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1. 发明授权

US4703512A Pattern outline tracking method and apparatus 失效
标题翻译：模式轮廓跟踪方法和装置
公开(公告)号：US4703512A
公开(公告)日：1987-10-27
申请号：US760607
申请日：1985-07-30
申请人： Kazuhiko Saka , Atsushi Hisano , Michitaka Kato , Toshimichi Masaki , Nobuo Nakatsuka
发明人： Kazuhiko Saka , Atsushi Hisano , Michitaka Kato , Toshimichi Masaki , Nobuo Nakatsuka
IPC分类号： G06T7/60 , G06K9/48 , G06T9/20 , G06K9/30 , G06K9/46
CPC分类号： G06T9/20 , G06K9/48
摘要： A pattern outline tracking system provides the functions that include scanning an object to be recognized and providing a series of analog video signals, comparing a video signal level with the specific, variable threshold level and providing a binary signal consisting of a sequence of serial bits, holding the binary signal bits as the input image pattern in an image memory, deriving partial patterns sequentially from the serial binary signal bits, each of the partial patterns consisting of a matrix of vertical and horizontal lines each containing specific numbers of pixels, matching the partial patterns against the corresponding reference patterns containing the previously defined starting points to be tracked, holding the address in the image memory for the certain pixel within the partial pattern identified in the matching step as the possible point address for the tracking operation, and tracking the outline of the input image pattern on the image memory in accordance with the possible point address.
摘要翻译：模式轮廓跟踪系统提供了包括扫描要识别的对象并提供一系列模拟视频信号的功能，将视频信号电平与特定的可变阈值电平进行比较，并提供由串行位序列组成的二进制信号，将二进制信号位保持为图像存储器中的输入图像图案，从串行二进制信号比特顺序地导出部分图案，每个部分图案由垂直和水平线的矩阵组成，每个包含特定数量的像素，匹配部分针对包含先前定义的要跟踪的起始点的相应参考图案的图案，将在匹配步骤中标识的部分图案内的特定像素的图像存储器中的地址保持为跟踪操作的可能点地址，并跟踪轮廓的图像存储器中的输入图像图案可点地址。

2. 发明授权

US4703344A Illumination system of the digital control type 失效
标题翻译：数字控制型照明系统
公开(公告)号：US4703344A
公开(公告)日：1987-10-27
申请号：US843390
申请日：1986-03-24
申请人： Atushi Hisano , Yoshinori Yamaguchi , Toshimichi Masaki , Kazuhiko Saka , Nobuo Nakatsuka , Mitsutaka Kato
发明人： Atushi Hisano , Yoshinori Yamaguchi , Toshimichi Masaki , Kazuhiko Saka , Nobuo Nakatsuka , Mitsutaka Kato
IPC分类号： B25J9/16 , B25J19/04 , G06K9/20 , H04N7/18 , H04N9/31
CPC分类号： G06K9/2036 , B25J19/04 , B25J9/1697 , G06K9/2018
摘要： A digital control color illumination system is disclosed for use in a visual system of an industrial robot or the like. This system comprises: image memories to store the color data regarding illumination patterns of three primary colors of red, green, and blue; video signal producing circuits each for reading out the data from the image memory and converting it to the video signal indicative of the illumination pattern; video projectors each for projecting the light of the illumination pattern represented by the video signal onto an object to be illuminated; and a color TV camera to pick up the object image. The image data picked up is processed by a computer system to produce the data which is stored into the image memories. With this illumination system, the scanning of the illumination patterns, and the change, adjustment, storage, and the like of the illumination patterns can be executed by software in accordance with programs preliminarily stored in the program memory in the computer system.
摘要翻译：公开了用于工业机器人等的视觉系统中的数字控制彩色照明系统。该系统包括：存储有关红色，绿色和蓝色三原色的照明图案的颜色数据的图像存储器; 每个视频信号产生电路用于从图像存储器读出数据并将其转换成指示照明图案的视频信号; 每个用于将由视频信号表示的照明图案的光投射到被照明物体上的视频投影仪; 和彩色电视摄像机来拾取物体图像。拾取的图像数据由计算机系统处理以产生存储到图像存储器中的数据。利用该照明系统，可以通过软件根据预先存储在计算机系统中的程序存储器中的程序来执行照明图案的扫描以及照明图案的改变，调整，存储等。

