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1. 发明授权

US08081815B2 Marker arrangement information measuring apparatus and method 有权
标题翻译：标记布置信息测量装置和方法
公开(公告)号：US08081815B2
公开(公告)日：2011-12-20
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： G06K9/00
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。

2. 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。

3. 发明授权

US08823779B2 Information processing apparatus and control method thereof 有权
标题翻译：信息处理装置及其控制方法
公开(公告)号：US08823779B2
公开(公告)日：2014-09-02
申请号：US12763672
申请日：2010-04-20
申请人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
发明人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
IPC分类号： H04N13/02
CPC分类号： G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244 , H04N13/221 , H04N13/296
摘要： A technique for reducing the time required before a tracking process is performed again in calculating the position and orientation of an image capturing apparatus or an object. Images captured by the apparatus are acquired, the acquired images are stored in order per frame, straight lines detected in the captured images and straight lines in a three-dimensional space model are matched, the position and orientation of the apparatus are initialized by obtaining correspondences having the highest consistency, a captured image to be processed is selected from the captured images, the change in position and orientation of the apparatus is measured using the change in position and orientation of a target object in the selected image based on the initialized position and orientation of the apparatus, and if the measured change in position and orientation is not within a predetermined threshold, initialization is performed using the selected image.
摘要翻译：一种用于在计算图像捕获设备或对象的位置和方位时再次执行跟踪处理之前减少所需时间的技术。获取由装置拍摄的图像，所获取的图像按照每帧顺序存储，在捕获的图像中检测到的直线和三维空间模型中的直线相匹配，通过获得对应关系来初始化装置的位置和取向具有最高的一致性，从捕获的图像中选择要处理的捕获图像，使用基于初始化位置的所选图像中的目标对象的位置和取向的改变来测量装置的位置和取向的变化，以及方位，并且如果所测量的位置和方向的改变不在预定阈值内，则使用所选择的图像执行初始化。

4. 发明申请

US20100277572A1 INFORMATION PROCESSING APPARATUS AND CONTROL METHOD THEREOF 有权
标题翻译：信息处理装置及其控制方法
公开(公告)号：US20100277572A1
公开(公告)日：2010-11-04
申请号：US12763672
申请日：2010-04-20
申请人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
发明人： Naohito Nakamura , Kenji Morita , Daisuke Kotake , Kazuki Takemoto
IPC分类号： H04N13/02
CPC分类号： G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244 , H04N13/221 , H04N13/296
摘要： A technique for reducing the time required before a tracking process is performed again in calculating the position and orientation of an image capturing apparatus or an object. Images captured by the apparatus are acquired, the acquired images are stored in order per frame, straight lines detected in the captured images and straight lines in a three-dimensional space model are matched, the position and orientation of the apparatus are initialized by obtaining correspondences having the highest consistency, a captured image to be processed is selected from the captured images, the change in position and orientation of the apparatus is measured using the change in position and orientation of a target object in the selected image based on the initialized position and orientation of the apparatus, and if the measured change in position and orientation is not within a predetermined threshold, initialization is performed using the selected image.
摘要翻译：一种用于在计算图像捕获设备或对象的位置和方位时再次执行跟踪处理之前减少所需时间的技术。获取由装置拍摄的图像，所获取的图像按照每帧顺序存储，在捕获的图像中检测到的直线和三维空间模型中的直线相匹配，通过获得对应关系来初始化装置的位置和取向具有最高的一致性，从捕获的图像中选择要处理的捕获图像，使用基于初始化位置的所选图像中的目标对象的位置和取向的改变来测量装置的位置和取向的变化，以及方位，并且如果所测量的位置和方向的改变不在预定阈值内，则使用所选择的图像执行初始化。

