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61. 发明授权

US09544575B2 Image acquiring device and image acquiring system 有权
标题翻译：图像采集装置和图像采集系统
公开(公告)号：US09544575B2
公开(公告)日：2017-01-10
申请号：US13610926
申请日：2012-09-12
申请人： Fumio Ohtomo , Hitoshi Otani , Masayuki Momiuchi , Kazuki Osaragi
发明人： Fumio Ohtomo , Hitoshi Otani , Masayuki Momiuchi , Kazuki Osaragi
IPC分类号： H04N13/02 , G06K9/62 , G01J3/28 , B64C39/02 , B64D47/08 , G01C11/06 , G06T7/20 , G01C11/02 , G06T7/00 , G06K9/00
CPC分类号： H04N13/296 , B64C39/024 , B64C2201/024 , B64C2201/127 , B64C2201/146 , B64D47/08 , G01C11/025 , G06K9/00208 , G06K9/6202 , G06T7/248 , G06T7/285 , G06T7/85 , H04N13/221 , H04N13/25 , H04N13/257
摘要： An image acquiring device comprises a first camera 14 for acquiring video images, consisting of frame images continuous in time series, a second camera 15 being in a known relation with the first camera and used for acquiring two or more optical spectral images of an object to be measured, and an image pickup control device 21, and in the image acquiring device, the image pickup control device is configured to extract two or more feature points from one of the frame images, to sequentially specify the feature points in the frame images continuous in time series, to perform image matching between the frame images regarding the frame images corresponding to the two or more optical spectral images based on the feature points, and to synthesize the two or more optical spectral images according to the condition obtained by the image matching.
摘要翻译：图像获取装置包括用于获取视频图像的第一照相机14，其由以时间序列连续的帧图像组成，第二照相机15与第一照相机呈已知关系，并用于获取物体的两个或更多个光谱图像以及图像拾取控制装置21，并且在图像获取装置中，图像拾取控制装置被配置为从一个帧图像提取两个或更多个特征点，以顺序地指定帧图像中的特征点连续在时间序列中，基于特征点执行与两个或更多个光谱图像相对应的帧图像的帧图像之间的图像匹配，并且根据通过图像匹配获得的条件来合成两个或更多个光谱图像。

62. 发明授权

US08630755B2 Automatic taking-off and landing system 有权
标题翻译：自动起降系统
公开(公告)号：US08630755B2
公开(公告)日：2014-01-14
申请号：US13238419
申请日：2011-09-21
申请人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
发明人： Fumio Ohtomo , Kazuki Osaragi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G05D1/10 , B64D45/00 , G06F19/00
CPC分类号： B64D45/08 , B64C39/024 , B64C2201/141 , B64C2201/145 , G01S5/16 , G01S19/15 , G01S19/51 , G05D1/0669 , G05D1/0676
摘要： The invention provides an automatic taking-off and landing system, comprising a flying object and a taking-off and landing target, wherein the flying object has an image pickup device 21 for taking images found in downward direction, navigation means 4, 5, 6, 8, 9, 10 and 11, and a control unit for processing images acquired by the image pickup device and for controlling the navigation means, and wherein the control unit calculates a positional relation between the taking-off and landing target and the flying object based on the image of the taking-off and landing target as acquired by the image pickup device and controls taking-off and landing operations of the flying object based on a result of the calculation.
摘要翻译：本发明提供了一种自动起飞和着陆系统，包括飞行物体和起飞着陆目标，其中飞行物体具有用于拍摄向下方向的图像的摄像装置21，导航装置4,5,6 ，8,9,10,11;以及控制单元，用于处理由图像拾取装置获取并用于控制导航装置的图像，并且其中控制单元计算起飞和着陆目标与飞行物体之间的位置关系基于由图像拾取装置获取的起飞和着陆目标的图像，并且基于计算结果控制飞行对象的起飞和着陆操作。

63. 发明授权

US07860276B2 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：US07860276B2
公开(公告)日：2010-12-28
申请号：US11567909
申请日：2006-12-07
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00 , G03B17/00
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摆动的情况下，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变化的运动图像或拍摄图像的对象的坐标，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，以使用所确定的相应点来计算拍摄位置或对象的坐标。

