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21. 发明授权

US07747151B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07747151B2
公开(公告)日：2010-06-29
申请号：US11798190
申请日：2007-05-10
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
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。根据计算的误差范围，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。

22. 发明授权

US07711180B2 Three-dimensional image measuring apparatus and method 失效
标题翻译：三维图像测量装置及方法
公开(公告)号：US07711180B2
公开(公告)日：2010-05-04
申请号：US11109876
申请日：2005-04-20
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K9/00 , G06K9/32 , G06K9/36 , G06T15/00 , G01B7/00 , G01B15/00
CPC分类号： G06T5/006 , G06T7/32 , G06T7/593 , G06T2207/10012 , G06T2207/20016 , G06T2207/30181
摘要： The present invention provides a three-dimensional image measuring apparatus and method capable of measuring projections and depressions on a surface of an object with fine precision, as well as ensuring stable convergence, even for stereo images with significant project distortion. The apparatus includes an area setting section 56 for setting a reference area 57 in one image 53 of a pair of stereo images 46 and a search area 58 in the other image 54 in a position corresponding to the reference area 57, a search image distortion correcting section 62 for applying an image distortion correction to either one of the one image 53 or the other image 54 according to the positional relationship between the reference area 57 and the search area 58 corresponding to the reference area 57, and an area shape measuring section 66 for measuring a shape of a measuring object 41 photographed in the stereo images 46 based on the reference area 57 in the one image 53 and the search area 58 in the other image 54, either one of which has been corrected by the search image distortion correcting section 62.
摘要翻译：本发明提供了能够以精确的精度测量物体表面上的凹凸的三维图像测量装置和方法，并且即使对于具有显着的项目失真的立体图像也能确保稳定的收敛。该装置包括区域设定部分56，用于在对应于参考区域57的位置中的另一图像54中的一对立体图像46和搜索区域58的一个图像53中设置参考区域57，搜索图像失真校正根据参考区域57和对应于参考区域57的搜索区域58之间的位置关系，对图像53或另一图像54中的任一个施加图像失真校正部分62和区域形状测量部分66 用于基于一个图像53中的参考区域57和另一图像54中的搜索区域58来测量在立体图像46中拍摄的测量对象41的形状，其中任一个已经通过搜索图像失真校正第62条。

23. 发明授权

US07671998B2 Surface configuration measuring method and surface configuration measuring system 有权
标题翻译：表面配置测量方法和表面配置测量系统
公开(公告)号：US07671998B2
公开(公告)日：2010-03-02
申请号：US11096648
申请日：2005-04-01
申请人： Fumio Ohtomo , Hitoshi Otani
发明人： Fumio Ohtomo , Hitoshi Otani
IPC分类号： G01C11/06
CPC分类号： G01C15/00
摘要： A measuring method, comprising a step of drawing a line on a surface such as ground surface, a step of performing measurement along the line on a predetermined measurement range including the line, a step of acquiring an image of a range including the predetermined measurement range as an image data, a step of superimposing the image data on a measurement data, and a step of calculating a measurement data of the line from line position in the image data and from the measurement data near the line.
摘要翻译：一种测量方法，包括在诸如地面的表面上绘制线的步骤，在包括所述线的预定测量范围上沿着所述线进行测量的步骤，获取包括所述预定测量范围的范围的图像的步骤作为图像数据，将图像数据叠加在测量数据上的步骤，以及从图像数据中的线位置和线附近的测量数据计算线的测量数据的步骤。

24. 发明授权

US07349580B2 Apparatus and method for calibrating zoom lens 有权
标题翻译：用于校准变焦镜头的装置和方法
公开(公告)号：US07349580B2
公开(公告)日：2008-03-25
申请号：US10858468
申请日：2004-06-02
申请人： Takayuki Noma , Hitoshi Otani , Nobuo Kochi
发明人： Takayuki Noma , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K9/40 , G03B17/00 , G02B13/16 , H04N5/225
CPC分类号： G01C25/00 , G01C11/02
摘要： A calibrating apparatus for a zoom lens comprising: a first image-acquiring section 60 for acquiring a first image-for-calibration by photographing an area, in which reference marks for calibration are positioned, with a photographic device-to-be-calibrated 19 whose focal length is set to a first focal length; a second image-acquiring section 62 for acquiring a second image-for-calibration by photographing the area, in which the reference marks for calibration are positioned, with the photographic device-to-be-calibrated 19 whose focal length is set to a second focal length; a correction coefficient calculating section 64 for calculating a calibration correction coefficient for the first and second focal lengths, with the use of the photographed reference marks in the first and second image-for-calibrations: and a reference mark inferring section 66 for inferring a positional relationship of the photographed reference marks for calibration in the second image-for-calibration, with the use of the photographed reference marks for calibration in the first image-for-calibration.
摘要翻译：一种用于变焦透镜的校准装置，包括：第一图像获取部分60，用于通过拍摄用于校准的参考标记的区域，用待校准的照相装置19获取第一图像校准图像其焦距被设定为第一焦距; 第二图像获取部分62，用于通过拍摄其中用于校准的参考标记的区域来定位其焦距被设置为第二个的要被校准的照相装置19的第二图像校准焦距; 校正系数计算部64，用于通过使用第一和第二图像校准中的拍摄参考标记来计算第一焦距和第二焦距的校准系数;以及参考标记推断部分66，用于推断位置在第二图像校准中使用所拍摄的参考标记进行校准的用于校准的拍摄参考标记的关系。