5. 发明申请

US20080240550A1 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：US20080240550A1
公开(公告)日：2008-10-02
申请号：US12051321
申请日：2008-03-19
申请人： Kenji Morita , Daisuke Kotake , Tomohiko Shimoyama
发明人： Kenji Morita , Daisuke Kotake , Tomohiko Shimoyama
IPC分类号： G06K9/20
CPC分类号： G06T7/70 , G06T2207/30204
摘要： By applying identification processing to each index included in a captured image, a set of an identifier, image coordinates, and an image number is acquired for each index, and the acquired set is registered in a data saving unit. The data saving unit manages the numbers of times of previous identification for respective identifiers. A display unit displays the number of times managed in association with an identifier in a set to be registered every time the set is registered. An index position and orientation calculation unit calculates the positions and orientations of indices corresponding to a set group using the set group registered in a memory.
摘要翻译：通过对包含在拍摄图像中的每个索引应用识别处理，针对每个索引获取标识符，图像坐标和图像编号的集合，并将获取的集合登记在数据保存单元中。数据保存单元管理各个标识符的先前识别次数。显示单元在每次注册集合时显示与要登记的集合中的标识符相关联的管理次数。索引位置和方向计算单元使用登记在存储器中的设定组来计算与设定组对应的索引的位置和方向。

6. 发明授权

US08019148B2 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：US08019148B2
公开(公告)日：2011-09-13
申请号：US12051321
申请日：2008-03-19
申请人： Kenji Morita , Daisuke Kotake , Tomohiko Shimoyama
发明人： Kenji Morita , Daisuke Kotake , Tomohiko Shimoyama
IPC分类号： G06K9/00
CPC分类号： G06T7/70 , G06T2207/30204
摘要： By applying identification processing to each index included in a captured image, a set of an identifier, image coordinates, and an image number is acquired for each index, and the acquired set is registered in a data saving unit. The data saving unit manages the numbers of times of previous identification for respective identifiers. A display unit displays the number of times managed in association with an identifier in a set to be registered every time the set is registered. An index position and orientation calculation unit calculates the positions and orientations of indices corresponding to a set group using the set group registered in a memory.
摘要翻译：通过对包含在拍摄图像中的每个索引应用识别处理，针对每个索引获取标识符，图像坐标和图像编号的集合，并将获取的集合登记在数据保存单元中。数据保存单元管理各个标识符的先前识别次数。显示单元在每次注册集合时显示与要登记的集合中的标识符相关联的管理次数。索引位置和方向计算单元使用登记在存储器中的设定组来计算与设定组对应的索引的位置和方向。

7. 发明授权

US09467682B2 Information processing apparatus and method 有权
标题翻译：信息处理装置和方法
公开(公告)号：US09467682B2
公开(公告)日：2016-10-11
申请号：US13976200
申请日：2011-12-22
申请人： Daisuke Watanabe , Shinji Uchiyama , Daisuke Kotake
发明人： Daisuke Watanabe , Shinji Uchiyama , Daisuke Kotake
IPC分类号： G06T15/00 , H04N13/02 , G06T7/00
CPC分类号： H04N13/275 , G06T7/75 , G06T2207/10004 , G06T2207/10028
摘要： An information processing apparatus includes a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object, an image acquiring unit configured to acquire an image of the measurement target object, a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image, and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
摘要翻译：一种信息处理设备，包括：模型存储单元，被配置为存储用于获取测量目标对象的位置和姿势的三维形式模型;图像获取单元，被配置为获取测量目标对象的图像，第一位置和姿势获取单元，被配置为基于所述三维形式模型的第一几何特征和所述图像内的第一几何特征获取第一坐标系中的所述三维形式模型的第一位置和姿势，以及第二位置以及姿势获取单元，被配置为基于所述三维形式模型的第二几何特征，在与所述第一坐标系不同的第二坐标系中获取所述三维形式模型的第二位置和姿势;以及第二图像内的几何特征和第一位置和姿势。

