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1. 发明授权

US07860273B2 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：US07860273B2
公开(公告)日：2010-12-28
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 , H04N5/225
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选择的被处理图像来测量图像获取部分2的拍摄位置和拍摄姿势。

2. 发明申请

US20070263924A1 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US20070263924A1
公开(公告)日：2007-11-15
申请号：US11798190
申请日：2007-05-10
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G06K9/00
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593
摘要： An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.
摘要翻译：提供一种图像处理装置，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。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪并相互关联。从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。计算通过3D测量获得的对应点的误差范围。根据计算的误差范围，确定对应的点是否适用于3D测量。确定为不适当的对应点将被删除。使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。

3. 发明申请

US20070140528A1 IMAGE PROCESSING DEVICE AND METHOD 有权
标题翻译：图像处理装置和方法
公开(公告)号：US20070140528A1
公开(公告)日：2007-06-21
申请号：US11567909
申请日：2006-12-07
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00
CPC分类号： G06T7/33
摘要： A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points. An image processing device 100 according to the present invention includes: a photographed image acquisition 2 section for sequentially acquiring photographed images, that change gradually, of a relatively moving object; a characteristic extraction section 3 for extracting characteristic points from a photographed image acquired with the photographed image acquisition section; a characteristic point tracking section 4 for searching a plurality of the photographed images acquired before or after the photographed image from which the characteristic points have been extracted, for candidate corresponding points corresponding to the characteristic points, to keep track of the characteristic points; and a processing section 5 for determining corresponding points from the candidate corresponding points based on tracking results to calculate coordinates of a photographing position or the object using the determined corresponding points.
摘要翻译：提供一种技术，即使在需要处理拍摄装置的摆动的情况下，也可以精确地测量拍摄装置的拍摄位置和姿势以及从逐渐变化的运动图像或拍摄图像的对象的坐标，以及特征点的消失和再现。根据本发明的图像处理装置100包括：拍摄图像获取2部分，用于顺序地获取相对移动的对象逐渐变化的拍摄图像; 特征提取部3，用于从由拍摄图像获取部获取的拍摄图像中提取特征点; 特征点追踪部分4，用于搜索在提取了特征点的拍摄图像之前或之后获取的多个拍摄图像，用于跟踪特征点的候选对应点，以跟踪特征点; 以及处理部分5，用于基于跟踪结果确定来自候选对应点的对应点，以使用所确定的相应点来计算拍摄位置或对象的坐标。

4. 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。

5. 发明授权

US07844077B2 Location measuring device and method 有权
标题翻译：位置测量装置及方法
公开(公告)号：US07844077B2
公开(公告)日：2010-11-30
申请号：US12166660
申请日：2008-07-02
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G06K9/00 , G03B17/00
CPC分类号： G06T7/579 , G06T7/74 , G06T2200/08 , G06T2207/10016
摘要： To realize high speed and high precision with device and method of three-dimensional measurement by applying estimating process to points corresponding to feature points in a plurality of motion frame images. With the device and method of calculating location information through processes of choosing a stereo pair, relative orientation, and bundle adjustment and using corresponding points of feature points extracted from respective motion frame images, each process is made up of two stages. To the first process section (stages: 5A and 6A), robust estimation is applied to determine estimated values of calculation parameters. In the second process section (stages: 5B and 6B), corresponding points and stereo pair of large residual errors are excluded, and estimating calculation is carried out again to make measurements in three dimensions.
摘要翻译：通过对与多个运动帧图像中的特征点对应的点应用估计处理来实现具有三维测量装置和方法的高速度和高精度。利用通过选择立体对，相对取向和束调整以及使用从各运动帧图像提取的特征点的对应点来计算位置信息的装置和方法，每个处理由两个阶段组成。对于第一个处理部分（阶段：5A和6A），应用鲁棒估计来确定计算参数的估计值。在第二过程部分（阶段：5B和6B）中，排除相应的点和立体对的大的残差，并再次进行估计计算以进行三维测量。

6. 发明授权

US07747151B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07747151B2
公开(公告)日：2010-06-29
申请号：US11798190
申请日：2007-05-10
申请人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
发明人： Nobuo Kochi , Tetsuji Anai , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
CPC分类号： G01B11/24 , G01C11/06 , G06T7/246 , G06T7/33 , G06T7/593
摘要： An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated to each other. Stereo images are selected from the series of photographed images correlated, and subjected to an orientation and a 3D measurement. The error range of corresponding points obtained by the 3D measurement is calculated. Based on the calculated error range, it is determined whether or not the corresponding points are appropriate for 3D measurement. Those corresponding points determined as inappropriate are deleted. Another orientation and another 3D measurement are performed using those corresponding points excluding the deleted ones, thus improving the measurement precision.
摘要翻译：提供一种图像处理装置，其可以基于顺序地改变拍摄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。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪并相互关联。从相关的一系列拍摄的图像中选择立体图像，并进行取向和3D测量。计算通过3D测量获得的对应点的误差范围。根据计算的误差范围，确定对应的点是否适用于3D测量。确定为不适当的对应点将被删除。使用除去删除的对应点之外的其他取向和另外的3D测量，从而提高测量精度。