3. 发明授权

US4776027A Geometric figure position and orientation detection method and device 失效
标题翻译：几何图形位置和方位检测方法及装置
公开(公告)号：US4776027A
公开(公告)日：1988-10-04
申请号：US699597
申请日：1985-02-08
申请人： Atushi Hisano , Kazuhiko Saka , Toshimichi Masaki , Tsukasa Yamashita
发明人： Atushi Hisano , Kazuhiko Saka , Toshimichi Masaki , Tsukasa Yamashita
IPC分类号： G06T7/60 , G05D1/02 , G06K9/52 , G06K9/46
CPC分类号： G06K9/52 , G05D1/0246
摘要： The position and orientation of a geometric figure are detected by sequentially producing the coordinates with respect to an orthogonal coordinate system of pixels which make up an image of the geometric figure, by singling out from these sequentially produced coordinates of these pixels the coordinates of certain characteristic pixels of these pixels which make up an image of the geometric figure, and by comparing these coordinates of these certain characteristic pixels with stored information. Preferably, the certain characteristic pixels are: that pixel, of those which have the least value of one coordinate, which has the least value of the other coordinate; that pixel, of those which have the greatest value of the one coordinate, which has the least value of the other coordinate; that pixel, of those which have the least value of the other coordinate, which has the least value of the one coordinate; and that pixel, of those which have the greatest value of the other coordinate, which has the least value of the one coordinate. A device is also disclosed for performing this method.
摘要翻译：通过从构成几何图像的图像的像素的正交坐标系中顺序产生坐标来检测几何图形的位置和取向，通过从这些像素的这些顺序产生的坐标中选出特定特征的坐标这些像素的像素构成几何图形的图像，并且将这些特定像素的这些坐标与存储的信息进行比较。优选地，某些特征像素是：具有最小值的一个坐标的那个像素具有另一个坐标的最小值; 那个具有最大值的一个坐标的那个像素具有另一个坐标的最小值; 那些具有最小值的另一个坐标值的那个像素具有最小的一个坐标值; 以及那个具有最小值的另一个坐标值的那个像素，它具有最小的一个坐标值。还公开了一种用于执行该方法的装置。

4. 发明授权

US5521987A Image processing method and apparatus employing gray scale images having fewer bits per pixel and gray scale image restoration using small areas of an image window 失效
标题翻译：图像处理方法和装置，其使用具有较少的像素位数的灰度图像和使用图像窗口的小区域的灰度级图像恢复
公开(公告)号：US5521987A
公开(公告)日：1996-05-28
申请号：US251966
申请日：1994-06-01
申请人： Toshimichi Masaki
发明人： Toshimichi Masaki
IPC分类号： G06T1/00 , G06K9/64 , G06T3/40 , G06T7/00 , G06K9/80
CPC分类号： G06K9/6202 , G06T3/40 , G06K2209/03
摘要： Input image data representing the image of a subject imaged by a video camera 9 is applied from an A/D converter circuit 11 to a dither-image generating circuit 13, in which the image data is binarized in accordance with the error diffusion method, whereby dither image data represented by one bit per pixel is obtained. A plurality of small areas each comprising a plurality of pixels are set within a window caused to scan the dither image, and the dither image data is summed in each and every small area by an image restoration circuit 14, whereby gray-level image data, in which each small area serves as one pixel, is restored. Difference or correlation values between the restored image data and text data set in advance with regard to standard images which are different from one another are calculated, for the window at each and every position, by arithmetic circuits 15a.about.15k. The smallest difference or the largest correlation values and the positions of the windows in which this smallest difference or the largest correlation values are produced are respectively sensed by corresponding peak holding circuits 16a.about.16k.
摘要翻译：表示由摄像机9拍摄的被摄体的图像的输入图像数据从A / D转换器电路11施加到抖动图像生成电路13，其中根据误差扩散方法将图像数据二值化，由此获得由每像素1位表示的抖动图像数据。将由多个像素组成的多个小区域设置在扫描抖动图像的窗口内，由图像恢复电路14将每个小区域的抖动图像数据相加，由此灰度图像数据，其中每个小区域用作一个像素，被恢复。通过算术电路15a差分15k，对于每个位置的窗口，计算恢复的图像数据和预先设定的相对于彼此不同的标准图像的文本数据之间的差值或相关值。通过相应的峰值保持电路16a差分16k分别产生最小差值或最大相关值以及产生该最小差值或最大相关值的窗口的位置。

