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1. 发明授权

US08103127B2 Image processing method and image processing apparatus of calculating position and orientation of target objects located in image 有权
标题翻译：图像处理方法和图像处理装置，用于计算位于图像中的目标对象的位置和方向
公开(公告)号：US08103127B2
公开(公告)日：2012-01-24
申请号：US11833396
申请日：2007-08-03
申请人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
发明人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
IPC分类号： G06K9/46 , G06F15/00
CPC分类号： G06K9/3216 , G06T7/73 , G06T7/80 , G06T2200/24 , G06T2207/10016 , G06T2207/30208
摘要： Indices in an image of a physical space on which a plurality of indices are allocated are identified, and the positions and orientations, on the physical space, of all or some identified indices are calculated.
摘要翻译：识别其上分配有多个索引的物理空间的图像中的指示，并且计算所有或一些所识别的索引的物理空间上的位置和取向。

2. 发明申请

US20080037901A1 IMAGE PROCESSING METHOD AND IMAGE PROCESSING APPARATUS 有权
标题翻译：图像处理方法和图像处理装置
公开(公告)号：US20080037901A1
公开(公告)日：2008-02-14
申请号：US11833396
申请日：2007-08-03
申请人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
发明人： Hiroki Yonezawa , Kenji Morita , Akihiro Katayama , Rika Takemoto , Kiyohide Satoh , Toshihiro Kobayashi , Sonoko Maeda
IPC分类号： G06K9/46 , G06F15/00
CPC分类号： G06K9/3216 , G06T7/73 , G06T7/80 , G06T2200/24 , G06T2207/10016 , G06T2207/30208
摘要： Indices in an image of a physical space on which a plurality of indices are allocated are identified, and the positions and orientations, on the physical space, of all or some identified indices are calculated (S142).
摘要翻译：识别其上分配有多个索引的物理空间的图像中的指标，并且计算所有或某些识别的索引的物理空间上的位置和取向（S 142）。

3. 发明授权

US07860345B2 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：US07860345B2
公开(公告)日：2010-12-28
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36 , G06K7/00 , H04N5/225
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

4. 发明申请

US20070242899A1 POSITION AND ORIENTATION MEASUREMENT METHOD AND POSITION AND ORIENTATION MEASUREMENT APPARATUS 有权
标题翻译：位置和方位测量方法和位置和方位测量装置
公开(公告)号：US20070242899A1
公开(公告)日：2007-10-18
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

5. 发明授权

US07558403B2 Information processing apparatus and information processing method 有权
标题翻译：信息处理装置和信息处理方法
公开(公告)号：US07558403B2
公开(公告)日：2009-07-07
申请号：US11277861
申请日：2006-03-29
申请人： Akihiro Katayama , Kenji Morita , Hiroki Yonezawa
发明人： Akihiro Katayama , Kenji Morita , Hiroki Yonezawa
IPC分类号： G06K9/00 , G06F3/00
CPC分类号： G06T19/006 , G02B27/017 , G02B2027/014 , G02B2027/0187 , G06T7/74 , H04N13/296
摘要： A configuration for measuring the position and the orientation specific to a mixed reality is separated from an application 70 to operate independently, and a shared memory 60 or process-to-process communication is used for data communication between them. This allows to modify configuration associated with the measurement of the position and the orientation such as the type of the sensor or an alignment method without modifying or recompiling the application 70. This facilitates providing the mixed reality system and supporting system modification.
摘要翻译：将用于测量混合现实的位置和取向的配置与应用70分离以独立地操作，并且共享存储器60或处理到过程通信用于它们之间的数据通信。这允许在不修改或重新编译应用70的情况下修改与测量位置和方向（例如传感器的类型或定位方法）相关联的配置。这有助于提供混合现实系统和支持系统修改。

6. 发明申请

US20060239525A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20060239525A1
公开(公告)日：2006-10-26
申请号：US11277861
申请日：2006-03-29
申请人： Akihiro Katayama , Kenji Morita , Hiroki Yonezawa
发明人： Akihiro Katayama , Kenji Morita , Hiroki Yonezawa
IPC分类号： G06K9/00
CPC分类号： G06T19/006 , G02B27/017 , G02B2027/014 , G02B2027/0187 , G06T7/74 , H04N13/296
摘要： A configuration for measuring the position and the orientation specific to a mixed reality is separated from an application 70 to operate independently, and a shared memory 60 or process-to-process communication is used for data communication between them. This allows to modify configuration associated with the measurement of the position and the orientation such as the type of the sensor or an alignment method without modifying or recompiling the application 70. This facilitates providing the mixed reality system and supporting system modification.
摘要翻译：将用于测量混合现实的位置和取向的配置与应用70分离以独立地操作，并且共享存储器60或处理到过程通信用于它们之间的数据通信。这允许修改与位置和方向的测量相关联的配置，例如传感器的类型或对准方法，而不修改或重新编译应用70。这有助于提供混合现实系统和支持系统修改。

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。

9. 发明授权

US08073201B2 Position/orientation measurement method and apparatus 有权
标题翻译：位置/方向测量方法和装置
公开(公告)号：US08073201B2
公开(公告)日：2011-12-06
申请号：US11815540
申请日：2006-02-03
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
IPC分类号： G06K9/00 , H04N5/932
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244
摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).
摘要翻译：本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

10. 发明申请

US20090022369A1 POSITION/ORIENTATION MEASUREMENT METHOD AND APPARATUS 有权
标题翻译：位置/方位测量方法和装置
公开(公告)号：US20090022369A1
公开(公告)日：2009-01-22
申请号：US11815540
申请日：2006-02-03
申请人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
发明人： Kiyohide Satoh , Shinji Uchiyama , Takaaki Endo , Kenji Morita
IPC分类号： G06K9/46
CPC分类号： G01B21/22 , G01B21/04 , G06T7/74 , G06T2207/30244
摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).
摘要翻译：本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

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