8. 发明授权

US08699786B2 3D model generating apparatus, method and CRM by line pattern imaging 有权
标题翻译： 3D模型生成设备，方法和CRM通过线图案成像
公开(公告)号：US08699786B2
公开(公告)日：2014-04-15
申请号：US12962231
申请日：2010-12-07
申请人： Daisuke Kotake
发明人： Daisuke Kotake
IPC分类号： G06K9/00
CPC分类号： G06K9/4604 , G06T7/55
摘要： An image processing apparatus comprising: an input unit configured to input a plurality of images obtained by capturing a target object from different viewpoints; a detection unit configured to detect a plurality of line segments from each of the plurality of input images; a setting unit configured to set, for each of the plurality of detected line segments, a reference line which intersects with the line segment; an array derivation unit configured to obtain a pattern array in which a plurality of pixel value change patterns on the set reference line are aligned; and a decision unit configured to decide association of the detected line segments between the plurality of images by comparing the pixel value change patterns, contained in the obtained pattern array, between the plurality of images.
摘要翻译：一种图像处理装置，包括：输入单元，被配置为输入通过从不同视点捕获目标对象而获得的多个图像; 检测单元，被配置为从所述多个输入图像中的每一个检测多个线段; 设置单元，被配置为针对所述多个检测线段中的每一个设置与所述线段相交的参考线; 数组导出单元，被配置为获得其中所述设定参考线上的多个像素值改变图案对齐的图案阵列; 以及判定单元，被配置为通过比较所获取的图案阵列中包含的像素值改变图案来确定多个图像之间的检测到的线段的关联。

9. 发明申请

US20130230235A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 审中-公开
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20130230235A1
公开(公告)日：2013-09-05
申请号：US13885965
申请日：2011-11-15
申请人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06T19/00
CPC分类号： G06T19/003 , G06T7/75 , G06T2207/10004 , G06T2207/10028 , G06T2207/30108
摘要： An information processing apparatus according to the present invention includes a three-dimensional model storage unit configured to store data of a three-dimensional model that describes a geometric feature of an object, a two-dimensional image input unit configured to input a two-dimensional image in which the object is imaged, a range image input unit configured to input a range image in which the object is imaged, an image feature detection unit configured to detect an image feature from the two-dimensional image input from the two-dimensional image input unit, an image feature three-dimensional information calculation unit configured to calculate three-dimensional coordinates corresponding to the image feature from the range image input from the range image input unit, and a model fitting unit configured to fit the three-dimensional model into the three-dimensional coordinates of the image feature.
摘要翻译：根据本发明的信息处理装置包括：三维模型存储单元，被配置为存储描述对象的几何特征的三维模型的数据;二维图像输入单元，被配置为输入二维对象被成像的图像，被配置为输入对象被成像的范围图像的范围图像输入单元，被配置为从从二维图像输入的二维图像中检测图像特征的图像特征检测单元输入单元，图像特征三维信息计算单元，被配置为从所述范围图像输入单元输入的范围图像中计算与所述图像特征对应的三维坐标;以及模型拟合单元，被配置为将所述三维模型拟合为图像特征的三维坐标。

10. 发明授权

US08355531B2 Position and orientation measurement method and position and orientation measurement apparatus 有权
标题翻译：位置和方向测量方法以及位置和方向测量装置
公开(公告)号：US08355531B2
公开(公告)日：2013-01-15
申请号：US11944998
申请日：2007-11-26
申请人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
IPC分类号： G06K9/00 , G09G5/00 , G01C17/00
CPC分类号： G01C11/04 , G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30208 , G06T2207/30244
摘要： Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.
摘要翻译：从被图像感测装置时间序列感测的帧的感测图像中检测分配或设置在对象上的指示。与从感兴趣的感兴趣图像检测到的每个索引相关联，获取来自感兴趣的帧之前的帧的检测条件。根据获取的指标检测条件，计算该指标的可靠性。使用至少与检测到的索引的图像坐标和索引的可靠性相关联的信息来计算对象或图像感测设备的位置和取向。

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