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1. 发明授权

US08600170B2 Edge extraction apparatus, surveying equipment, and program 有权
标题翻译：边缘提取设备，测量设备和程序
公开(公告)号：US08600170B2
公开(公告)日：2013-12-03
申请号：US12954395
申请日：2010-11-24
申请人： Kazuo Kitamura , Nobuo Kochi , Hitoshi Otani
发明人： Kazuo Kitamura , Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K9/48
CPC分类号： G06T5/002 , G06T7/13 , G06T2207/20192
摘要： An edge extraction device can reduce detected noise other than a contour of an article, and can improve the operability. The edge extraction device includes: an edge detection section which calculates edge strength from an image and detects an edge; a labeling processing section which performs labeling processing on the edge detected by the edge detection section and calculates a length of the edge; an edge enhancement processing section which performs edge enhancement processing by using a value corresponding to the length of the edge, which is calculated by the labeling processing section, and the edge strength, which is calculated by the edge detection; and an edge extraction section which performs binarization processing on a value of the image, which is enhanced by the edge enhancement processing section, by using an adjustable threshold value, and extracts a predetermined edge.
摘要翻译：边缘提取装置可以减少除了制品的轮廓之外的检测到的噪声，并且可以提高可操作性。边缘提取装置包括：边缘检测部，其从图像计算边缘强度并检测边缘; 标签处理部，对由边缘检测部检测出的边缘进行标注处理，计算边缘的长度; 边缘增强处理部，其通过使用与由所述标签处理部计算出的所述边缘的长度对应的值和通过所述边缘检测计算出的边缘强度来进行边缘增强处理; 以及边缘提取部，其通过使用可调阈值对由边缘增强处理部增强的图像的值进行二值化处理，并提取预定边缘。

2. 发明申请

US20110085738A1 EDGE EXTRACTION APPARATUS, SURVEYING EQUIPMENT, AND PROGRAM 有权
标题翻译：边缘提取设备，调查设备和程序
公开(公告)号：US20110085738A1
公开(公告)日：2011-04-14
申请号：US12954395
申请日：2010-11-24
申请人： Kazuo Kitamura , Nobuo Kochi , Hitoshi Otani
发明人： Kazuo Kitamura , Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K9/48
CPC分类号： G06T5/002 , G06T7/13 , G06T2207/20192
摘要： An edge extraction device can reduce detected noise other than a contour of an article, and can improve the operability. The edge extraction device includes: an edge detection section which calculates edge strength from an image and detects an edge; a labeling processing section which performs labeling processing on the edge detected by the edge detection section and calculates a length of the edge; an edge enhancement processing section which performs edge enhancement processing by using a value corresponding to the length of the edge, which is calculated by the labeling processing section, and the edge strength, which is calculated by the edge detection; and an edge extraction section which performs binarization processing on a value of the image, which is enhanced by the edge enhancement processing section, by using an adjustable threshold value, and extracts a predetermined edge.
摘要翻译：边缘提取装置可以减少除了制品的轮廓之外的检测到的噪声，并且可以提高可操作性。边缘提取装置包括：边缘检测部，其从图像计算边缘强度并检测边缘; 标签处理部，对由边缘检测部检测出的边缘进行标注处理，计算边缘的长度; 边缘增强处理部，其通过使用与由所述标签处理部计算出的所述边缘的长度对应的值和通过所述边缘检测计算出的边缘强度来进行边缘增强处理; 以及边缘提取部，其通过使用可调阈值对由边缘增强处理部增强的图像的值进行二值化处理，并提取预定边缘。

