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1. 发明申请

US20110235897A1 DEVICE AND PROCESS FOR THREE-DIMENSIONAL LOCALIZATION AND POSE ESTIMATION USING STEREO IMAGE, AND COMPUTER-READABLE STORAGE MEDIUM STORING THE PROGRAM THEREOF 审中-公开
标题翻译：使用立体图像进行三维局部化和位置估计的设备和过程以及存储其程序的计算机可读存储介质
公开(公告)号：US20110235897A1
公开(公告)日：2011-09-29
申请号：US13052659
申请日：2011-03-21
申请人： Masaharu Watanabe , Fumiaki Tomita , Kouta Fujimura , Yasuyuki Ikeda , Kengo Ichimura
发明人： Masaharu Watanabe , Fumiaki Tomita , Kouta Fujimura , Yasuyuki Ikeda , Kengo Ichimura
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06T7/75 , G06T2207/10016
摘要： The device includes: an input unit (4) for receiving image data obtained by capturing images of an object by imaging units (C1 to C3); and an arithmetic unit (1) that performs: 1) finding a three-dimensional reconstruction point set that contain three-dimensional position information of segments obtained by dividing a boundary of the object in the image data, and a feature set that contain three-dimensional information regarding vertices of the segments, for each of multiple pairs of two different images; 2) calculating a total three-dimensional reconstruction point set and a total feature set by totaling the three-dimensional reconstruction point sets and the feature sets of the multiple pairs; and 3) matching a model feature set regarding model data of the object with the total feature set, thereby determining, among the total three-dimensional reconstruction point set, points corresponding to model points of the object.
摘要翻译：该装置包括：输入单元（4），用于接收通过成像单元（C1至C3）捕获对象的图像而获得的图像数据; 以及运算单元（1），其执行以下操作：1）找到包含通过划分所述图像数据中的对象的边界而获得的段的三维位置信息的三维重构点集，以及包含三维重建点的特征集，对于两对不同图像的多对中的每一个，关于段的顶点的三维信息; 2）通过总计三维重建点集合和多对特征集来计算总三维重建点集和总特征集; 以及3）将关于对象的模型数据的模型特征集合与总特征集进行匹配，从而在总的三维重建点集合中确定与对象的模型点相对应的点。

2. 发明申请

US20110218776A1 MODEL PRODUCING APPARATUS, MODEL PRODUCING METHOD, AND COMPUTER-READABLE RECORDING MEDIUM IN WHICH MODEL PRODUCING PROGRAM IS STORED 有权
标题翻译：型号生产设备，型号生产方法和计算机可读记录介质，其中存储有生产程序的模型
公开(公告)号：US20110218776A1
公开(公告)日：2011-09-08
申请号：US13030512
申请日：2011-02-18
申请人： Kazuhiro Shono , Toyoo Iida , Kengo Ichimura , Reiji Takahashi , Akira Ishida , Yasuyuki Ikeda
发明人： Kazuhiro Shono , Toyoo Iida , Kengo Ichimura , Reiji Takahashi , Akira Ishida , Yasuyuki Ikeda
IPC分类号： G06F17/50
CPC分类号： G06F17/50 , G06F17/5018
摘要： A three-dimensional model data producing processing apparatus produces three-dimensional model data using design data (CAD data) of an object to be recognized. The three-dimensional model data producing processing includes processing conversion processing, edit processing, and teaching processing. The conversion processing and the edit processing are performed to the design data on a computer. The teaching processing is performed in a practical environment. It is not necessary to image a workpiece model in the three-dimensional model data producing processing.
摘要翻译：三维模型数据生成处理装置使用要识别的对象的设计数据（CAD数据）来生成三维模型数据。三维模型数据产生处理包括处理转换处理，编辑处理和教学处理。对计算机上的设计数据执行转换处理和编辑处理。教学处理在实际环境中进行。在三维模型数据生成处理中不需要对工件模型进行成像。

