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1. 发明申请

WO2011105616A1 THREE-DIMENSIONAL MEASUREMENT APPARATUS, MODEL GENERATION APPARATUS, PROCESSING METHOD THEREOF, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：三维测量装置，型号发生装置，其处理方法和非终端计算机可读存储介质
公开(公告)号：WO2011105616A1
公开(公告)日：2011-09-01
申请号：PCT/JP2011/054678
申请日：2011-02-23
申请人： CANON KABUSHIKI KAISHA , WATANABE, Daisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： WATANABE, Daisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/24 , G06T1/00
CPC分类号： G06T7/75
摘要： A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.
摘要翻译：三维测量装置生成通过使用三维几何模型从多个不同观点观察测量对象而获得的多个视点图像，从多个视点图像检测测量对象的边缘作为第二边缘，基于当第二边缘与第一边缘相关联时获得的结果来计算三维几何模型的第一边缘的相应可靠性，基于相应的可靠性来对每个第一边缘进行加权，将从第具有加权的第一边缘的捕获图像，并且基于关联结果计算测量对象的位置和取向。

2. 发明申请

WO2011158885A1 POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 审中-公开
标题翻译：位置/方向测量装置，其处理方法和非终端计算机可读存储介质
公开(公告)号：WO2011158885A1
公开(公告)日：2011-12-22
申请号：PCT/JP2011/063752
申请日：2011-06-09
申请人： CANON KABUSHIKI KAISHA , TATENO, Keisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： TATENO, Keisuke , FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/03 , G01B11/25 , G06T1/00
CPC分类号： G06K9/6217 , G01B11/03 , G01B11/25 , G06K9/78 , G06T7/75 , G06T2207/30164
摘要： A position/orientation measurement apparatus holds a three-dimensional shape model of a object, acquires approximate value indicating a position and an orientation of the object, acquires a two-dimensional image of the object, projects a geometric feature of the three-dimensional shape model on the two-dimensional image based on the approximate value, calculates the direction of the geometric feature of the three-dimensional shape model projected on the two-dimensional image, detects an image feature based on the two-dimensional image, calculates the direction of the image feature, associates the image feature and the geometric feature by comparing the direction of the image feature calculated based on the two-dimensional image and the direction of the geometric feature calculated based on the three-dimensional shape model, and calculates the position and orientation of the object by correcting the approximate value based on the distance between the geometric feature and the image feature associated therewith.
摘要翻译：位置/取向测量装置保持对象的三维形状模型，获取表示对象的位置和取向的近似值，获取对象的二维图像，投影三维形状的几何特征基于近似值的二维图像模型，计算投影在二维图像上的三维形状模型的几何特征的方向，基于二维图像检测图像特征，计算方向通过比较基于二维图像计算的图像特征的方向和基于三维形状模型计算的几何特征的方向，将图像特征和几何特征相关联，并且计算图像特征通过基于几何特征和图像专长之间的距离校正近似值来确定对象的方位与其相关联。

3. 发明申请

WO2012023593A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 审中-公开
标题翻译：位置和方位测量装置，位置和方位测量方法和存储介质
公开(公告)号：WO2012023593A1
公开(公告)日：2012-02-23
申请号：PCT/JP2011/068726
申请日：2011-08-12
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , NAKAZATO, Yusuke , UCHIYAMA, Shinji
发明人： FUJIKI, Masakazu , NAKAZATO, Yusuke , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T7/60
CPC分类号： G06K9/3241 , G01B11/002 , G06T7/75 , G06T2207/10004
摘要： An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.
摘要翻译：一种装置包括：提取装置，用于提取在所获得的二维图像中遮挡照射到目标物体上的照明被遮挡的遮挡区域; 投影装置，用于基于目标对象的位置/取向的近似值将构成三维模型的线段投影到二维图像上; 关联装置，用于将构成投影线段的点与构成二维图像中的边缘的点相关联; 确定装置，用于确定构成二维图像中的边缘的相关点是否存在于遮挡区域内; 以及测量装置，用于基于构成投影线段的点与构成边缘的点之间的二维图像上的距离来测量目标对象的位置/取向，该点与该对相关联，并且确定结果。