3. 发明授权

US07479982B2 Device and method of measuring data for calibration, program for measuring data for calibration, program recording medium readable with computer, and image data processing device 有权
标题翻译：测量用于校准的数据的装置和方法，用于测量校准数据的程序，用计算机读取的程序记录介质和图像数据处理装置
公开(公告)号：US07479982B2
公开(公告)日：2009-01-20
申请号：US10612404
申请日：2003-07-03
申请人： Hitoshi Otani , Nobuo Kochi , Takayuki Noma
发明人： Hitoshi Otani , Nobuo Kochi , Takayuki Noma
IPC分类号： H04N13/04 , H04N15/00 , H04N17/00
CPC分类号： G01C11/06
摘要： A device for measuring data for calibration for obtaining data for calibration of a camera 2 capable of varying its optical conditions, wherein the data for calibration are obtained using a plurality of images of a calibration chart 1 having marks arranged thereon which were photographed with the camera 1 under varied optical conditions, comprising: a mark extracting part 131 for extracting the marks from the images of the chart; an internal parameter calculating part 134 for calculating data for calibration under optical conditions under which the images of the chart were photographed based on the positions of the marks extracted by the mark extracting part and a plurality of conditions under which the images of the chart were photographed; and an internal parameter function calculating part 160 for calculating data for calibration corresponding to the varied optical photographing conditions of the camera 2, using the data for calibration calculated in the internal parameter calculating part and a plurality of optical conditions under which the images of the chart were photographed. The device can remove the effect of lens distortion from an image photographed with a camera capable of varying its optical conditions.
摘要翻译：一种用于测量校准数据的装置，用于获得能够改变其光学条件的用于校准相机2的数据，其中用于校准数据的多个图像获得，所述校准图1具有布置在其上的标记，其被照相机拍摄 1，其包括：标记提取部分131，用于从图表的图像中提取标记; 内部参数计算部分134，用于在根据由标记提取部分提取的标记的位置和拍摄图表的图像的多个条件的光学条件下计算图表的图像的光学条件下计算数据; ; 以及内部参数函数计算部分160，用于使用在内部参数计算部分中计算出的用于校准的数据和多个光学条件来计算与相机2的变化的光学摄影条件相对应的校准数据，以及多个光学条件被拍照。该装置可以消除由能够改变其光学条件的照相机拍摄的图像的透镜失真的影响。

4. 发明申请

US20050271264A1 Three-dimensional image measuring apparatus and method 失效
标题翻译：三维图像测量装置及方法
公开(公告)号：US20050271264A1
公开(公告)日：2005-12-08
申请号：US11109876
申请日：2005-04-20
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G01B11/24 , G06T1/00 , G06T3/00 , G06T5/00 , G06T7/00 , G06K9/00
CPC分类号： G06T5/006 , G06T7/32 , G06T7/593 , G06T2207/10012 , G06T2207/20016 , G06T2207/30181
摘要： The present invention provides a three-dimensional image measuring apparatus and method capable of measuring projections and depressions on a surface of an object with fine precision, as well as ensuring stable convergence, even for stereo images with significant project distortion. The apparatus includes an area setting section 56 for setting a reference area 57 in one image 53 of a pair of stereo images 46 and a search area 58 in the other image 54 in a position corresponding to the reference area 57, a search image distortion correcting section 62 for applying an image distortion correction to either one of the one image 53 or the other image 54 according to the positional relationship between the reference area 57 and the search area 58 corresponding to the reference area 57, and an area shape measuring section 66 for measuring a shape of a measuring object 41 photographed in the stereo images 46 based on the reference area 57 in the one image 53 and the search area 58 in the other image 54, either one of which has been corrected by the search image distortion correcting section 62.
摘要翻译：本发明提供了能够以精确的精度测量物体表面上的凹凸的三维图像测量装置和方法，并且即使对于具有显着的项目失真的立体图像也能确保稳定的收敛。该装置包括区域设定部分56，用于在对应于参考区域57的位置中的另一图像54中的一对立体图像46和搜索区域58的一个图像53中设置参考区域57，搜索图像失真校正根据参考区域57和对应于参考区域57的搜索区域58之间的位置关系，对图像53或另一图像54中的任一个施加图像失真校正部分62和区域形状测量部分66 用于基于一个图像53中的参考区域57和另一图像54中的搜索区域58来测量在立体图像46中拍摄的测量对象41的形状，其中任一个已经通过搜索图像失真校正第62条。

