处理装置和方法
公开(公告)号：US07791618B2
公开(公告)日：2010-09-07
申请号：US12169926
申请日：2008-07-09
申请人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
发明人： Takaaki Endo , Akihiro Katayama , Masahiro Suzuki , Daisuke Kotake
IPC分类号： G06T3/60 , G09G5/00
CPC分类号： G06T15/20 , G09B29/10
摘要： In order to improve the operationality of a walk-through system using panorama photography images, the system is provided with a view calculating unit for calculating view information in accordance with a user instruction from an operation unit, the view information including view position information and view direction information; a panorama image storing unit for storing a plurality of panorama images; a path storing unit for storing path information of the panorama images; an advancable path calculating unit for calculating advancable path information at a next dividing point in accordance with the view information and the path information; and an image generating unit for generating a cut-out image from the panorama image in accordance with the view information, generating a sign figure representative of the advancable path in accordance with the advancable path information, and synthesizing the cut-out image and the sign figure to generate a display image.
摘要翻译：为了提高使用全景拍摄图像的步行系统的操作性，系统设置有用于根据来自操作单元的用户指令来计算视图信息的视图计算单元，包括视图位置信息和视图的视图信息方向信息; 全景图像存储单元，用于存储多个全景图像; 路径存储单元，用于存储全景图像的路径信息; 用于根据视图信息和路径信息在下一个分割点处计算可行路径信息的可行路径计算单元; 以及图像生成单元，用于根据视图信息从全景图像生成切出图像，根据可推荐路径信息生成代表可行路径的符号图形，并且合成切出图像和符号图来生成显示图像。

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