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1. 发明授权

US09135513B2 Image processing apparatus and method for obtaining position and orientation of imaging apparatus 有权
标题翻译：用于获得成像装置的位置和取向的图像处理装置和方法
公开(公告)号：US09135513B2
公开(公告)日：2015-09-15
申请号：US12257260
申请日：2008-10-23
申请人： Kazuki Takemoto , Kiyohide Satoh
发明人： Kazuki Takemoto , Kiyohide Satoh
IPC分类号： G06K9/00 , G06K9/32
CPC分类号： H04N13/207 , G06K9/00 , G06K9/32 , G06T7/60 , G06T7/73 , G06T2207/10012
摘要： An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.
摘要翻译：图像处理装置基于拍摄图像中的图像特征的图像坐标，获取拍摄图像中的各图像特征的位置信息。图像处理装置选择可用于计算所获取的位置信息中的成像装置的位置和方位的位置信息。图像处理装置基于所选择的位置信息和与包含在拍摄图像中的图像特征中的所选择的位置信息相对应的图像特征，获得成像装置的位置和取向。

2. 发明授权

US09013483B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US09013483B2
公开(公告)日：2015-04-21
申请号：US12248473
申请日：2008-10-09
申请人： Kazuki Takemoto , Takashi Aso
发明人： Kazuki Takemoto , Takashi Aso
IPC分类号： G06T7/00 , G06T19/00
CPC分类号： G06T19/006 , G06K9/00375 , G06K9/46 , G06K2009/4666 , G06T7/70 , G06T11/60 , G06T2207/10021
摘要： An object region detection unit (130) decides the region of a physical object of interest in a physical space image. An image manipulation unit (140) performs shading processing of an inclusion region including the decided region. A rendering unit (155) arranges a virtual object in virtual space at the position and orientation of the physical object of interest and generates a virtual space image based on the position and orientation of the user's viewpoint. A composition unit (160) generates a composite image by superimposing the virtual space image on the physical space image that has undergone the shading processing and outputs the generated composite image to an HMD (190).
摘要翻译：对象区域检测单元（130）在物理空间图像中确定感兴趣物理对象的区域。图像处理单元（140）对包含决定区域的包含区域进行遮蔽处理。渲染单元（155）将虚拟对象放置在感兴趣物理对象的位置和方向上的虚拟空间中，并且基于用户视点的位置和方向生成虚拟空间图像。合成单元（160）通过将虚拟空间图像叠加在已经经历了阴影处理的物理空间图像上并将生成的合成图像输出到HMD（190）来生成合成图像。

3. 发明授权

US08472703B2 Image capture environment calibration method and information processing apparatus 有权
标题翻译：图像捕获环境校准方法和信息处理设备
公开(公告)号：US08472703B2
公开(公告)日：2013-06-25
申请号：US13149231
申请日：2011-05-31
申请人： Kazuki Takemoto , Shinji Uchiyama , Takaaki Endo
发明人： Kazuki Takemoto , Shinji Uchiyama , Takaaki Endo
IPC分类号： G06T15/00
CPC分类号： H04N13/246 , G06T7/80 , G06T2207/30208
摘要： In a method of calibrating an image capture environment based on a captured image obtained by capturing an image of a physical space by an image capturing unit that captures the image of the physical space, an image of the physical space is captured using the image capturing unit, an index serving as a reference for calibration is detected from the captured image of the physical space, the position and orientation of the image capturing unit are calculated from the detected index, and image capturing unit unique information, geometric information associated with the physical space, or the relationship between the image capturing unit and the physical space is calibrated using the obtained data.
摘要翻译：在基于通过捕获物理空间的图像的图像捕获单元捕获物理空间的图像获得的拍摄图像来校准图像捕获环境的方法中，使用图像捕获单元捕获物理空间的图像从所捕获的物理空间的图像中检测出用于校准的基准的索引，根据检测到的索引计算图像拍摄单元的位置和方位，以及图像捕获单元的唯一信息，与物理空间相关联的几何信息，或者使用获得的数据校正图像捕获单元和物理空间之间的关系。