5. 发明授权

US06611664B2 Stereo image photographing system 有权
标题翻译：立体声图像拍摄系统
公开(公告)号：US06611664B2
公开(公告)日：2003-08-26
申请号：US09887267
申请日：2001-06-25
申请人： Nobuo Kochi , Mituharu Yamada , Hitoshi Otani
发明人： Nobuo Kochi , Mituharu Yamada , Hitoshi Otani
IPC分类号： G03B3500
CPC分类号： G03B35/00 , H04N13/221 , H04N13/239 , H04N13/254 , H04N13/296 , H04N2013/0081
摘要： The present invention provides a stereo image photographing system capable of easily obtaining a stable, highly reliable and accurate stereo image when three-dimensional measurement is carried out by a general camera. A photographing unit includes a camera and an omni-directional prism. By collimating the prism on the photographing unit, a measuring unit measures position data thereof (measured value). A photographing position calculating unit calculates a proper photographing position based on a photographing condition set by a condition setting unit. To realize coincidence or rough coincidence between the data of the position (measured value) of the photographing unit measured by the measuring unit and the data of the photographing position calculated by the photographing position calculating unit, a photographing control unit allows a movement control unit and a driving unit to move the photographing unit, and outputs a timing signal for photographing to the photographing unit and the measuring unit. Based on the timing signal, an image data storing unit stores image data and the position data. A signal processing unit performs three-dimensional measurement and analysis based on the image data and the position data.
摘要翻译：本发明提供了一种立体图像拍摄系统，当通过一般照相机进行三维测量时，能够容易地获得稳定，高度可靠和准确的立体图像。拍摄单元包括相机和全向棱镜。通过在拍摄单元上准直棱镜，测量单元测量其位置数据（测量值）。拍摄位置计算单元基于由条件设置单元设置的拍摄条件来计算适当的拍摄位置。为了实现由测量单元测量的拍摄单元的位置（测量值）的数据与由拍摄位置计算单元计算的拍摄位置的数据之间的一致或粗略的重合，拍摄控制单元允许移动控制单元和用于移动拍摄单元的驱动单元，并将用于拍摄的定时信号输出到拍摄单元和测量单元。基于定时信号，图像数据存储单元存储图像数据和位置数据。信号处理单元基于图像数据和位置数据进行三维测量和分析。

6. 发明申请

US20080095402A1 Device and method for position measurement 有权
标题翻译：位置测量装置和方法
公开(公告)号：US20080095402A1
公开(公告)日：2008-04-24
申请号：US11905404
申请日：2007-09-28
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani , Hirokazu Sato
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G01C11/10 , G01C21/005 , G01C21/165 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/30252
摘要： A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.
摘要翻译：提供一种位置测量装置，其可以基于顺序地改变拍摄的图像来精确地测量拍摄装置的拍摄位置或姿势或对象的坐标。本发明的位置测量装置100包括：图像获取部分2，用于获取连续或一点一点地连续变化的拍摄图像以及相对于被拍摄对象的位置位移; 用于测量图像获取部分2的位置偏移和姿势变化的位置关系测量部分9; 特征提取部分3，用于从由图像获取部分2获得的拍摄图像中提取特征点; 特征点跟踪部分4，用于通过搜索与多个拍摄图像上的特征点相对应的对应点来跟踪特征点; 图像选择部分61，用于基于由位置关系测量部分9进行的测量结果从一系列拍摄的图像中选择要处理的图像; 以及位置测量部分7，用于基于通过图像选择部分61选择的要处理的图像来测量图像获取部分2的拍摄位置和拍摄姿势。

7. 发明授权

US07301560B2 Three-dimensional field for calibration and method of photographing the same 有权
标题翻译：用于校准的三维场景和拍摄方法
公开(公告)号：US07301560B2
公开(公告)日：2007-11-27
申请号：US10853741
申请日：2004-05-26
申请人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
发明人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
IPC分类号： H04N17/00
CPC分类号： G01C11/00 , G01C25/00
摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.
摘要翻译：具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内，角区域110。

8. 发明授权

US07116818B2 Image forming apparatus, image forming method and computer-readable storage medium having an image forming program 有权
标题翻译：图像形成装置，图像形成方法以及具有图像形成程序的计算机可读存储介质
公开(公告)号：US07116818B2
公开(公告)日：2006-10-03
申请号：US10738172
申请日：2003-12-18
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K9/00
CPC分类号： G01C11/06
摘要： An image forming process for easily making an image drawing (ortho-image) in an actual place while confirming it in real time. Measuring of control points (at least three points) is performed (S110), and preparation is made for forming an ortho-image based on image data thereof and survey data. Where photographing is carried out from a plurality of directions, additional image measuring is performed (S140). Then, ortho-image formation is performed on a PC (S160). Here, if a formed ortho-image is not what is desired, ortho-image correction is performed (S180). After a satisfactory image is obtained (S200), the process moves to a next area to be measured, and the same operation is repeated. On the other hand, unless a satisfactory image is obtained, additional image measuring (S140) is performed again.
摘要翻译：一种用于在实际确认的同时容易地进行图像绘制（正像）的图像形成处理。执行控制点（至少三点）的测量（S110），并根据其图像数据和测量数据进行准备以形成正射影像。在从多个方向进行拍摄的情况下，执行附加的图像测量（S140）。然后，在PC上执行邻图像形成（S160）。这里，如果形成的正像不是期望的，则进行正像校正（S180）。在获得令人满意的图像（S 200）之后，处理移动到下一个要测量的区域，并且重复相同的操作。另一方面，除非获得令人满意的图像，否则再次执行附加图像测量（S140）。

9. 发明申请

US20060013474A1 Stereo image measuring device 审中-公开
公开(公告)号：US20060013474A1
公开(公告)日：2006-01-19
申请号：US11229577
申请日：2005-09-20
申请人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
发明人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G01C11/06 , G06T7/593 , G06T2207/10012 , G06T2207/20016 , H04N13/239 , H04N2013/0081
摘要： The present invention discloses a stereo image measuring device capable of carrying out high-speed and highly reliable three-dimensional measurement for a stereo image, easily correcting any omitted measurement, measurement errors or the like, and achieving a much higher speed, efficiency and reliability for measurement as a whole. A survey instrument measures a number of control points on site. A camera is, for example a digital camera, a film camera or the like. A control point search unit executes correlation between a control point measured beforehand by the instrument survey and an image. A search area setting unit sets a search area to be used for image correlation processing based on the control points correlated by the control point search unit, and sets respective data blocks, i.e., a reference data block and a search data block. An arithmetic operation unit executes orientation calculation, and image correlation processing (stereo matching) for the search area set by the search area setting unit. A display unit is a stereo monitor, a personal computer monitor or the like providing stereoscopic vision. A measuring unit executes additional measurement when the result of correlation processing is not satisfactory.

10. 发明申请

US20050013504A1 Apparatus and method for calibrating zoom lens 有权
标题翻译：用于校准变焦镜头的装置和方法
公开(公告)号：US20050013504A1
公开(公告)日：2005-01-20
申请号：US10858468
申请日：2004-06-02
申请人： Takayuki Noma , Hitoshi Otani , Nobuo Kochi
发明人： Takayuki Noma , Hitoshi Otani , Nobuo Kochi
IPC分类号： G01C11/02 , G01C25/00 , G06K9/00
CPC分类号： G01C25/00 , G01C11/02
摘要： A calibrating apparatus for a zoom lens comprising: a first image-acquiring section 60 for acquiring a first image-for-calibration by photographing an area, in which reference marks for calibration are positioned, with a photographic device-to-be-calibrated 19 whose focal length is set to a first focal length; a second image-acquiring section 62 for acquiring a second image-for-calibration by photographing the area, in which the reference marks for calibration are positioned, with the photographic device-to-be-calibrated 19 whose focal length is set to a second focal length; a correction coefficient calculating section 64 for calculating a calibration correction coefficient for the first and second focal lengths, with the use of the photographed reference marks in the first and second image-for-calibrations: and a reference mark inferring section 66 for inferring a positional relationship of the photographed reference marks for calibration in the second image-for-calibration, with the use of the photographed reference marks for calibration in the first image-for-calibration.
摘要翻译：一种用于变焦透镜的校准装置，包括：第一图像获取部分60，用于通过拍摄用于校准的参考标记的区域，用待校准的照相装置19获取第一图像校准图像其焦距被设定为第一焦距; 第二图像获取部分62，用于通过拍摄其中用于校准的参考标记的区域来定位其焦距被设置为第二个的要被校准的照相装置19的第二图像校准焦距; 校正系数计算部64，用于通过使用第一和第二图像校准中的拍摄参考标记来计算第一焦距和第二焦距的校准系数;以及参考标记推断部分66，用于推断位置在第二图像校准中使用所拍摄的参考标记进行校准的用于校准的拍摄参考标记的关系。

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