3. 发明申请

US20100156896A1 METHOD OF CREATING THREE-DIMENSIONAL MODEL AND OBJECT RECOGNIZING DEVICE 审中-公开
标题翻译：创建三维模型和对象识别装置的方法
公开(公告)号：US20100156896A1
公开(公告)日：2010-06-24
申请号：US12619911
申请日：2009-11-17
申请人： Kengo ICHIMURA , Akira Ishida , Toyoo Iida , Junichiro ueki , Kazuhiro Shono , Yoshizo Togawa
发明人： Kengo ICHIMURA , Akira Ishida , Toyoo Iida , Junichiro ueki , Kazuhiro Shono , Yoshizo Togawa
IPC分类号： G06T15/00 , G06K9/00
CPC分类号： G01B11/245 , G01B2210/52 , G06T1/00
摘要： This invention aims to ensure accuracy of a three-dimensional model to be registered. With information a of three-dimensional information a, b, c restored by measuring an actual model of a work, which is a target of three-dimensional recognition, from different directions as a reference, other three-dimensional information b, c are coordinate transformed so as to be aligned with the reference three-dimensional information, and three-dimensional information d including all of three-dimensional information b′, c′ after the transformation and the reference three-dimensional information a is created. The three-dimensional information d is temporarily registered as the three-dimensional model. A difference amount among the integrated three-dimensional information a, b′, c′ is calculated, and an evaluation index based on the difference value is displayed with an image view of a contour pattern represented by the three-dimensional model. A user checks the accuracy of the three-dimensional model on this display screen from a degree of variation of the contour line representing the same site and a value of the evaluation index, and determines whether or not to actually register the three-dimensional model d.
摘要翻译：本发明旨在确保要注册的三维模型的准确性。通过从不同方向作为参考，通过测量作为三维识别的目标的作品的实际模型而恢复的三维信息a，b，c的信息a，其他三维信息b，c是坐标变换为与参考三维信息对齐，并且生成包括变换后的三维信息b'，c'以及参考三维信息a的三维信息d。三维信息d被暂时登记为三维模型。计算积分三维信息a，b'，c'之间的差值，并以由三维模型表示的轮廓图案的图像视图显示基于差值的评价指标。用户从表示相同场地的轮廓线的变化程度和评估指标的值来检查该显示画面上的三维模型的精度，并且确定是否实际注册三维模型d 。

4. 发明授权

US08433128B2 Method of creating three-dimensional model and object recognizing device 有权
标题翻译：创建三维模型和物体识别装置的方法
公开(公告)号：US08433128B2
公开(公告)日：2013-04-30
申请号：US12611568
申请日：2009-11-03
申请人： Toyoo Ilda , Kengo Ichimura , Junichiro Ueki , Kazuhiro Shono , Yoshizo Togawa , Akira Ishida
发明人： Toyoo Ilda , Kengo Ichimura , Junichiro Ueki , Kazuhiro Shono , Yoshizo Togawa , Akira Ishida
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K2209/40
摘要： A polygonal mark M having a shape in which a direction can be uniquely specified is attached to a predetermined area of an actual model WM of a work to be three-dimensionally recognized. A process of changing the orientation of the actual model WM such that a state in which the mark M is contained in the view of each camera is maintained, and then performing the three-dimensional measurement is executed over a plurality of times. A predetermined number of, or two or more pieces of three-dimensional information is selected from the three-dimensional information restored by each measurement, these pieces of three-dimensional information are aligned and integrated, the information corresponding to the mark is deleted or invalidated from the integrated three-dimensional information, and the three-dimensional information after such a process is set as a three-dimensional model.
摘要翻译：具有能够唯一地指定方向的形状的多边形标记M附加到要被三维识别的作品的实际模型WM的预定区域。改变实际模型WM的取向的过程，使得保持每个照相机的视野中包含标记M的状态，然后多次执行三维测量。从通过每次测量恢复的三维信息中选择预定数量的或两个或更多个三维信息，这些三维信息被对齐和积分，与标记相对应的信息被删除或无效并且将这样的处理之后的三维信息设定为三维模型。