5. 发明授权

US06285787B1 Image pickup and processing device and method thereof 失效
标题翻译：摄像及处理装置及其方法
公开(公告)号：US06285787B1
公开(公告)日：2001-09-04
申请号：US08962036
申请日：1997-10-31
申请人： Masahiro Kawachi , Toshimichi Masaki
发明人： Masahiro Kawachi , Toshimichi Masaki
IPC分类号： G06K900
CPC分类号： G01N21/8806 , G01N2021/8829
摘要： An improved image pickup device or method and an improved image processing device or method which directly projects a region specifying image on an object to specify and focus the object within a predetermined region without employing any image display unit so as to take an image of the object and judge the quality of the taken image. An image pickup device (2) includes an image pickup means (22) for taking an image of an object (1) which is focused through a lens (21), and a projecting means (25) for projecting an image (27p) of a predetermined shape on the object. An image processing device (4) compares the image taken by the image pickup device (2) with a predetermined image stored beforehand to produce a result of such comparison.
摘要翻译：一种改进的图像拾取装置或方法以及改进的图像处理装置或方法，其直接在对象上投影区域指定图像，以在不使用任何图像显示单元的情况下指定和聚焦在预定区域内的对象，以便拍摄对象的图像并判断拍摄图像的质量。一种图像拾取装置（2）包括用于拍摄通过透镜（21）聚焦的物体（1）的图像的图像拾取装置（22），以及用于投影图像（27p）的投影装置（25）物体上的预定形状。图像处理装置（4）将由图像拾取装置（2）拍摄的图像与预先存储的预定图像进行比较，以产生这样的比较结果。

6. 发明授权

US5642168A High resolution picture image processing method and system 失效
标题翻译：高分辨率图像处理方法和系统
公开(公告)号：US5642168A
公开(公告)日：1997-06-24
申请号：US551912
申请日：1995-10-23
申请人： Toshimichi Masaki
发明人： Toshimichi Masaki
IPC分类号： G01B11/00 , G06T1/00 , G06T3/00 , G06T3/40 , H04N1/387 , H04N1/40 , H04N5/262
CPC分类号： H04N1/40068 , G06T3/40 , H04N5/335
摘要： A picture processing system capable of processing a high resolution picture by a conventional picture processor, in which a picture converter is interposed between a camera producing a high resolution picture and a picture processor processing a general purpose picture signal, the picture processor applies coordinates (Xs, Ys) of a specific picture element and sampling intervals about picture element in X and Y axial directions to the picture converter upon the entry of the high resolution picture produced by the camera to the picture converter, the picture converter receives synchronizing signals and a horizontal blanking signal which are produced in the picture processor and subsequently extracts a predetermined picture element data based on the designated data in accordance with the timing of respective signals, and the extracted picture element data is converted to analog general purpose picture signal for application to the picture processor, which is processed by a conventional picture processing method.
摘要翻译：一种能够通过常规图像处理器处理高分辨率图像的图像处理系统，其中图像转换器插入在产生高分辨率图像的相机和处理通用图像信号的图像处理器之间，图像处理器应用坐标（Xs ，Ys），并且在由照相机产生的高分辨率图像进入图像转换器时，将X和Y轴方向上的图像元素的采样间隔与图像转换器进行采样，图像转换器接收同步信号和水平在图像处理器中产生的消隐信号，并且随后根据各个信号的定时基于指定的数据提取预定的图像元素数据，并将所提取的图像元素数据转换为模拟通用图像信号以供应用于图像处理器，其由常规p处理图片处理方法。

7. 发明授权

US06798928B2 Image recording apparatus 失效
标题翻译：图像记录装置
公开(公告)号：US06798928B2
公开(公告)日：2004-09-28
申请号：US09809082
申请日：2001-03-16
申请人： Toyoo Iida , Masanori Sato , Tomoki Ishizawa , Toshimichi Masaki
发明人： Toyoo Iida , Masanori Sato , Tomoki Ishizawa , Toshimichi Masaki
IPC分类号： G06K954
CPC分类号： G06T7/001 , G01N21/8851 , G06T2207/30164
摘要： An image recording apparatus for recording image data of an inspection object and inspection data corresponding to inspection results outputted at their own respective timings from an inspection apparatus which judges quality by an image recognition process is equipped with a temporary storage portion for temporarily storing the image data and the inspection data, a storage device, and a control portion for synchronizing the image data and the inspection data and storing the synchronized image data and inspection data in the storage device based on relative position data from a prescribed signal sent from the inspection apparatus, wherein the control portion accesses the temporary storage portion to acquire previous data for at least the prescribed signal.
摘要翻译：用于记录检查对象的图像数据的图像记录装置和与其各自的定时输出的检查结果相对应的检查数据的图像记录装置配备有用于临时存储图像数据的临时存储部分以及检查数据，存储装置和用于使图像数据和检查数据同步的控制部分，并且基于从检查装置发送的规定信号的相对位置数据将同步的图像数据和检查数据存储在存储装置中，其中所述控制部分访问所述临时存储部分以获取至少所述规定信号的先前数据。