4. 发明授权

US08170339B2 Image processing apparatus and image processing method 有权
标题翻译：图像处理装置和图像处理方法
公开(公告)号：US08170339B2
公开(公告)日：2012-05-01
申请号：US12271685
申请日：2008-11-14
申请人： Kazuki Takemoto
发明人： Kazuki Takemoto
IPC分类号： G06K9/00 , G06K9/36
CPC分类号： G06K9/3216 , G06K9/209 , G06K2009/3225
摘要： For each image sensing device, an index in a sensed image is recognized, and layout information of the recognized index in a coordinate system based on an image sensing device that has acquired the sensed image is calculated. Index information including identification information unique to the index and the layout information of the index is managed. If recognition of a first index in a first sensed image acquired by a first image sensing device has failed, or the first index has erroneously been recognized, the index information of the first index is varied on the basis of the layout information of the first index calculated by the above process for a second sensed image acquired by a second image sensing device other than the first image sensing device.
摘要翻译：对于每个图像感测装置，识别感测图像中的索引，并且基于已经获取感测图像的图像感测装置来计算坐标系中识别的索引的布局信息。包括索引唯一的识别信息和索引的布局信息的索引信息被管理。如果对由第一图像感测装置获取的第一感测图像中的第一索引的识别失败或者错误地识别了第一索引，则基于第一索引的布局信息来改变第一索引的索引信息通过上述处理对由除了第一图像感测装置之外的第二图像感测装置获取的第二感测图像计算。

5. 发明申请

US20120002841A1 INFORMATION PROCESSING APPARATUS, THREE-DIMENSIONAL POSITION CALCULATION METHOD, AND PROGRAM 有权
标题翻译：信息处理装置，三维位置计算方法和程序
公开(公告)号：US20120002841A1
公开(公告)日：2012-01-05
申请号：US13169662
申请日：2011-06-27
申请人： Shinichi Aratani , Kazuki Takemoto , Takashi Aso
发明人： Shinichi Aratani , Kazuki Takemoto , Takashi Aso
IPC分类号： G06K9/34
CPC分类号： G06T7/0075 , G06T7/593 , G06T2207/10012 , G06T2207/10021 , H04N2013/0074
摘要： An information processing apparatus includes a region segmentation unit configured to segment each of a plurality of images shot by an imaging apparatus for shooting an object from a plurality of viewpoints, into a plurality of regions based on colors of the object, an attribute determination unit configured to determine, based on regions in proximity to intersections between scanning lines set on the each image and boundary lines of the regions segmented by the region segmentation unit in the each image, attributes of the intersections, a correspondence processing unit configured to obtain corresponding points between the images based on the determined intersections' attributes, and a three-dimensional position calculation unit configured to calculate a three-dimensional position of the object based on the obtained corresponding points.
摘要翻译：一种信息处理装置，包括区域分割单元，其被配置为基于由对象的颜色将由成像装置拍摄的多个图像中的每一个分割成多个区域，属性确定单元配置基于每个图像上设置的扫描线之间的交点附近的区域和由每个图像中的区域分割单元分割的区域的边界线的区域来确定交叉点的属性，对应处理单元，被配置为获得基于所确定的交叉点属性的图像，以及三维位置计算单元，被配置为基于获得的对应点来计算对象的三维位置。

