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11. 发明申请

US20060013474A1 Stereo image measuring device 审中-公开
公开(公告)号：US20060013474A1
公开(公告)日：2006-01-19
申请号：US11229577
申请日：2005-09-20
申请人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
发明人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G01C11/06 , G06T7/593 , G06T2207/10012 , G06T2207/20016 , H04N13/239 , H04N2013/0081
摘要： The present invention discloses a stereo image measuring device capable of carrying out high-speed and highly reliable three-dimensional measurement for a stereo image, easily correcting any omitted measurement, measurement errors or the like, and achieving a much higher speed, efficiency and reliability for measurement as a whole. A survey instrument measures a number of control points on site. A camera is, for example a digital camera, a film camera or the like. A control point search unit executes correlation between a control point measured beforehand by the instrument survey and an image. A search area setting unit sets a search area to be used for image correlation processing based on the control points correlated by the control point search unit, and sets respective data blocks, i.e., a reference data block and a search data block. An arithmetic operation unit executes orientation calculation, and image correlation processing (stereo matching) for the search area set by the search area setting unit. A display unit is a stereo monitor, a personal computer monitor or the like providing stereoscopic vision. A measuring unit executes additional measurement when the result of correlation processing is not satisfactory.

12. 发明申请

US20050012844A1 Three-dimensional field for calibration and method of photographing the same 有权
标题翻译：用于校准的三维场景和拍摄方法
公开(公告)号：US20050012844A1
公开(公告)日：2005-01-20
申请号：US10853741
申请日：2004-05-26
申请人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
发明人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
IPC分类号： G01B11/00 , G01C11/00 , G01C25/00 , G03B15/00 , G06T1/00 , H04N5/232 , H04N5/225
CPC分类号： G01C11/00 , G01C25/00
摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.
摘要翻译：具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内，角区域110。

13. 发明授权

US06442293B1 Image forming apparatus, image forming method and computer-readable storage medium having an image forming program 有权
公开(公告)号：US06442293B1
公开(公告)日：2002-08-27
申请号：US09324840
申请日：1999-06-03
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K936
CPC分类号： G01C11/06
摘要： An image forming process for easily making an image drawing (ortho-image) in an actual place while confirming it in real time. Measuring of control points (at least three points) is performed (S110), and preparation is made for forming an ortho-image based on image data thereof and survey data. Where photographing is carried out from a plurality of directions, additional image measuring is performed (S140). Then, ortho-image formation is performed on a PC (S160). Here, if a formed ortho-image is not what is desired, ortho-image correction is performed (S180). After a satisfactory image is obtained (S200), the process moves to a next area to be measured, and the same operation is repeated. On the other hand, unless a satisfactory image is obtained, additional image measuring (S140) is performed again.

14. 发明授权

US08559702B2 Model forming apparatus, model forming method, photographing apparatus and photographing method 有权
标题翻译：模型成型装置，模型形成方法，拍摄装置和拍摄方法
公开(公告)号：US08559702B2
公开(公告)日：2013-10-15
申请号：US13176362
申请日：2011-07-05
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
IPC分类号： G06K9/00 , G06K7/00 , G01C3/14 , G06T17/00 , G06G5/00
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译：本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。

15. 发明授权

US07986825B2 Model forming apparatus, model forming method, photographing apparatus and photographing method 有权
标题翻译：模型成型装置，模型形成方法，拍摄装置和拍摄方法
公开(公告)号：US07986825B2
公开(公告)日：2011-07-26
申请号：US11154959
申请日：2005-06-17
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
IPC分类号： G06K9/00 , G06K7/00 , G01C3/14 , G06T17/00 , G06G5/00
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译：本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。

