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公开(公告)号：US20210400189A1
公开(公告)日：2021-12-23
申请号：US17462630
申请日：2021-08-31
Inventor： Satoshi YOSHIKAWA , Toshiyasu SUGIO , Toru MATSUNOBU , Masaki FUKUDA , Kensho TERANISHI
IPC: H04N5/232 , G06T7/33 , G06F3/0484
Abstract: A displacement detection method, performed by a computer, includes: obtaining (i) a first three-dimensional (3D) model representing a region at a first timing by 3D points and including first objects and (ii) a second three-dimensional model representing the region at a second timing by 3D points and including second objects, the second timing being different from the first timing; detecting, by use of attribute information of the first objects and the second objects, (i) first 3D points included in the first 3D model and (ii) second 3D points included in the second 3D model and associated with the respective first 3D points; performing alignment of the first 3D model and the second 3D model by use of the first 3D points and the second 3D points; and detecting displacement between the first 3D model and the second 3D model after the alignment.
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公开(公告)号：US20210029345A1
公开(公告)日：2021-01-28
申请号：US17071431
申请日：2020-10-15
Inventor： Toru MATSUNOBU , Toshiyasu SUGIO , Satoshi YOSHIKAWA , Tatsuya KOYAMA , Masaki FUKUDA
IPC: H04N13/239 , H04N13/25 , H04N13/246 , G06T7/174 , G06T7/80
Abstract: A method of generating a three-dimensional model includes: calculating camera parameters of n cameras based on m first images, the m first images being captured from m different viewpoints by the n cameras, n being an integer greater than one, m being an integer greater than n; and generating the three-dimensional model based on n second images and the camera parameters, the n second images being captured from n different viewpoints by the n cameras, respectively.
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公开(公告)号：US20230213371A1
公开(公告)日：2023-07-06
申请号：US18113223
申请日：2023-02-23
Inventor： Ukyou KATSURA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Masaki FUKUDA , Kensho TERANISHI , Tomokazu ICHIRIKI , Masanori KIMURA , Toshiyasu SUGIO
IPC: G01F23/284 , G06T7/62
CPC classification number: G01F23/2845 , G06T7/62
Abstract: A filling rate measurement method includes: obtaining a space three-dimensional model generated by measuring a storage through an opening of the storage using a range sensor facing the storage; obtaining a storage three-dimensional model that is a three-dimensional model of the storage; extracting a target part that is a part of a measurement target in the space three-dimensional model; identifying a line segment indicating a shape of the opening on a two-dimensional image of the opening which is generated; estimating a target three-dimensional model that is a three-dimensional model of the measurement target based on the target part and a three-dimensional coordinate system with respect to the position of the opening on a three-dimensional space identified based on the position of the range sensor, the specific direction, and the shape of the opening; and calculating a filling rate of the measurement target with respect to the storage space.
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公开(公告)号：US20220284672A1
公开(公告)日：2022-09-08
申请号：US17748331
申请日：2022-05-19
Inventor： Kensho TERANISHI , Satoshi YOSHIKAWA , Toru MATSUNOBU , Masaki FUKUDA
Abstract: A three-dimensional model generation method includes: obtaining map information generated by camera calibration executed by controlling one or more cameras to shoot a subject from a plurality of viewpoints, the map information including three-dimensional points each indicating a position on the subject in a three-dimensional space; obtaining a first image from a first view point and a second image from a second viewpoint; determining a search range in the three-dimensional space, based on the map information, the search range including a first three-dimensional point on the subject, the first three-dimensional point corresponding to a first point in the first image; searching for a similar point that is similar to the first point, in a range in the second image which corresponds to the search range; and generating a three-dimensional model using a search result in the searching.
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公开(公告)号：US20250095171A1
公开(公告)日：2025-03-20
申请号：US18964079
申请日：2024-11-29
Inventor： Masaki FUKUDA , Toshiyasu SUGIO , Toru MATSUNOBU , Satoshi YOSHIKAWA , Kensho TERANISHI
Abstract: An object amount calculation apparatus includes: a receiver configured to obtain a first three-dimensional model and a second three-dimensional model different from the first three-dimensional model, each of the first three-dimensional model and the second three-dimensional model representing a same space, each of the first three-dimensional model and the second three-dimensional model being constituted with regions having respective attributes; and a processor configured to: align the first three-dimensional model and the second three-dimensional model based on at least one attribute of the first three-dimensional model and the second three-dimensional model; calculate, for each of the attributes, a difference between the first three-dimensional model aligned and the second three-dimensional model aligned; and output (i) a total amount of differences corresponding to two or more attributes among the attributes and (ii) information on the two or more attributes.