4. 发明申请

WO2011105615A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND PROGRAM 审中-公开
标题翻译：位置和方向测量装置，位置和方位测量方法和程序
公开(公告)号：WO2011105615A1
公开(公告)日：2011-09-01
申请号：PCT/JP2011/054677
申请日：2011-02-23
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , UCHIYAMA, Shinji
发明人： FUJIKI, Masakazu , UCHIYAMA, Shinji
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00 , G06T7/60
CPC分类号： G06T7/75 , G05B2219/37205 , G05B2219/40564 , G06T17/00 , G06T2207/10028 , G06T2207/30164
摘要： A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.
摘要翻译：一种用于测量目标对象的位置和方向的位置和方向测量装置，包括：第一搜索单元，其在几何模型中搜索与范围图像中的丢失图像区域相对应的丢失模型区域;确定单元，其确定是否对应于目标对象的范围图像上的像素的几何模型上的点落在丢失的模型区域内;校正单元，其校正范围图像上的像素的组合和被确定为落入丢失模型区域内的对应点以及计算单元，其基于所述范围图像上的像素的校正组合和所述几何模型上的点来计算所述目标对象的位置和取向。

5. 发明申请

WO2004079576A1 INFORMATION PROCESSING METHOD, INFORMATION PROCESSING APPARATUS, METHOD OF CONTROLLING SERVER APPARATUS, AND SERVER APPARATUS 审中-公开
标题翻译：信息处理方法，信息处理装置，控制服务器装置的方法和服务器装置
公开(公告)号：WO2004079576A1
公开(公告)日：2004-09-16
申请号：PCT/JP2004/002451
申请日：2004-02-27
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , OHSHIMA, Toshikazu
发明人： FUJIKI, Masakazu , OHSHIMA, Toshikazu
IPC分类号： G06F12/00
CPC分类号： H04L67/38 , H04L67/02
摘要： When a command is a command which requests to establish a communication path with a server apparatus, the communication path with the server apparatus is established (S603), and a sharing mode is set in a public mode (S604). When a command is a command which requests to disconnect the communication path with the server apparatus, the communication path with the server apparatus is disconnected (S606), and the sharing mode is set in a private mode (S607). When a command is a database manipulation command, an event indicating the contents of the manipulation command is generated (S608). If the sharing mode is a public mode, the event is input to a transceiver queue (S610). If the sharing mode is a private mode, the event is input to a receiver queue (409) (S611).
摘要翻译：当命令是要求与服务器装置建立通信路径的命令时，建立与服务器装置的通信路径（S603），共享模式被设定为公共模式（S604）。当命令是请求断开与服务器装置的通信路径的命令时，与服务器装置的通信路径被断开（S606），共享模式被设定为私有模式（S607）。当命令是数据库操作命令时，生成指示操作命令的内容的事件（S608）。如果共享模式是公共模式，则事件被输入到收发器队列（S610）。如果共享模式是私有模式，则将事件输入到接收器队列（409）（S611）。

6. 发明申请

WO2004051480A1 INFORMATION PROCESSING METHOD AND APPARATUS 审中-公开
标题翻译：信息处理方法和装置
公开(公告)号：WO2004051480A1
公开(公告)日：2004-06-17
申请号：PCT/JP2003/015274
申请日：2003-11-28
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu , OHSHIMA, Toshikazu
发明人： FUJIKI, Masakazu , OHSHIMA, Toshikazu
IPC分类号： G06F12/00
CPC分类号： G06F17/30371 , G06F17/30575
摘要： In an information processing method for maintaining, in a system in which each of a plurality of processes connected via a network holds and uses shared data to be shared by the processes, consistency of shared data held by the respective processes, when a manipulation request for the shared data is generated, an event indicating that manipulation request is output onto the network. An event as a reply to the event output onto the network is received from the network. A manipulation for the shared data is executed in accordance with the received event. In this way, the manipulation execution timings for shared data to be shared by a plurality of processes can be accurately matched.
摘要翻译：在一种信息处理方法中，在通过网络连接的多个进程中的每一个保持并且使用由进程共享的共享数据的系统中，在通过各个进程保持的共享数据的一致性的情况下，生成共享数据，指示操作请求被输出到网络上的事件。从网络接收到作为对网络上的事件输出的回复的事件。根据接收到的事件执行共享数据的操作。以这种方式，可以精确地匹配用于由多个处理共享的共享数据的操纵执行定时。

