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1. 发明授权

US07711180B2 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：US07711180B2
公开(公告)日：2010-05-04
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： G06K9/00 , G06K9/32 , G06K9/36 , G06T15/00 , G01B7/00 , G01B15/00
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。

2. 发明授权

US07010157B2 Stereo image measuring device 有权
公开(公告)号：US07010157B2
公开(公告)日：2006-03-07
申请号：US09817287
申请日：2001-03-27
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.

3. 发明授权

US06804389B1 Image forming apparatus 有权
标题翻译：图像形成装置
公开(公告)号：US06804389B1
公开(公告)日：2004-10-12
申请号：US09556781
申请日：2000-04-25
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K946
CPC分类号： G06T15/20 , G06T11/00
摘要： An orthogonally projected image forming unit 1 forms an orthogonally projected image based on a photographed image. A direction specifying unit 2 enables the orthogonally projected image to be seen from a different viewpoint, and forms an orthogonally projected image seen from a different viewpoint. A feature extracting unit 3 extracts a feature from the orthogonally projected image. A symbol pasting unit 4 pastes a symbol to a drawing during plotting. A display unit 5 displays the formed orthogonally projected image, the orthogonally projected image formed by changing a viewpoint, the orthogonally projected image processed by the image feature extracting unit 3, and the symbol pasted by the symbol pasting unit 4, and so on. An I/O unit 6 inputs/outputs various image data or three-dimensional coordinate data from a three-dimensional coordinate input de-vice such as a survey instrument or the like to the other device. Accordingly, plotting can be performed even for a spot unseen on an orthogonally projected image or a spot that has not been measured by forming the orthogonally projected image seen from the different viewpoint and pasting the symbol.
摘要翻译：正交投影图像形成单元1基于拍摄图像形成正交投影图像。方向指定单元2能够从不同的视点看到正交投影的图像，并且形成从不同的视点看到的正交投影图像。特征提取单元3从正交投影的图像中提取特征。符号粘贴单元4在绘图期间将符号粘贴到图形上。显示单元5显示形成的正交投影图像，通过改变视点形成的正交投影图像，由图像特征提取单元3处理的正交投影图像和由符号粘贴单元4粘贴的符号等。 I / O单元6将诸如测量仪器等的三维坐标输入设备的各种图像数据或三维坐标数据输入/输出到另一设备。因此，即使对于通过形成从不同视点看到的正交投影图像并粘贴符号而没有测量的正交投影图像或未测量的点，也可以执行绘图。

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. 发明申请

US20060239539A1 Model forming apparatus, model forming method, photographing apparatus and photographing method 有权
标题翻译：模型成型装置，模型形成方法，拍摄装置和拍摄方法
公开(公告)号：US20060239539A1
公开(公告)日：2006-10-26
申请号：US11154959
申请日：2005-06-17
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
IPC分类号： H04N13/00 , G06K9/00 , G06T15/00
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译：本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。

6. 发明授权

US07015967B1 Image formation system 失效
标题翻译：图像形成系统
公开(公告)号：US07015967B1
公开(公告)日：2006-03-21
申请号：US09564990
申请日：2000-05-05
申请人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
发明人： Nobuo Kochi , Hitoshi Otani , Tadayuki Ito
IPC分类号： H04N5/222
CPC分类号： G06T5/006
摘要： Disclosed is an image formation system which supports a survey and a photographing free from errors in the field. A control point data storing section 50 stores control point data required for forming a first orthogonally projected image. An image data storing section 60 stores digitized photographed image from which the orthogonally projected image is formed. An additional survey control point data storing section 55 stores control point survey data obtained by additional survey in the field. An additional image data storing section 65 stores digital image data obtained by additional survey and photographing in the field. An orthogonally projected image formation section 70 integrates the control point data and the image data, thus forming and synthesizing a final orthogonally projected image. An orthogonally projected image acquirement plan making section 80 makes an orthogonally projected image acquirement plan for spots to be amended.
摘要翻译：公开了一种图像形成系统，其支持调查和在现场没有错误的拍摄。控制点数据存储部分50存储形成第一正交投影图像所需的控制点数据。图像数据存储部分60存储形成正交投影图像的数字化拍摄图像。附加的测量控制点数据存储部55存储通过现场追加调查获得的控制点调查数据。另外的图像数据存储部分65存储在现场通过附加的测量和拍摄获得的数字图像数据。正交投影图像形成部分70对控制点数据和图像数据进行积分，从而形成和合成最终的正投影图像。正交投影图像获取计划制作部分80对要修改的点进行正交投影图像获取计划。

7. 发明申请

US20050151839A1 Three-dimensional image display apparatus and method 有权
标题翻译：三维图像显示装置及方法
公开(公告)号：US20050151839A1
公开(公告)日：2005-07-14
申请号：US10995524
申请日：2004-11-24
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06T7/00 , G06T15/04 , G06T17/00 , H04N13/00
CPC分类号： G06T17/00 , G06T7/593 , G06T7/75 , G06T15/04 , G06T2207/10012
摘要： A three-dimensional image display apparatus is provided that can integrate and visualize 3D measurement data obtained from a stereo image with an image of a measuring object to which stereoscopic texture is applied. The apparatus includes: an orientation section 24 for finding relationship as to corresponding points in a stereo image of a measuring object 1 based on the position and the tilt at which the stereo image was photographed; a three-dimensional coordinate data section 31 for obtaining three-dimensional coordinate data on the corresponding points of the measuring object 1 based on the relationship as to the corresponding points found by the orientation section 24; a model forming section 32 for forming a model of the measuring object 1 based on the three-dimensional coordinate data on the corresponding points; an image correlating section 34 for correlating the stereo image of the measuring object stored in the stereo image data storage section 12 and the model formed by the model forming section 32, using the relationship as to the corresponding points found by the orientation section 24; and a model display section 35 for displaying an image of the measuring object 1 to which stereoscopic texture is applied, using the stereo image correlated with the model by the image correlating section 34.
摘要翻译：提供一种可以将立体图像获得的3D测量数据与应用了立体纹理的测量对象的图像整合并可视化的三维图像显示装置。该装置包括：基于拍摄立体图像的位置和倾斜度的方式来找出关于测量对象1的立体图像中的对应点的关系的定向部分24; 三维坐标数据部分31，用于根据由取向部分24找到的对应点的关系获得测量对象1的对应点上的三维坐标数据; 模型形成部32，用于基于对应点上的三维坐标数据形成测量对象1的模型; 图像相关部分34，用于使存储在立体图像数据存储部分12中的测量对象的立体图像与由模型形成部分32形成的模型相关联，使得关于由定向部分24找到的相应点; 以及模型显示部分35，用于通过图像相关部分34使用与模型相关的立体图像来显示应用了立体纹理的测量对象1的图像。

8. 发明授权

US06754378B2 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：US06754378B2
公开(公告)日：2004-06-22
申请号：US10213111
申请日：2002-08-07
申请人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
发明人： Tadayuki Ito , Hitoshi Otani , Nobuo Kochi
IPC分类号： G06K900
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邻接图像。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）。在获得满意的图像（S200）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。

10. 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）。

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