8. 发明授权

US5621825A Image processor, image processing method and apparatus applying same 失效
标题翻译：图像处理器，图像处理方法和应用它的装置
公开(公告)号：US5621825A
公开(公告)日：1997-04-15
申请号：US146022
申请日：1993-11-05
申请人： Toshimichi Masaki , Yutaka Kato
发明人： Toshimichi Masaki , Yutaka Kato
IPC分类号： G06K9/64 , G06T5/20 , G06K9/38
CPC分类号： G06K9/6202 , G06T5/20
摘要： Input image data representing the image of a subject imaged by a video camera is applied from an A/D converter circuit 11 to a dither-image generating circuit 13, in which the image data is binarized in accordance with the error diffusion method, whereby dither image data represented by one bit per pixel is obtained. A plurality of small areas each comprising a plurality of pixels are set within a window caused to scan the dither image, and the dither image data is summed in each and every small area by an image restoration circuit 14, whereby gray-level image data, in which each small area serves as one pixel, is restored. A difference or correlation value between the restored image data and text data set in advance with regard to a standard image is calculated, for the window at each and every position, by an arithmetic circuit 15. The smallest difference or the largest correlation value and the position of the window in which this smallest difference or the largest correlation value is produced are sensed by a peak holding circuit 16.
摘要翻译： PCT No.PCT / JP93 / 00285 Sec。 371日期：1993年11月5日 102（e）日期1993年11月5日PCT 1993年3月8日PCT公布。公开号WO93 / 18471 日期1993年9月16日输入表示由摄像机成像的被摄体的图像的图像数据从A / D转换电路11施加到抖动图像生成电路13，其中图像数据根据错误二值化扩散方法，由此获得由每像素一位表示的抖动图像数据。将由多个像素组成的多个小区域设置在扫描抖动图像的窗口内，由图像恢复电路14将每个小区域的抖动图像数据相加，由此灰度图像数据，其中每个小区域用作一个像素，被恢复。通过算术电路15，对于每个位置的窗口，计算恢复的图像数据和相对于标准图像预先设定的文本数据之间的差值或相关值。最小差值或最大相关值和通过峰值保持电路16检测产生该最小差值或最大相关值的窗口的位置。

9. 发明授权

US5621824A Shading correction method, and apparatus therefor 失效
标题翻译：阴影校正方法及其装置
公开(公告)号：US5621824A
公开(公告)日：1997-04-15
申请号：US70360
申请日：1993-06-01
申请人： Takashi Ijiri , Toshihiko Matsumoto , Toshimichi Masaki , Naoshi Awano , Osamu Motooka
发明人： Takashi Ijiri , Toshihiko Matsumoto , Toshimichi Masaki , Naoshi Awano , Osamu Motooka
IPC分类号： H04N1/401 , G06T1/00 , G06K9/40
CPC分类号： G06T15/80 , G06T15/506
摘要： An image obtained by imaging an object having a solid shape, such as that of a circular column or prism, develops a distribution in brightness since the angle of each portion of the surface of the object with respect to a lighting device and image pick-up device differs depending upon the location. The distribution of brightness is substantially uniform along the longitudinal direction of the object but varies transversely of the object. One line is designated on the captured image of the object in a direction that cuts across the object, and the distribution of brightness on this line is obtained. A two-dimensional shading pattern is obtained by expanding this brightness distribution in the longitudinal direction of the object. The shading pattern represents the distribution of the brightness in the image of the surface of the object. Accordingly, a shading correction is performed by subtracting the shading pattern data from the image data of the object, and the distribution of brightness caused by the solid shape of the object is eliminated.
摘要翻译： PCT No.PCT / JP91 / 01664 Sec。 371日期：1993年6月1日 102（e）日期1993年6月1日PCT 1991年11月29日PCT PCT。第WO92 / 10810号公报日期1992年6月26日通过对具有圆形列或棱镜的实心形状的物体进行成像而获得的图像显现出亮度分布，因为物体的每个部分相对于照明装置的角度并且摄像装置根据位置而不同。亮度的分布沿着物体的纵向基本均匀，但是在物体的横向方向上变化。在对象的拍摄图像上沿着切割对象的方向指定一条线，并且获得该线上的亮度分布。通过在物体的纵向方向扩展该亮度分布来获得二维阴影图案。阴影图案表示对象表面的图像中亮度的分布。因此，通过从对象的图像数据中减去阴影图案数据来执行阴影校正，并且消除由对象的实体形状引起的亮度分布。

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