64. 发明授权

US07787689B2 Location measuring device and method 有权
标题翻译：位置测量装置及方法
公开(公告)号：US07787689B2
公开(公告)日：2010-08-31
申请号：US12166654
申请日：2008-07-02
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06T7/579 , G06T7/74 , G06T2200/08 , G06T2207/10016
摘要： With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points. Three-dimensional measurement is carried out by tracking again feature points while removing those incorrect corresponding points.
摘要翻译：通过对与多个运动图像帧中的特征点对应的点应用估计处理，实现三维测量的装置和方法，实现了高速和高精度。该装置包括：第一轨道确定部分（4B），其确定从运动图像帧提取的特征点的对应点，以及使用部分所确定的相应点通过鲁棒估计帧之间的坐标变换投影参数来估计;第二轨道确定部分（4C），其使用估计值来确定每个对应点的估计位置的坐标值，以相对于每个对应点的估计值来确定坐标值的残差，以应用阈值处理，并且将大残差的点排除为不正确的对应点。通过再次跟踪特征点，同时移除那些不正确的对应点来进行三维测量。

65. 发明授权

US07768737B2 Servo information writing method, magnetic head tester and magnetic disk tester using the servo information writing method 有权
标题翻译：伺服信息写入方式，磁头测试仪和磁盘测试仪采用伺服信息写入方式
公开(公告)号：US07768737B2
公开(公告)日：2010-08-03
申请号：US12204283
申请日：2008-09-04
申请人： Yoshihiro Sakurai , Hitoshi Otani , Kunihito Higa , Yukio Yamamoto
发明人： Yoshihiro Sakurai , Hitoshi Otani , Kunihito Higa , Yukio Yamamoto
IPC分类号： G11B21/02 , G11B5/596 , G11B27/36
CPC分类号： G11B19/048 , G11B5/5552 , G11B5/59633 , G11B5/59666
摘要： A mark information is recorded in an area which is on a circumference of a magnetic disk corresponding to a last track in which a servo information write is ended or a track, which is one or two in front of the last track in which servo information is not written and the mark information is detected by returning a magnetic head in a radial direction of the magnetic disk by a fine movement stage after the magnetic head is moved to a next aimed track by a coarse movement stage. The servo information write position is detected by the magnetic head and the servo information is written in a servo information write position of a next track by positioning the magnetic head therein by using the fine movement stage.
摘要翻译：标记信息被记录在与伺服信息写入的最后轨道相对应的磁盘的圆周上的区域中，或者在伺服信息为最后轨道的前面的一个或两个轨迹在通过粗略移动阶段将磁头移动到下一个目标轨道之后，通过微细移动台返回磁盘的径向方向的磁头来检测标记信息。通过磁头检测伺服信息写入位置，并且通过使用微动载台将磁头定位在其中，将伺服信息写入下一轨道的伺服信息写入位置。

66. 发明授权

US07747150B2 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：US07747150B2
公开(公告)日：2010-06-29
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
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 feature points are extracted. The feature 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。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

67. 发明申请

US20090241358A1 Multi-Point Measuring Method and Surveying Device 有权
标题翻译：多点测量方法和测量装置
公开(公告)号：US20090241358A1
公开(公告)日：2009-10-01
申请号：US12309060
申请日：2008-04-18
申请人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
发明人： Fumio Ohtomo , Hitoshi Otani , Junki Kaneko , Tetsuji Anai , Terukazu Nagashima
IPC分类号： G01C3/04 , G06K9/00 , H04N7/00
CPC分类号： G01C15/002
摘要： There are provided a telescope unit (5) having a first image pickup unit for acquiring a wide-angle image and a second image pickup unit for acquiring a telescopic image with higher magnification than the wide-angle image, a distance measuring unit for performing distance measurement by projecting a distance measuring light and by receiving a light reflected from an object to be measured, an angle measuring unit for detecting a horizontal angle and a vertical angle of the telescope unit, a drive unit for rotating and driving the telescope unit in a horizontal direction and in a vertical direction, and a control device for controlling image pickup of the first image pickup unit and the second image pickup unit and for controlling the drive unit based on the results of detection from the angle measuring unit, wherein the control device synthesizes a panoramic image by connecting the wide-angle image obtained by the first image pickup unit, sets up a scheduled measuring point by edge processing of the wide-angle image, and extracts the measuring point corresponding to the scheduled measuring points in the telescopic image by scanning the scheduled measuring point and acquiring the telescopic image by the second image pickup unit with respect to scheduled measuring points, and distance measurement is performed on the measuring point.
摘要翻译：提供了具有用于获取广角图像的第一图像拾取单元和用于获取具有比广角图像更高放大率的望远图像的第二图像拾取单元的望远镜单元（5），用于执行距离的距离测量单元通过投射距离测量光并且接收从被测量物体反射的光的测量，用于检测望远镜单元的水平角度和垂直角度的角度测量单元，用于在望远镜单元中旋转和驱动望远镜单元的驱动单元水平方向和垂直方向的控制装置，以及用于控制第一图像拾取单元和第二图像拾取单元的图像拾取并基于来自角度测量单元的检测结果来控制驱动单元的控制装置，其中控制装置通过连接由第一图像拾取单元获得的广角图像来合成全景图像，通过边缘处理设置预定的测量点并且通过扫描预定测量点并且通过第二图像拾取单元相对于计划的测量点获取与伸缩图像中的预定测量点相对应的测量点并获取伸缩图像，以及距离测量在测量点进行。