7. 发明授权

US07860276B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07860276B2
公开(公告)日：2010-12-28
申请号：US11567909
申请日：2006-12-07
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani , Hirokazu Sato
IPC分类号： G06K9/00 , G03B17/00
CPC分类号： G06T7/33
摘要： A technique is provided that can precisely measure the photographing position and posture of a photographing device and the coordinates of an object from moving images or photographed images that sequentially change gradually, even in the case with the need to process the sway of the photographing device and the disappearance and reappearance of characteristic points. An image processing device 100 according to the present invention includes: a photographed image acquisition 2 section for sequentially acquiring photographed images, that change gradually, of a relatively moving object; a characteristic extraction section 3 for extracting characteristic points from a photographed image acquired with the photographed image acquisition section; a characteristic point tracking section 4 for searching a plurality of the photographed images acquired before or after the photographed image from which the characteristic points have been extracted, for candidate corresponding points corresponding to the characteristic points, to keep track of the characteristic points; and a processing section 5 for determining corresponding points from the candidate corresponding points based on tracking results to calculate coordinates of a photographing position or the object using the determined corresponding points.
摘要翻译：提供一种技术，即使在需要处理拍摄装置的摆动的情况下，也可以精确地测量拍摄装置的拍摄位置和姿势以及从逐渐变化的运动图像或拍摄图像的对象的坐标，以及特征点的消失和再现。根据本发明的图像处理装置100包括：拍摄图像获取2部分，用于顺序地获取相对移动的对象逐渐变化的拍摄图像; 特征提取部3，用于从由拍摄图像获取部获取的拍摄图像中提取特征点; 特征点追踪部分4，用于搜索在提取了特征点的拍摄图像之前或之后获取的多个拍摄图像，用于跟踪特征点的候选对应点，以跟踪特征点; 以及处理部分5，用于基于跟踪结果确定来自候选对应点的对应点，以使用所确定的相应点来计算拍摄位置或对象的坐标。

8. 发明授权

US07787689B2 Location measuring device and method 有权
标题翻译：位置测量装置及方法
公开(公告)号：US07787689B2
公开(公告)日：2010-08-31
申请号：US12166654
申请日：2008-07-02
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06T7/579 , G06T7/74 , G06T2200/08 , G06T2207/10016
摘要： With apparatus and method for measuring in three dimensions by applying an estimating process to points corresponding to feature points in a plurality of motion image frames, high speed and high accuracy are realized. The apparatus comprises: a first track determining section (4B) that determines corresponding points of feature points extracted from frames of motion images and estimates by robust estimation a coordinate transformation projection parameters between frames using part of the determined corresponding points, a second track determining section (4C) that utilizes the estimated value to determine coordinate values of estimated location of each corresponding point, to determine residuals of the coordinate values relative to the estimated values for each corresponding point, to apply threshold process, and to exclude points of large residuals as incorrect corresponding points. Three-dimensional measurement is carried out by tracking again feature points while removing those incorrect corresponding points.
摘要翻译：通过对与多个运动图像帧中的特征点对应的点应用估计处理，实现三维测量的装置和方法，实现了高速和高精度。该装置包括：第一轨道确定部分（4B），其确定从运动图像帧提取的特征点的对应点，以及使用部分所确定的相应点通过鲁棒估计帧之间的坐标变换投影参数来估计;第二轨道确定部分（4C），其使用估计值来确定每个对应点的估计位置的坐标值，以相对于每个对应点的估计值来确定坐标值的残差，以应用阈值处理，并且将大残差的点排除为不正确的对应点。通过再次跟踪特征点，同时移除那些不正确的对应点来进行三维测量。

9. 发明授权

US07747150B2 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US07747150B2
公开(公告)日：2010-06-29
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： G03B17/00 , G06K9/00 , H04N13/02
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244
摘要： An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
摘要翻译：提供一种图像处理装置，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。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

10. 发明申请

US20070236561A1 Image processing device and method 有权
标题翻译：图像处理装置及方法
公开(公告)号：US20070236561A1
公开(公告)日：2007-10-11
申请号：US11730747
申请日：2007-04-03
申请人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
发明人： Tetsuji Anai , Nobuo Kochi , Hitoshi Otani
IPC分类号： H04N13/02
CPC分类号： G06T7/74 , G01C11/06 , G01C21/005 , G06T2207/30244
摘要： An image processing 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 series of sequentially photographed images are acquired, from which feature points are extracted. The feature points are tracked and correlated. Stereo images are selected from the series of photographed images correlated. Images selectable as stereo images are grouped into a group of images, from which stereo images are selected, before an orientation and a 3D measurement are performed. The images are grouped according to the distance from the object to the photographing position or the photographing magnification. Images with abrupt changes are removed so as to improve the measurement precision.
摘要翻译：提供一种图像处理装置，其可以基于顺序地改变拍摄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。获取一系列顺序拍摄的图像，从中提取特征点。特征点被跟踪和相关。立体图像是从相关的一系列拍摄图像中选出的。作为立体图像可选择的图像在进行取向和3D测量之前被分组成一组图像，其中选择立体图像。图像根据从物体到拍摄位置的距离或拍摄倍率分组。删除具有突然变化的图像，以提高测量精度。

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