6. 发明授权

US07519218B2 Marker detection method and apparatus, and position and orientation estimation method 有权
标题翻译：标记检测方法和装置，位置和方位估计方法
公开(公告)号：US07519218B2
公开(公告)日：2009-04-14
申请号：US11091624
申请日：2005-03-29
申请人： Kazuki Takemoto , Kiyohide Satoh
发明人： Kazuki Takemoto , Kiyohide Satoh
IPC分类号： G06K9/00
CPC分类号： G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06T7/80 , G06T19/006 , G06T2207/10024 , G06T2207/30204
摘要： A marker detection method includes the steps of acquiring a captured image, detecting a marker from the captured image, and determining whether or not a surrounding region of the detected marker includes a pixel of a predetermined color. An additional step includes determining, as a valid marker, a marker for which it is determined that the surrounding region does not include any pixel of the predetermined color.
摘要翻译：标记检测方法包括以下步骤：获取捕获的图像，从捕获的图像中检测标记，以及确定检测标记的周围区域是否包括预定颜色的像素。附加步骤包括确定作为有效标记的标记，其被确定为周围区域不包括预定颜色的任何像素。

7. 发明申请

US20080285854A1 MARKER ARRANGEMENT INFORMATION MEASURING APPARATUS AND METHOD 有权
标题翻译：标记装置信息测量装置和方法
公开(公告)号：US20080285854A1
公开(公告)日：2008-11-20
申请号：US11836085
申请日：2007-08-08
申请人： Daisuke Kotake , Kazuki Takemoto , Kenji Morita , Sonoko Maeda
发明人： Daisuke Kotake , Kazuki Takemoto , Kenji Morita , Sonoko Maeda
IPC分类号： G06K9/66
CPC分类号： G06T7/73 , G06T2207/30208
摘要： A marker arrangement information measuring apparatus includes an image acquiring unit configured to acquire a captured image, a marker detecting unit configured to detect markers from the captured image, a marker identifying unit configured to identify the marker detected by the marker detecting unit, an arrangement information calculating unit configured to calculate arrangement information of the marker based on an identification result of the marker identifying unit, an analyzing unit configured to analyze the identification result of the marker identifying unit, and a display unit configured to display an image corresponding to an analysis result of the analyzing unit on the captured image in a combined manner, thus presenting the analysis result to a user.
摘要翻译：标记装置信息测量装置包括：图像获取单元，被配置为获取拍摄图像;标记检测单元，被配置为从所述拍摄图像中检测标记;标记识别单元，被配置为识别由所述标记检测单元检测到的标记;布置信息计算单元，被配置为基于标识识别单元的识别结果来计算标记的排列信息;分析单元，被配置为分析标记识别单元的识别结果;以及显示单元，被配置为显示与分析结果相对应的图像的分析单元，从而将分析结果呈现给用户。

8. 发明申请

US20050234333A1 Marker detection method and apparatus, and position and orientation estimation method 有权
标题翻译：标记检测方法和装置，位置和方位估计方法
公开(公告)号：US20050234333A1
公开(公告)日：2005-10-20
申请号：US11091624
申请日：2005-03-29
申请人： Kazuki Takemoto , Kiyohide Satoh
发明人： Kazuki Takemoto , Kiyohide Satoh
IPC分类号： A61B5/05 , G06T1/00 , G06T5/00 , G06T7/00 , H04N5/232
CPC分类号： G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06T7/80 , G06T19/006 , G06T2207/10024 , G06T2207/30204
摘要： This invention relates to a mixed reality presentation apparatus for obtaining the position and orientation of an image sensing unit using markers. Whether or not a marker detected in a captured image has suspicion of partial occlusion is determined by checking if a region that neighbors a marker region includes a predetermined color, thus inhibiting information obtained from the marker with suspicion of partial occlusion from being used in position and orientation estimation of the image sensing unit. The precision of the obtained position and orientation can be improved.
摘要翻译：本发明涉及一种用于使用标记获得图像感测单元的位置和方向的混合现实呈现装置。通过检查邻近标记区域的区域是否包含预定颜色来确定在捕获图像中检测到的标记是否具有部分闭塞的怀疑，从而抑制从标记获得的信息，其中怀疑部分遮挡被用于位置，并且摄像单元的姿态估计。可以提高获得的位置和取向的精度。