68. 发明授权

US07319511B2 Surveying instrument and electronic storage medium 有权
标题翻译：测量仪器和电子存储介质
公开(公告)号：US07319511B2
公开(公告)日：2008-01-15
申请号：US10501260
申请日：2003-11-12
申请人： Shunji Murai , Fumio Ohtomo , Hitoshi Otani
发明人： Shunji Murai , Fumio Ohtomo , Hitoshi Otani
IPC分类号： G01C3/08
CPC分类号： G01C15/002
摘要： The present invention relates to a surveying instrument for measuring the distance to a target to be measured, a horizontal angle, and a vertical angle by use of reflected light. An imager can be connected to the surveying instrument. In addition, an arithmetic processing means can determine a three-dimensional position of a plane part by determining from at least three measuring points an equation that includes the plane part as the target to be measured, and then by associating digital image data to which the plane part belongs with the equation so that the plane part is identified.
摘要翻译：本发明涉及一种测量仪器，用于通过使用反射光来测量与被测量物体的距离，水平角度和垂直角度。成像仪可以连接到测量仪器。此外，算术处理装置可以通过从至少三个测量点确定包括作为要测量的目标的平面部分的方程式，然后通过将数字图像数据相关联来确定平面部分的三维位置，平面部分属于方程，使得平面部分被识别。

69. 发明申请

US20070236561A1 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：US20070236561A1
公开(公告)日：2007-10-11
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： H04N13/02
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 feature points are extracted. The feature 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。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像可选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

70. 发明申请

US20070115354A1 Three-dimensional data preparing method and three-dimensional data preparing device 有权
标题翻译：三维数据准备方法和三维数据准备装置
公开(公告)号：US20070115354A1
公开(公告)日：2007-05-24
申请号：US11598498
申请日：2006-11-13
申请人： Fumio Ohtomo , Hitoshi Otani
发明人： Fumio Ohtomo , Hitoshi Otani
IPC分类号： H04N7/18
CPC分类号： G01C11/02
摘要： A 3-dimensional data preparing method, comprising a first step of continuously taking digital images of scenes in the surrounding when moving from a first point, which is a known point, via a second point, which is a known point, to a third point, which is an unknown point, a second step of generating tracking points from an image acquired at the first point, and sequentially specifying the tracking points by the pursuit of the points generated on the continuously acquired images, a third step of obtaining 3-dimensional data of the tracking points based on the result of orientation of the tracking points at the first point and at the second point and from position data of the first point and the second point, a fourth step of sequentially obtaining a position of the third point, i.e. an unknown point, based on the result of orientation of the tracking point acquired at the third point and based on 3-dimensional position data of the tracking point, a fifth step of obtaining 3-dimensional position data of an image including the tracking point from the result of orientation of the images including the tracking points at the first point and at the second point and from the position data at the first point and at the second point, and a sixth step of sequentially obtaining 3-dimensional position data of images including the tracking points from the result of orientation of the images including the tracking points at the second point and at the third point and from the position data at the second point and at the third point.
摘要翻译：一种三维数据准备方法，包括第一步骤，当从作为已知点的第一点经由已知点的第二点移动到第三点时，连续拍摄周围的场景的数字图像，其是未知点，第二步骤，从在第一点获取的图像产生跟踪点，并且通过追踪在连续获取的图像上产生的点来顺序地指定跟踪点;第三步骤，获得三维基于第一点和第二点处的跟踪点的取向结果和第一点和第二点的位置数据的跟踪点的数据，顺序获得第三点的位置的第四步骤，即基于在第三点获取的跟踪点的取向的结果并且基于跟踪点的三维位置数据的未知点，获得3维尺度的第五步骤从包括在第一点和第二点处的跟踪点的图像的方位结果以及从第一点和第二点处的位置数据的包括跟踪点的图像的位置数据，以及第六步骤从包括在第二点和第三点处的跟踪点的图像的取向结果以及从第二点和第三点处的位置数据顺序地获得包括跟踪点的图像的三维位置数据。

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