25. 发明授权

US07016528B2 Measuring apparatus 失效
标题翻译：测量装置
公开(公告)号：US07016528B2
公开(公告)日：2006-03-21
申请号：US10194285
申请日：2002-07-15
申请人： Hitoshi Otani , Nobuo Kochi
发明人： Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K9/00
CPC分类号： G01C21/005 , G06T7/593 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： An image measuring apparatus includes an approximate position measuring portion for approximately obtaining, from a pair of images of a subject for measurement in different directions, positional information of the subject for measurement in each of the images. A data setting portion, having one image of the pair of images set as a reference image and the other image as a searched image, sets up, in accordance with the positional information obtained in the approximate position measuring portion, reference data blocks in the reference image and sets up searched areas in the searched image and searched data blocks in the searched area. A correspondence determining portion obtains correspondence between the searched data block set up in the searched area and the reference data block. The data setting portion, in accordance with the positional information obtained in the approximate position measuring portion, performs at least either setting up of the reference data blocks in the reference image or setting up of the searched areas and setting up of the searched data blocks in the searched image.
摘要翻译：图像测量装置包括近似位置测量部分，用于从用于在不同方向测量的被摄体的一对图像大致获得用于每个图像中的测量对象的位置信息。具有设置为参考图像的一对图像的一个图像和作为搜索图像的另一图像的数据设置部分根据在近似位置测量部分中获得的位置信息建立参考中的参考数据块在搜索到的图像中建立搜索区域并搜索搜索区域中的数据块。对应确定部分获得在搜索区域中建立的搜索数据块与参考数据块之间的对应关系。数据设定部分根据在近似位置测量部分中获得的位置信息，至少执行参考图像中的参考数据块的设置或所搜索的区域的设置以及搜索到的数据块的设置搜索到的图像。

26. 发明授权

US07010157B2 Stereo image measuring device 有权
公开(公告)号：US07010157B2
公开(公告)日：2006-03-07
申请号：US09817287
申请日：2001-03-27
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.

27. 发明申请

US20050243329A1 Measuring method and measuring system 有权
标题翻译：测量方法和测量系统
公开(公告)号：US20050243329A1
公开(公告)日：2005-11-03
申请号：US11096648
申请日：2005-04-01
申请人： Fumio Ohtomo , Hitoshi Otani
发明人： Fumio Ohtomo , Hitoshi Otani
IPC分类号： G01C15/00 , G06T1/00 , G06T3/00 , G01B11/24
CPC分类号： G01C15/00
摘要： A measuring method, comprising a step of drawing a line on a surface such as ground surface, a step of performing measurement along the line on a predetermined measurement range including the line, a step of acquiring an image of a range including the predetermined measurement range as an image data, a step of superimposing the image data on a measurement data, and a step of calculating a measurement data of the line from line position in the image data and from the measurement data near the line.
摘要翻译：一种测量方法，包括在诸如地面的表面上绘制线的步骤，在包括所述线的预定测量范围上沿着所述线进行测量的步骤，获取包括所述预定测量范围的范围的图像的步骤作为图像数据，将图像数据叠加在测量数据上的步骤，以及从图像数据中的线位置和线附近的测量数据计算线的测量数据的步骤。