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Patent Agency Ranking
公开(公告)号：US20230003506A1
公开(公告)日：2023-01-05
申请号：US17942548
申请日：2022-09-12
Inventor： Masaki FUKUDA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Kensho TERANISHI
Abstract: A dimension measurement method includes: extracting a plurality of lines from a plurality of images generated by shooting a target area from a plurality of viewpoints, and generating a line segment model which is a three-dimensional model of the target area that is expressed using the plurality of lines; calculating a dimension of a particular part inside the target area, using the line segment model; and outputting the dimension calculated.
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公开(公告)号：US20210027496A1
公开(公告)日：2021-01-28
申请号：US17070290
申请日：2020-10-14
Inventor： Tatsuya KOYAMA , Masaki FUKUDA , Toshiyasu SUGIO , Toru MATSUNOBU , Satoshi YOSHIKAWA
IPC: G06T7/80 , G06T7/73 , G06T7/246 , H04N13/246
Abstract: A calibration apparatus calibrates parameters of imaging apparatuses which are disposed at different positions and image a common three-dimensional space. The calibration apparatus includes: an obtaining circuit which obtains videos captured by the imaging apparatuses and each including frames; an extraction circuit which extracts feature points from the frames included in the videos, the feature points including first feature points extracted from first frames included in the videos and second feature points extracted from areas containing an image of a moving object in second frames included in the videos and different from the first frames; a matching circuit which performs matching using the feature points, the matching including matching between the first feature points and matching between the second feature points; and a calibration circuit which calculates parameters of the imaging apparatuses based on first matching results obtained through the matching by the matching circuit.
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8.发明公开公开(公告)号：US20230281927A1
公开(公告)日：2023-09-07
申请号：US18195606
申请日：2023-05-10
Inventor： Toru MATSUNOBU , Kensho TERANISHI , Masaki FUKUDA , Ukyou KATSURA , Makoto KOHRIN , Satoshi YOSHIKAWA
Abstract: A three-dimensional point cloud densification device includes: an obtainer that obtains a plurality of three-dimensional points, each of which indicates a three-dimensional position of at least one object, and auxiliary information for creating a polygon; and a densifier that: identifies the polygon having, as vertices, at least three three-dimensional points among the plurality of three-dimensional points, based on the auxiliary information; and generates a new three-dimensional point inside the polygon.
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9.发明公开公开(公告)号：US20230206558A1
公开(公告)日：2023-06-29
申请号：US18117056
申请日：2023-03-03
Inventor： Masaki FUKUDA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Kensho TERANISHI , Ukyou KATSURA
IPC: G06T17/10
CPC classification number: G06T17/10
Abstract: A three-dimensional model generation method includes: detecting a first line from each of a plurality of images of a target area shot to detect a plurality of first lines, the plurality of images being shot from a plurality of viewpoints; excluding, from the plurality of first lines detected, a second line that reaches an edge of an image among the plurality of images; and generating a line segment model which is a three-dimensional model of the target area represented by lines, using a plurality of line segments which are the plurality of first lines from which the second line is excluded.
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10.发明申请公开(公告)号：US20230005220A1
公开(公告)日：2023-01-05
申请号：US17943415
申请日：2022-09-13
Inventor： Satoshi YOSHIKAWA , Toru MATSUNOBU , Kensho TERANISHI , Masaki FUKUDA , Ukyou KATSURA
Abstract: A shooting method executed by a shooting device includes: shooting first images of a target space; generating a first three-dimensional point cloud of the target space, based on the first images and a first shooting position and a first shooting orientation of each of the first images; and determining a first region of the target space for which generating a second three-dimensional point cloud which is denser than the first three-dimensional point cloud is difficult, using the first three-dimensional point cloud and without generating the second three-dimensional point cloud. The determining includes generating a mesh using the first three-dimensional point cloud, and determining the region other than a second region of the target space for which the mesh is generated.
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