5. 发明申请

US20100111364A1 METHOD OF CREATING THREE-DIMENSIONAL MODEL AND OBJECT RECOGNIZING DEVICE 有权
标题翻译：创建三维模型和对象识别装置的方法
公开(公告)号：US20100111364A1
公开(公告)日：2010-05-06
申请号：US12611568
申请日：2009-11-03
申请人： Toyoo IIDA , Kengo Ichimura , Junichiro Ueki , Kazuhiro Shono , Yoshizo Togawa , Akira Ishida
发明人： Toyoo IIDA , Kengo Ichimura , Junichiro Ueki , Kazuhiro Shono , Yoshizo Togawa , Akira Ishida
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K2209/40
摘要： This invention aims to create a three-dimensional model of satisfactory accuracy even when adopting a method of performing three-dimensional measurement by arbitrarily changing a positional relationship between an actual model and a camera, and aligning and integrating three-dimensional information restored by each measurement. A polygonal mark M having a shape in which a direction can be uniquely specified is attached to a predetermined area of an actual model WM of a work to be three-dimensionally recognized. A process of changing the orientation of the actual model WM such that a state in which the mark M is contained in the view of each camera is maintained, and then performing the three-dimensional measurement is executed over a plurality of times. A predetermined number of, or two or more pieces of three-dimensional information is selected from the three-dimensional information restored by each measurement, these pieces of three-dimensional information are aligned and integrated, the information corresponding to the mark is deleted or invalidated from the integrated three-dimensional information, and the three-dimensional information after such a process is set as a three-dimensional model.
摘要翻译：本发明的目的在于，即使采用通过任意改变实际模型和相机之间的位置关系来进行三维测量的方法，并且通过每次测量恢复的三维信息进行对准和积分，也产生令人满意的精度的三维模型。具有能够唯一地指定方向的形状的多边形标记M附加到要被三维识别的作品的实际模型WM的预定区域。改变实际模型WM的取向的过程，使得保持每个照相机的视野中包含标记M的状态，然后多次执行三维测量。从通过每次测量恢复的三维信息中选择预定数量的或两个或更多个三维信息，这些三维信息被对齐和积分，与标记相对应的信息被删除或无效并且将这样的处理之后的三维信息设定为三维模型。

6. 发明授权

US08825452B2 Model producing apparatus, model producing method, and computer-readable recording medium in which model producing program is stored 有权
标题翻译：模型制作装置，模型制作方法以及存储模型生成程序的计算机可读记录介质
公开(公告)号：US08825452B2
公开(公告)日：2014-09-02
申请号：US13030512
申请日：2011-02-18
申请人： Kazuhiro Shono , Toyoo Iida , Kengo Ichimura , Reiji Takahashi , Akira Ishida , Yasuyuki Ikeda
发明人： Kazuhiro Shono , Toyoo Iida , Kengo Ichimura , Reiji Takahashi , Akira Ishida , Yasuyuki Ikeda
IPC分类号： G06F17/50
CPC分类号： G06F17/50 , G06F17/5018
摘要： A three-dimensional model data producing processing apparatus produces three-dimensional model data using design data (CAD data) of an object to be recognized. The three-dimensional model data producing processing includes processing conversion processing, edit processing, and teaching processing. The conversion processing and the edit processing are performed to the design data on a computer. The teaching processing is performed in a practical environment. It is not necessary to image a workpiece model in the three-dimensional model data producing processing.
摘要翻译：三维模型数据生成处理装置使用要识别的对象的设计数据（CAD数据）来生成三维模型数据。三维模型数据产生处理包括处理转换处理，编辑处理和教学处理。对计算机上的设计数据执行转换处理和编辑处理。教学处理在实际环境中进行。在三维模型数据生成处理中不需要对工件模型进行成像。

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