28. 发明授权

US06810142B2 Stereo image measuring device 有权
标题翻译：立体图像测量装置
公开(公告)号：US06810142B2
公开(公告)日：2004-10-26
申请号：US09887268
申请日：2001-06-25
申请人： Nobuo Kochi , Hitoshi Otani
发明人： Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K900
CPC分类号： G01C11/06 , G06T7/97 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： A stereo image measuring device capable of facilitating determination as to the correctness of the result of stereo image corresponding point measurement is disclosed. The stereo image measuring device comprises: a first display unit including a normal monitor; a second display unit including a stereo-monitor enabling stereoscopic viewing; a mark formation unit for displaying a mouse cursor; an instruction unit for instructing X, Y and Z directions; a corresponding area search unit for searching a corresponding area with respect to a reference area; a corresponding area position verification unit for verifying the coincidence of the searched area with the position of the reference area; a corresponding area deciding unit for deciding the searched corresponding area as a corresponding area; a storage unit for storing the verification result of the corresponding area position verification unit, the reference area, the corresponding area, and the decided corresponding area decided by the corresponding area deciding unit; a decided corresponding area correction unit for correcting the decided corresponding area; an image storage unit for storing a digitized stereo image; and a display memory for displaying an image. The instruction unit includes a planar direction instruction unit for instructing the planar (X, Y) direction of the reference area by a mouse, and a Z direction instruction unit for instructing a depth (Z) direction during three-dimensional measurement.
摘要翻译：公开了能够有助于确定立体图像对应点测量结果的正确性的立体图像测量装置。立体图像测量装置包括：第一显示单元，包括正常监视器; 第二显示单元，包括能立体观看的立体监视器; 用于显示鼠标光标的标记形成单元; 用于指示X，Y和Z方向的指令单元; 对应区域搜索单元，用于搜索相对于参考区域的对应区域; 相应的区域位置验证单元，用于验证搜索区域与参考区域的位置的一致性; 对应区域决定单元，用于将搜索到的相应区域确定为对应区域; 存储单元，用于存储相应区域位置验证单元的验证结果，参考区域，对应区域以及由相应区域确定单元确定的所确定的对应区域; 确定的对应区域校正单元，用于校正所决定的对应区域; 用于存储数字化立体图像的图像存储单元; 以及用于显示图像的显示存储器。指示单元包括用于通过鼠标指示参考区域的平面（X，Y）方向的平面方向指令单元和用于在三维测量期间指示深度（Z）方向的Z方向指令单元。

29. 发明授权

US06804389B1 Image forming apparatus 有权
标题翻译：图像形成装置
公开(公告)号：US06804389B1
公开(公告)日：2004-10-12
申请号：US09556781
申请日：2000-04-25
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K946
CPC分类号： G06T15/20 , G06T11/00
摘要： An orthogonally projected image forming unit 1 forms an orthogonally projected image based on a photographed image. A direction specifying unit 2 enables the orthogonally projected image to be seen from a different viewpoint, and forms an orthogonally projected image seen from a different viewpoint. A feature extracting unit 3 extracts a feature from the orthogonally projected image. A symbol pasting unit 4 pastes a symbol to a drawing during plotting. A display unit 5 displays the formed orthogonally projected image, the orthogonally projected image formed by changing a viewpoint, the orthogonally projected image processed by the image feature extracting unit 3, and the symbol pasted by the symbol pasting unit 4, and so on. An I/O unit 6 inputs/outputs various image data or three-dimensional coordinate data from a three-dimensional coordinate input de-vice such as a survey instrument or the like to the other device. Accordingly, plotting can be performed even for a spot unseen on an orthogonally projected image or a spot that has not been measured by forming the orthogonally projected image seen from the different viewpoint and pasting the symbol.
摘要翻译：正交投影图像形成单元1基于拍摄图像形成正交投影图像。方向指定单元2能够从不同的视点看到正交投影的图像，并且形成从不同的视点看到的正交投影图像。特征提取单元3从正交投影的图像中提取特征。符号粘贴单元4在绘图期间将符号粘贴到图形上。显示单元5显示形成的正交投影图像，通过改变视点形成的正交投影图像，由图像特征提取单元3处理的正交投影图像和由符号粘贴单元4粘贴的符号等。 I / O单元6将诸如测量仪器等的三维坐标输入设备的各种图像数据或三维坐标数据输入/输出到另一设备。因此，即使对于通过形成从不同视点看到的正交投影图像并粘贴符号而没有测量的正交投影图像或未测量的点，也可以执行绘图。

30. 发明授权

US06442292B1 Measuring apparatus 失效
公开(公告)号：US06442292B1
公开(公告)日：2002-08-27
申请号：US09081620
申请日：1998-05-20
申请人： Hitoshi Otani , Nobuo Kochi
发明人： Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K900
CPC分类号： G01C21/005 , G06T7/593 , G06T2207/10012 , H04N13/239 , H04N2013/0081
摘要： A preferred shape measuring apparatus comprises a characteristic pattern extracting portion, in accordance with a pair of first images of a subject for measurement having characteristic patterns serving as references provided thereon in different angles and a pair of second images of the subject for measurement having no characteristic patterns serving as references provided thereon in the same angles as with the fist images, for calculating the difference between the first image and the second image taken in each direction thereby obtaining the characteristic patterns, positional relationship calculating portion for obtaining a positional relationship between the pair of the first images or the pair of the second images on the basis of the difference images obtained in the characteristic pattern extracting portion, a stereo model forming portion, in accordance with the positional relationship obtained in the positional relationship calculating portion, for mutually relating the fist images or the second images so that a stereo model capable of being stereoscopically viewed is formed, and a shape measuring portion for obtaining the shape of the subject in accordance with the stereo model formed in the stereo model forming portion.

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