9. 发明授权

US06853935B2 Information processing apparatus, mixed reality presentation apparatus, method thereof, and storage medium 失效
标题翻译：信息处理装置，混合现实呈现装置，方法和存储介质
公开(公告)号：US06853935B2
公开(公告)日：2005-02-08
申请号：US09818600
申请日：2001-03-28
申请人： Kiyohide Satoh , Mahoro Anabuki , Toshikazu Ohshima , Shinji Uchiyama , Kazuki Takemoto
发明人： Kiyohide Satoh , Mahoro Anabuki , Toshikazu Ohshima , Shinji Uchiyama , Kazuki Takemoto
IPC分类号： A63B67/04 , A63F13/812 , G01B7/00 , G01B7/30 , G01B11/00 , G06F3/01 , G06F3/033 , G06F3/0346 , G06F3/038 , G06T7/60 , G06T19/00 , G01C17/38
CPC分类号： G06T15/10 , A63F13/00 , A63F13/211 , A63F13/807 , A63F2300/105 , A63F2300/1093 , A63F2300/30 , A63F2300/69 , A63F2300/8082
摘要： A view transformation matrix that represents the position/attitude of an HMD is generated based on a signal that represents the position/attitude of the HMD (S602). On the other hand, landmarks and their locations are detected based on a captured picture (S604) and a calibration matrix ΔMc is generated using the detected locations of the landmarks (S605). The position/attitude of the HMD is calibrated using the view transformation matrix and calibration matrix ΔMc generated by the above processes (S606), a picture of a virtual object is generated based on external parameters that represent the position/attitude of the calibrated HMD, and a mixed reality picture is generated (S607). The generated mixed reality picture is displayed in the display section (S609).
摘要翻译：基于表示HMD的位置/姿态的信号，生成表示HMD的位置/姿势的视角变换矩阵（S602）。另一方面，基于拍摄图像检测地标及其位置（S604），并且使用检测到的地标的位置生成校准矩阵DeltaMc（S605）。使用由上述处理生成的视角变换矩阵和校准矩阵DeltaMc校正HMD的位置/姿态（S606），基于表示校准HMD的位置/姿态的外部参数生成虚拟对象的图像，并生成混合现实画面（S607）。生成的混合现实图像显示在显示部分（S609）中。

10. 发明授权

US09317924B2 Information processing apparatus, three-dimensional position calculation method, and program 有权
标题翻译：信息处理装置，三维位置计算方法和程序
公开(公告)号：US09317924B2
公开(公告)日：2016-04-19
申请号：US13169662
申请日：2011-06-27
申请人： Shinichi Aratani , Kazuki Takemoto , Takashi Aso
发明人： Shinichi Aratani , Kazuki Takemoto , Takashi Aso
IPC分类号： G06K9/00 , G06T7/00 , H04N13/00
CPC分类号： G06T7/0075 , G06T7/593 , G06T2207/10012 , G06T2207/10021 , H04N2013/0074
摘要： An information processing apparatus includes a region segmentation unit configured to segment each of a plurality of images shot by an imaging apparatus for shooting an object from a plurality of viewpoints, into a plurality of regions based on colors of the object, an attribute determination unit configured to determine, based on regions in proximity to intersections between scanning lines set on the each image and boundary lines of the regions segmented by the region segmentation unit in the each image, attributes of the intersections, a correspondence processing unit configured to obtain corresponding points between the images based on the determined intersections' attributes, and a three-dimensional position calculation unit configured to calculate a three-dimensional position of the object based on the obtained corresponding points.
摘要翻译：一种信息处理装置，包括区域分割单元，其被配置为基于由对象的颜色将由成像装置拍摄的多个图像中的每一个分割成多个区域，属性确定单元配置基于每个图像上设置的扫描线之间的交点附近的区域和由每个图像中的区域分割单元分割的区域的边界线的区域来确定交叉点的属性，对应处理单元，被配置为获得基于所确定的交叉点属性的图像，以及三维位置计算单元，被配置为基于获得的对应点来计算对象的三维位置。

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