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公开(公告)号：US08036449B2
公开(公告)日：2011-10-11
申请号：US12056519
申请日：2008-03-27
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06T7/593
摘要： A method for performing a convergence calculation using a projective transformation between images captured by two cameras to observe a flat part of an object in the images, wherein a computational load is reduced while securing a convergence property of the convergence calculation. Initial values (n0(i), d0(i)) are set to values satisfying a limiting condition that should be satisfied by the initial values (n0(i), d0(i)), where the limiting condition is that a plane πa(i) defined by the initial values (n0(i), d0(i)) of given types of parameters (n(i), d(i)) of a projective transformation matrix in the convergence calculation is inclined with respect to an actual plane including the flat part of the object to be observed.
摘要翻译： 一种用于使用由两个摄像机捕获的图像之间的投影变换进行收敛计算的方法，以观察图像中的对象的平坦部分，其中减小了计算负荷，同时确保了会聚计算的收敛特性。 初始值（n0（i），d0（i））被设定为满足由初始值（n0（i），d0（i））满足的限制条件的值，其中限制条件是平面＆pgr 由收敛计算中的投影变换矩阵的给定类型的参数（n（i），d（i））的初始值（n0（i），d0（i））定义的a（i）相对于 包括被观察物体的平坦部分的实际平面。
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公开(公告)号：US08019145B2
公开(公告)日：2011-09-13
申请号：US12056502
申请日：2008-03-27
IPC分类号： G06K5/00
CPC分类号： B62D57/032 , G05D1/0246 , G05D2201/0217 , G06K9/00201 , G06T7/70
摘要： A robot capable of performing appropriate movement control while reducing arithmetic processing for recognizing the shape of a floor. The robot sets a predetermined landing position of steps of the legs on a present assumed floor, which is a floor represented by floor shape information used for a current motion control of the robot, during movement of the robot. An image projection area is set, and is projected on each image captured by cameras mounted on the robot for each predetermined landing position in the vicinity of each of the predetermined landing positions. Shape parameters representing the shape of an actual floor partial area are estimated, forming an actual floor whose image is captured in each partial image area, based on the image of the partial image area generated by projecting the set image projection area on the images captured by the cameras for each partial image area.
摘要翻译： 能够进行适当的移动控制的机器人，同时减少用于识别地板的形状的运算处理。 机器人在机器人运动期间，将当前假想地板上的腿的步骤的预定着陆位置设置为当前假想地板，其是由用于机器人的当前运动控制的楼板形状信息表示的楼层。 设置图像投影区域，并且在每个预定着陆位置附近的每个预定着陆位置处投影到安装在机器人上的照相机拍摄的每个图像上。 基于通过将设置的图像投影区域投影到由图像捕获的图像生成的部分图像区域的图像，估计表示实际楼层部分区域的形状的形状参数，形成其图像被捕获在每个部分图像区域中的实际楼层 每个部分图像区域的相机。
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公开(公告)号：US20110175998A1
公开(公告)日：2011-07-21
申请号：US13007309
申请日：2011-01-14
CPC分类号： G06T7/2033 , G06K9/00798 , G06T7/246 , G06T2207/20164 , G06T2207/30244
摘要： A motion calculation device includes an image-capturing unit configured to capture an image of a range including a plane and outputs the captured image, an extraction unit configured to extract a region of the plane from the image, a detection unit configured to detect feature points and motion vectors of the feature points from a plurality of images captured by the image-capturing unit at a predetermined time interval; and a calculation unit configured to calculate the motion of the host device based on both of an epipolar constraint relating to the feature points and a homography relating to the region.
摘要翻译： 运动计算装置包括拍摄单元，被配置为捕获包括平面的范围的图像并输出所述拍摄图像;提取单元，被配置为从所述图像提取所述平面的区域;检测单元，被配置为检测特征点 以及以预定时间间隔从由所述图像捕获单元捕获的多个图像的所述特征点的运动矢量; 以及计算单元，被配置为基于与特征点相关的对极约束和与该区域相关的单应性来计算主机设备的运动。
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24.发明申请IMAGE PROCESSING METHOD, IMAGE PROCESSING APPARATUS AND COMPUTER READABLE STORAGE MEDIUM 有权图像处理方法，图像处理装置和计算机可读存储介质公开(公告)号：US20100183074A1
公开(公告)日：2010-07-22
申请号：US12689395
申请日：2010-01-19
IPC分类号： H04N11/02
CPC分类号： H04N19/00218 , G06T3/4007 , H04N19/105 , H04N19/139 , H04N19/159 , H04N19/176 , H04N19/182 , H04N19/20 , H04N19/513 , H04N19/521 , H04N19/573 , H04N19/59 , H04N19/61
摘要： An image processing method includes: a frame selection step for selecting a base frame and a reference frame; an image displacement amount calculation step for calculating an image displacement amount between the reference frame and the base frame; a weighting coefficient generation step for generating a weighting coefficient using at least one of an encoding type of the reference frame and the motion information of the encoded moving image data; and an image quality improvement step for improving an image quality of the base frame using the image displacement amount calculated in the image displacement amount calculation step and the weighting coefficient generated in the weighting coefficient generation step.
摘要翻译： 一种图像处理方法包括：帧选择步骤，用于选择基本帧和参考帧; 图像位移量计算步骤，用于计算参考帧和基本帧之间的图像位移量; 加权系数生成步骤，用于使用所述参考帧的编码类型和所述编码的运动图像数据的运动信息中的至少一个来生成加权系数; 以及图像质量改进步骤，用于使用在图像位移量计算步骤中计算的图像位移量和在加权系数生成步骤中生成的加权系数来提高基本帧的图像质量。
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25.发明申请IMAGE QUALITY IMPROVEMENT PROCESSING METHOD AND IMAGE QUALITY IMPROVEMENT PROCESSING PROGRAM WHICH SUPPORT PLURAL REGIONS 审中-公开图像质量改进处理方法和图像质量改进处理程序，支持多个区域公开(公告)号：US20100111418A1
公开(公告)日：2010-05-06
申请号：US12532008
申请日：2008-03-04
申请人： Masatoshi Okutomi , Masayuki Tanaka
发明人： Masatoshi Okutomi , Masayuki Tanaka
CPC分类号： G06T5/50 , G06T3/4053
摘要： The present invention provides an image quality improvement processing method corresponding to multiple regions that performs the image quality improvement processing so as to be capable of simultaneously displaying multiple regions of interest that image quality is improved and the entire basis image without generating unnatural edges in boundaries between regions of interest even in the case that multiple regions of interest are set in the basis image.An image quality improvement processing method corresponding to multiple regions that generates an image-quality-improved image from multiple observed images having displacements, comprises a step that extracts multiple regions of interest with respect to a basis image selected from the multiple observed images; a step that performs the registration processing for every region of interest with respect to extracted multiple regions of interest; and a step that performs the image quality improvement processing by simultaneously using the pixel value data of multiple regions of interest that the registration processing is performed and the pixel value data of the basis image and generates the image-quality-improved image.
摘要翻译： 本发明提供一种对应于执行图像质量改进处理的多个区域的图像质量改进处理方法，以便能够同时显示改善图像质量的多个感兴趣区域和整个基本图像，而不产生边界之间的非自然边缘 即使在多个感兴趣区域被设置在基础图像中的情况下也是感兴趣的区域。 对应于从具有位移的多个观察图像生成图像质量改善图像的多个区域的图像质量改善处理方法包括：相对于从多个观察图像中选择的基础图像提取多个感兴趣区域的步骤; 针对所提取的多个感兴趣区域对每个感兴趣区域执行注册处理的步骤; 以及通过同时使用执行注册处理的多个感兴趣区域的像素值数据和基础图像的像素值数据并且生成图像质量改善图像来执行图像质量改进处理的步骤。
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公开(公告)号：US20090080806A1
公开(公告)日：2009-03-26
申请号：US11913324
申请日：2006-05-01
申请人： Masayuki Tanaka , