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1. 发明授权

US06633304B2 Mixed reality presentation apparatus and control method thereof 有权
标题翻译：混合现实呈现装置及其控制方法
公开(公告)号：US06633304B2
公开(公告)日：2003-10-14
申请号：US09816072
申请日：2001-03-26
申请人： Mahoro Anabuki , Kiyohide Satoh , Akihiro Katayama
发明人： Mahoro Anabuki , Kiyohide Satoh , Akihiro Katayama
IPC分类号： G06T1520
CPC分类号： G06F3/011 , G02B27/017 , G02B2027/0112 , G02B2027/014 , G02B2027/0187 , G02B2027/0198 , G09G5/06
摘要： A mixed reality presentation apparatus and control method thereof which can allow for suitable display of a virtual object depending on tone, brightness, and lighting conditions of a physical space on which the virtual object is superimposed and displayed is disclosed. The mixed reality presentation apparatus according to the present invention includes: a display setting adjustor 106 which adjusts the display colors and position of virtual information and the lighting settings based on the tone of the physical space which the observer sees and it determines the display colors such that a large tone difference from the physical space image is achieved for virtual text information and virtual wire frame information as well as the lighting settings used for drawing a three-dimensional virtual object with a tone such that it is merged with an object existing in the physical space.
摘要翻译：公开了一种混合现实呈现装置及其控制方法，其可以允许根据虚拟对象被叠加和显示的物理空间的色调，亮度和照明条件的虚拟对象的适当显示。根据本发明的混合现实呈现装置包括：显示设置调整器 106 ，其根据所述的色调调整虚拟信息的显示颜色和位置以及照明设置观察者看到的物理空间，并且它确定显示颜色，使得实现与虚拟文本信息和虚拟有线帧信息的物理空间图像的大的色差，以及用于绘制三维虚拟对象的照明设置，一种音调，使其与存在于物理空间中的对象合并。

2. 发明授权

US07095424B2 Image display apparatus and method, and storage medium 有权
标题翻译：图像显示装置和方法以及存储介质
公开(公告)号：US07095424B2
公开(公告)日：2006-08-22
申请号：US10274200
申请日：2002-10-21
申请人： Kiyohide Satoh , Mahoro Anabuki
发明人： Kiyohide Satoh , Mahoro Anabuki
IPC分类号： G09G5/00 , G06K9/32
CPC分类号： G06F3/012
摘要： An image display apparatus calculating correction information to correct measured values of an orientation sensor includes an orientation sensor that senses orientation of a viewpoint and outputs measured values, a correction unit for correcting the measured values by using correction information, and a generation unit for generating a virtual image based on the corrected measured values. A display unit displays the generated virtual image, and a calculation unit calculates the corrected information. The calculation unit obtains the measured values of the sensor at the point of when the virtual image is displayed at an appropriate position, generates the correction information from the measured values and predetermined orientation information, and generates the virtual image based on orientation information relating to the viewpoint obtained using the measured values of the orientation sensor and the correction information.
摘要翻译：计算校正信息以校正定向传感器的测量值的图像显示装置包括：感测视点的取向并输出测量值的定向传感器，用于通过使用校正信息校正测量值的校正单元，以及用于产生基于校正的测量值的虚拟图像。显示单元显示所生成的虚拟图像，并且计算单元计算校正的信息。计算单元获取在虚拟图像显示在适当位置处的传感器的测量值，根据测量值和预定方向信息生成校正信息，并且基于与使用取向传感器的测量值和校正信息获得的视点。

3. 发明授权

US07092109B2 Position/orientation measurement method, and position/orientation measurement apparatus 有权
标题翻译：位置/方向测量方法以及位置/方向测量装置
公开(公告)号：US07092109B2
公开(公告)日：2006-08-15
申请号：US10752487
申请日：2004-01-08
申请人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
发明人： Kiyohide Satoh , Shinji Uchiyama , Mahoro Anabuki
IPC分类号： H04N7/18
CPC分类号： G06F3/0325 , G01B11/002
摘要： A first error coordinate between the image coordinate of a first indicator, which is arranged on the real space and detected on a first image captured by a first image sensing unit, and the estimated image coordinate of the first indicator, which is estimated to be located on the first image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to a previously calculated position/orientation parameter) and the first indicator, is calculated. On the other-hand, a second error coordinate between the image coordinate of a second indicator, which is arranged on the first image sensing unit and detected on a second image that includes the first image sensing unit, and the estimated image coordinate of the second indicator, which is estimated to be located on the second image in accordance with the position/orientation relationship between the first image sensing unit (with the position and orientation according to the position/orientation parameter), and the second indicator, is calculated. Using the first and second error coordinates, the position/orientation parameter is corrected.
摘要翻译：布置在实际空间上并在第一图像感测单元拍摄的第一图像上检测到的第一指示符的图像坐标之间的第一误差坐标和估计位于的第一指示器的估计图像坐标根据第一图像感测单元（根据先前计算的位置/方向参数的位置和方向）与第一指示符之间的位置/取向关系，在第一图像上计算。另一方面，布置在第一图像感测单元上并且在包括第一图像感测单元的第二图像上检测的第二指示符的图像坐标与第二指示器的估计图像坐标之间的第二误差坐标，根据第一图像感测单元（根据位置/方向参数的位置和取向）与第二指示符之间的位置/取向关系被估计位于第二图像上。使用第一个和第二个误差坐标，校正位置/方向参数。

4. 发明授权

US07558689B2 Information processing method and system 失效
标题翻译：信息处理方法和系统
公开(公告)号：US07558689B2
公开(公告)日：2009-07-07
申请号：US11126919
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh
发明人： Mahoro Anabuki , Kiyohide Satoh
IPC分类号： G01C17/38
CPC分类号： G01S5/16
摘要： An information-processing system for calibrating an orientation sensor mounted on an image-pickup device calculates a relative orientation between the orientation sensor and the image-pickup device by using information about image coordinates of indices detected from a photographed image and an orientation-measurement value. At the same time, the information-processing system obtains parameters for minimizing an error between actual measured values of the image coordinates of the indices and theoretical values of the image coordinates of the indices, where the theoretical values are calculated from estimates of unknown parameters, by using a position of the image-pickup device and the relative orientation between the orientation sensor and the image-pickup device, as the unknown parameters.
摘要翻译：用于校准安装在图像拾取装置上的方向传感器的信息处理系统通过使用关于从拍摄图像检测到的索引的图像坐标的信息和方向测量值来计算取向传感器和图像拾取装置之间的相对取向。同时，信息处理系统获得用于最小化索引的图像坐标的实际测量值与索引的图像坐标的理论值之间的误差的参数，其中理论值由未知参数的估计计算，通过使用图像拾取装置的位置和定向传感器和图像拾取装置之间的相对定向作为未知参数。

5. 发明授权

US07446768B2 Virtual image display apparatus and method using calibrated measurement of attitude sensor 失效
标题翻译：虚拟图像显示装置和方法使用校准测量姿态传感器
公开(公告)号：US07446768B2
公开(公告)日：2008-11-04
申请号：US10278947
申请日：2002-10-24
申请人： Kiyohide Satoh , Mahoro Anabuki
发明人： Kiyohide Satoh , Mahoro Anabuki
IPC分类号： G06T15/20 , G09G5/00
CPC分类号： G06F3/014 , G06T7/80 , G06T15/20 , G06T19/006 , G06T2215/16
摘要： An image display apparatus and method generate a computer-graphic image onto the display of a real scene, using output values from an attitude sensor to provide angle of inclination and fixed values for the angle of direction of the perspective of the display. The result is an image in which the CG image is aligned correctly along the angle of inclination and is misaligned only in the angle of direction. A user then adjust the angle of direction while observing the display and inputs an instruction when the virtual image and the real scene come into alignment, thus correcting the correction information. As a result, attitude adjustment is carried out more easily because it is not necessary for the user to fix the angle of inclination of the perspective.
摘要翻译：一种图像显示装置和方法，使用来自姿态传感器的输出值，将计算机图形图像产生到真实场景的显示器上，以提供显示器的透视角度的倾斜角度和固定值。结果是CG图像沿着倾斜角正确对准并且仅在方向角度上不对准的图像。然后用户在观察显示器的同时调整方向角度，并且当虚像和真实场景对准时输入指令，从而校正校正信息。结果，由于用户不需要固定倾斜角度，因此更容易进行姿态调整。

6. 发明申请

US20050256395A1 Information processing method and device 有权
标题翻译：信息处理方法和装置
公开(公告)号：US20050256395A1
公开(公告)日：2005-11-17
申请号：US11127000
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
发明人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
IPC分类号： G06T7/00 , G06T7/20 , A61B5/05
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译：一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。

7. 发明授权

US07613361B2 Information processing method and device 有权
标题翻译：信息处理方法和装置
公开(公告)号：US07613361B2
公开(公告)日：2009-11-03
申请号：US11127000
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
发明人： Mahoro Anabuki , Kiyohide Satoh , Shinichi Aratani , Daisuke Kotake
IPC分类号： G06K9/36 , G06K9/32 , G06K9/00
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译：一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。

8. 发明授权

US07414596B2 Data conversion method and apparatus, and orientation measurement apparatus 有权
标题翻译：数据转换方法和装置以及取向测量装置
公开(公告)号：US07414596B2
公开(公告)日：2008-08-19
申请号：US10952876
申请日：2004-09-30
申请人： Kiyohide Satoh , Mahoro Anabuki
发明人： Kiyohide Satoh , Mahoro Anabuki
IPC分类号： G09G5/00 , H04N7/00
CPC分类号： G06F3/012 , G01C9/00 , G01C21/20
摘要： An orientation sensor measures the orientation of the orientation sensor itself on a sensor coordinate system, and outputs an orientation measurement value. A first alignment data setting unit reads out first alignment data, which is recorded in an external storage device and represents the gravitational direction on a reference coordinate system, and sets that data in an orientation calculation unit. A second alignment data setting unit sets second alignment data, which represents a difference angle in the azimuth direction between the sensor coordinate system and reference coordinate system in the orientation calculation unit in accordance with a command input by an operator from a command input unit. The orientation calculation unit calculates the orientation of an object on the reference coordinate system using the first and second alignment data on the basis of the orientation measurement value input from the orientation sensor, and outputs it.
摘要翻译：方向传感器测量方位传感器本身在传感器坐标系上的方向，并输出方位测量值。第一对准数据设定单元读出记录在外部存储装置中的第一对准数据，并且在参考坐标系上表示重力方向，并将该数据设置在取向计算单元中。第二对准数据设定单元根据操作者从命令输入单元输入的命令，设定表示方位计算单元中的传感器坐标系与基准坐标系之间的方位角的差角的第二对准数据。取向计算单元基于从取向传感器输入的取向测量值，使用第一和第二对准数据来计算对象在参考坐标系上的取向，并将其输出。

9. 发明申请

US20050253871A1 Information processing method and system 失效
标题翻译：信息处理方法和系统
公开(公告)号：US20050253871A1
公开(公告)日：2005-11-17
申请号：US11126919
申请日：2005-05-11
申请人： Mahoro Anabuki , Kiyohide Satoh
发明人： Mahoro Anabuki , Kiyohide Satoh
IPC分类号： G01B11/26 , G01S5/16 , G06T7/60 , A61B5/05
CPC分类号： G01S5/16
摘要： An information-processing system for calibrating an orientation sensor mounted on an image-pickup device calculates a relative orientation between the orientation sensor and the image-pickup device by using information about image coordinates of indices detected from a photographed image and an orientation-measurement value. At the same time, the information-processing system obtains parameters for minimizing an error between actual measured values of the image coordinates of the indices and theoretical values of the image coordinates of the indices, where the theoretical values are calculated from estimates of unknown parameters, by using a position of the image-pickup device and the relative orientation between the orientation sensor and the image-pickup device, as the unknown parameters.
摘要翻译：用于校准安装在图像拾取装置上的方向传感器的信息处理系统通过使用关于从拍摄图像检测到的索引的图像坐标的信息和方向测量值来计算取向传感器和图像拾取装置之间的相对取向。同时，信息处理系统获得用于最小化索引的图像坐标的实际测量值与索引的图像坐标的理论值之间的误差的参数，其中理论值由未知参数的估计计算，通过使用图像拾取装置的位置和定向传感器和图像拾取装置之间的相对定向作为未知参数。

10. 发明申请

US20050068293A1 Data conversion method and apparatus, and orientation measurement apparatus 有权
标题翻译：数据转换方法和装置以及取向测量装置
公开(公告)号：US20050068293A1
公开(公告)日：2005-03-31
申请号：US10952876
申请日：2004-09-30
申请人： Kiyohide Satoh , Mahoro Anabuki
发明人： Kiyohide Satoh , Mahoro Anabuki
IPC分类号： G01C9/00 , G01C21/20 , G06F3/00 , G06F3/01 , G09G5/00 , G09G5/36 , G09G5/377 , H04N5/262 , G09G5/08
CPC分类号： G06F3/012 , G01C9/00 , G01C21/20
摘要： An orientation sensor (130) measures the orientation of the orientation sensor (130) itself on a sensor coordinate system, and outputs an orientation measurement value. A first alignment data setting unit (410) reads out first alignment data, which is recorded in an external storage device (not shown) and represents the gravitational direction on a reference coordinate system, and sets that data in an orientation calculation unit (940). A second alignment data setting unit (420) sets second alignment data, which represents a difference angle in the azimuth direction between the sensor coordinate system and reference coordinate system in the orientation calculation unit (940) in accordance with a command input by an operator from a command input unit (not shown). The orientation calculation unit (940) calculates the orientation of an object on the reference coordinate system using the first and second alignment data on the basis of the orientation measurement value input from the orientation sensor (130), and outputs it. When the orientation of an object on an arbitrary set reference coordinate system is to be measured using the orientation sensor, alignment data required to make conversion from the sensor coordinate system into the reference coordinate system can be easily set.
摘要翻译：姿态传感器（130）在传感器坐标系上测量姿态传感器（130）本身的姿态，并输出取向测量值。第一对准数据设定单元（410）读出记录在外部存储装置（未图示）中的第一对准数据，并在基准坐标系上表示重力方向，并将该数据设定在取向计算单元（940）中，。第二对准数据设定部（420）根据由操作者输入的命令，设定第二对准数据，该对准数据表示方位运算部（940）中的传感器坐标系与基准坐标系之间的方位角方向的差角命令输入单元（未示出）。取向计算单元（940）根据从取向传感器（130）输入的取向测量值，使用第一和第二对准数据来计算参考坐标系上的物体的朝向，并输出。当使用方向传感器测量任意设定的参考坐标系上的物体的取向时，可以容易地设置从传感器坐标系转换成参考坐标系所需的对准数据。

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