16. 发明授权

US07746377B2 Three-dimensional image display apparatus and method 有权
标题翻译：三维图像显示装置及方法
公开(公告)号：US07746377B2
公开(公告)日：2010-06-29
申请号：US10995524
申请日：2004-11-24
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： H04N13/00
CPC分类号： G06T17/00 , G06T7/593 , G06T7/75 , G06T15/04 , G06T2207/10012
摘要： A three-dimensional image display apparatus is provided that can integrate and visualize 3D measurement data obtained from a stereo image with an image of a measuring object to which stereoscopic texture is applied. The apparatus includes: an orientation section for finding relationship as to corresponding points in a stereo image of a measuring object; a three-dimensional coordinate data section for obtaining three-dimensional coordinate data on the corresponding points of the measuring object; a model forming section for forming a model of the measuring object based on the three-dimensional coordinate data on the corresponding points; an image correlating section for correlating the stereo image of the measuring object stored in the stereo image data storage section and the model formed by the model forming section; and a model display section for displaying an image of the measuring object to which stereoscopic texture is applied.
摘要翻译：提供一种能够将立体图像获得的3D测量数据与应用了立体纹理的测量对象的图像整合并可视化的三维图像显示装置。该装置包括：用于查找与测量对象的立体图像中的对应点的关系的定向部分; 三维坐标数据部分，用于获得测量对象的相应点上的三维坐标数据; 模型形成部，用于基于对应点上的三维坐标数据形成测量对象的模型; 用于使存储在立体图像数据存储部分中的测量对象的立体图像与由模型形成部分形成的模型相关联的图像相关部分; 以及用于显示应用了立体纹理的测量对象的图像的模型显示部分。

17. 发明申请

US20050122400A1 Photographic apparatus with function of image correction and method thereof 有权
标题翻译：具有图像校正功能的摄影装置及其方法
公开(公告)号：US20050122400A1
公开(公告)日：2005-06-09
申请号：US10917519
申请日：2004-08-13
申请人： Nobuo Kochi , Tadayuki Ito , Takayuki Noma
发明人： Nobuo Kochi , Tadayuki Ito , Takayuki Noma
IPC分类号： H04N5/232 , G06T3/00 , G06T5/00 , G06T7/00 , H04N5/225
CPC分类号： G06T3/0018 , G06T5/006 , G06T7/80 , H04N5/217 , H04N5/23238
摘要： A photographic apparatus with an image correction function is provided, in which even if an image has a large distortion at its peripheral area, the lens distortion is suitably corrected and the image distortion is small in spite of an image having a wide field of view. The apparatus comprises a photographic lens section 10 able to adjust photographic parameters, a photographic parameter detecting section 20 for detecting the photographic parameters of the photographic lens section 10 during photographing, a photoreceptor section 30 for receiving the image information formed by the photographic lens section 10, and an image correction section 50 for receiving an image signal from the photoreceptor section 30, and for performing distortion correction of the information signal based on a predetermined calibration parameter corresponding to the photographic parameter detected at the photographic parameter detecting section 20.
摘要翻译：提供具有图像校正功能的摄影装置，其中即使图像在其周边区域具有大的失真，也可以适当地校正透镜失真，并且尽管具有宽视场的图像，图像失真小。该装置包括能够调整照相参数的照相镜头部分10，用于在摄影期间检测摄影镜头部分10的拍摄参数的摄影参数检测部分20，用于接收由摄影镜头部分10形成的图像信息的感光体部分30 以及图像校正部分50，用于从感光体部分30接收图像信号，并且用于基于与在摄影参数检测部分20检测到的摄影参数相对应的预定校准参数来执行信息信号的畸变校正。

18. 发明授权

US6141439A Apparatus for image measurement 失效
标题翻译：图像测量装置
公开(公告)号：US6141439A
公开(公告)日：2000-10-31
申请号：US82189
申请日：1998-05-21
申请人： Takumi Yoshida , Nobuo Kochi , Masumori Chida , Tadayuki Ito
发明人： Takumi Yoshida , Nobuo Kochi , Masumori Chida , Tadayuki Ito
IPC分类号： G01B11/00 , G06T1/00 , G06T7/00 , G06T7/60 , H04N13/00 , G06K9/00 , G06K9/32
CPC分类号： G06T7/0075 , G06T2207/10012 , H04N2013/0081
摘要： An apparatus for image measurement comprises a data setting portion for taking up one of a pair of stereoscopic images as a reference image and the other as a searched image and establishing a reference data block in the reference image and a searched data block in the searched image, a correspondence determining portion for determining correspondence between the reference data block and the searched data block, a data magnification changing portion for changing the magnification of image of the data in the reference data block according to the magnification of image of searched data in the searched image, and an image measuring portion for performing image measurement according to the output of the correspondence determining portion. The correspondence determining portion determines the correspondence by using the reference data block, of which the magnification of data has been changed in the magnification changing portion, and the searched data block.
摘要翻译：一种用于图像测量的装置包括数据设置部分，用于将一对立体图像中的一个作为参考图像，另一个作为搜索图像，并在参考图像中建立参考数据块，并在搜索的图像中建立搜索的数据块，用于确定参考数据块和搜索到的数据块之间的对应关系的对应确定部分，用于根据搜索到的搜索数据的图像的放大倍率来改变参考数据块中的数据的图像的倍率的数据倍率变化部分图像和图像测量部分，用于根据对应确定部分的输出执行图像测量。对应确定部分通过使用在倍率变化部分中数据的倍率已经改变的参考数据块和搜索到的数据块来确定对应关系。

19. 发明授权

US07489335B2 Photographic apparatus with function of image correction and method thereof 有权
标题翻译：具有图像校正功能的摄影装置及其方法
公开(公告)号：US07489335B2
公开(公告)日：2009-02-10
申请号：US10917519
申请日：2004-08-13
申请人： Nobuo Kochi , Tadayuki Ito , Takayuki Noma
发明人： Nobuo Kochi , Tadayuki Ito , Takayuki Noma
IPC分类号： H04N17/00 , H04N5/217
CPC分类号： G06T3/0018 , G06T5/006 , G06T7/80 , H04N5/217 , H04N5/23238
摘要： A photographic apparatus with an image correction function is provided, in which even if an image has a large distortion at its peripheral area, the lens distortion is suitably corrected and the image distortion is small in spite of an image having a wide field of view. The apparatus comprises a photographic lens section 10 able to adjust photographic parameters, a photographic parameter detecting section 20 for detecting the photographic parameters of the photographic lens section 10 during photographing, a photoreceptor section 30 for receiving the image information formed by the photographic lens section 10, and an image correction section 50 for receiving an image signal from the photoreceptor section 30, and for performing distortion correction of the information signal based on a predetermined calibration parameter corresponding to the photographic parameter detected at the photographic parameter detecting section 20.
摘要翻译：提供具有图像校正功能的摄影装置，其中即使图像在其周边区域具有大的失真，也可以适当地校正透镜失真，并且尽管具有宽视场的图像，图像失真小。该装置包括能够调整照相参数的照相镜头部分10，用于在摄影期间检测摄影镜头部分10的拍摄参数的摄影参数检测部分20，用于接收由摄影镜头部分10形成的图像信息的感光体部分30 以及图像校正部分50，用于从感光体部分30接收图像信号，并且用于基于与在摄影参数检测部分20检测到的摄影参数相对应的预定校准参数来执行信息信号的畸变校正。

20. 发明授权

US09829315B2 Omnidirectional image measuring instrument 有权
公开(公告)号：US09829315B2
公开(公告)日：2017-11-28
申请号：US13348740
申请日：2012-01-12
申请人： Fumio Ohtomo , Hitoshi Otani , Tadayuki Ito , Kazuki Osaragi
发明人： Fumio Ohtomo , Hitoshi Otani , Tadayuki Ito , Kazuki Osaragi
IPC分类号： H04N13/02 , G06K9/00 , G01C15/00 , G01C1/04 , G01C11/02
CPC分类号： G01C15/002 , G01C1/04 , G01C11/02
摘要： An omnidirectional image measuring instrument includes a horizontal rotary table, a horizontal rotary driving unit capable of rotating the horizontal rotary table, an electronic distance meter (EDM) device and an image pickup device provided on the horizontal rotary table, and a control device for synchronously controlling a distance measurement by the EDM device and an image pickup by the image pickup device. The control device rotates the horizontal rotary table at every predetermined angle, operates the image pickup device, acquires single images at every predetermined rotational angle over a total circumference, combines the single images, prepares an omnidirectional image, performs scanning with a distance measuring light from the EDM device, carries out the distance measurement at every predetermined rotational angle over the total circumference, calculates a horizontal angle and a vertical angle of a distance measuring point from the omnidirectional image and obtains three-dimensional data of the measuring point.

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