7. 发明申请

WO2008026752A1 INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS 审中-公开
标题翻译：信息处理方法和信息处理设备
公开(公告)号：WO2008026752A1
公开(公告)日：2008-03-06
申请号：PCT/JP2007/067096
申请日：2007-08-28
申请人： CANON KABUSHIKI KAISHA , FUJIKI, Masakazu
发明人： FUJIKI, Masakazu
IPC分类号： G06F17/50 , B23P21/00
CPC分类号： G06F17/5009
摘要： While a recording mode is being set, a manipulation log about a manipulation target virtual object is recorded in a memory (S301, S302). After the recording mode is canceled, a virtual element as a collision determination target with respect to the manipulation target virtual object is selected from a plurality of virtual elements existing in the same virtual space as the manipulation target virtual object based on the manipulation log (S303). Collision between the manipulation target virtual object and each of at least one selected virtual element is determined (S304). The collision determination result is output (S305).
摘要翻译：当设定记录模式时，将关于操作对象虚拟对象的操作日志记录在存储器中（S301，S302）。在取消记录模式之后，从存在于与操作对象虚拟对象相同的虚拟空间中的多个虚拟元素中，基于操作日志选择作为相对于操作对象虚拟对象的冲突判定对象的虚拟元素（S303 ）。确定操作对象虚拟对象与至少一个选择的虚拟元素中的每一个之间的碰撞（S304）。输出碰撞确定结果（S305）。

8. 发明申请

WO2016084316A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，信息处理方法和程序
公开(公告)号：WO2016084316A1
公开(公告)日：2016-06-02
申请号：PCT/JP2015/005596
申请日：2015-11-09
申请人： CANON KABUSHIKI KAISHA
发明人： KOTAKE, Daisuke , FUJIKI, Masakazu , TATENO, Keisuke
IPC分类号： G01B11/00 , G01B11/26 , G06T1/00
CPC分类号： G06T1/0007
摘要： An information processing apparatus for determining a placement of an image capturing apparatus capable of accurately measuring the position and orientation of an object through model fitting includes a holding unit that holds a 3D model representing a 3D shape of the object, a generating unit that generates candidates of the position and orientation of the image capturing apparatus relative to the object, an evaluating unit that evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object based on a result of matching between data that virtually generates the object observed when the image capturing apparatus is placed in the position and orientation generated by the generating unit and the 3D model, and a determining unit that determines the position and orientation of the image capturing apparatus relative to the object based on the result of evaluation performed by the evaluating unit.
摘要翻译：一种用于确定能够通过模型拟合精确地测量对象的位置和取向的图像捕获装置的放置的信息处理装置，包括：保持单元，其保存表示对象的3D形状的3D模型;生成单元，生成候选图像拍摄装置相对于对象的位置和取向的评估单元，评估单元，其基于虚拟地生成观察到的对象的数据之间的匹配结果来评估图像拍摄装置相对于对象的位置和姿态的候选当图像拍摄设备被放置在由生成单元和3D模型生成的位置和方向上时，以及确定单元，其基于由所述3D模型执行的评估结果来确定图像捕获装置相对于对象的位置和取向评估单位

9. 发明申请

WO2016185704A1 INFORMATION PROCESSING APPARATUS, METHOD, AND PROGRAM 审中-公开
标题翻译：信息处理设备，方法和程序
公开(公告)号：WO2016185704A1
公开(公告)日：2016-11-24
申请号：PCT/JP2016/002365
申请日：2016-05-13
申请人： CANON KABUSHIKI KAISHA
发明人： HIROTA, Yuichiro , TATENO, Keisuke , SUZUKI, Masahiro , KOTAKE, Daisuke , KATAYAMA, Akihiro , FUJIKI, Masakazu
IPC分类号： G06T19/00 , G01B11/00 , G06T1/00 , H04N5/225 , H04N5/232
CPC分类号： G06T7/73 , G06T2207/30204 , G06T2207/30244
摘要： In order to shorten the time required for a setting operation of features, an information processing apparatus includes an acquisition unit configured to acquire features used for deriving a positional attitude of an imaging device from an image captured by the imaging device, a setting unit configured to set a plurality of partial regions included in the image as a plurality of candidate regions to which a feature is to be added, an evaluation unit configured to evaluate the plurality of set candidate regions, a determination unit configured to determine a position and/or an orientation of a feature to be newly added based on the plurality of evaluated candidate regions, and an output unit configured to output the determined position and/or the orientation.
摘要翻译：为了缩短特征的设置操作所需的时间，信息处理设备包括：获取单元，被配置为从由成像设备拍摄的图像获取用于导出成像设备的位置姿态的特征;设置单元，被配置为将包括在图像中的多个部分区域设置为要添加特征的多个候选区域，评估单元，被配置为评估多个集合候选区域;确定单元，被配置为确定位置和/或基于多个评估候选区域来新添加的特征的取向;以及输出单元，被配置为输出确定的位置和/或取向。

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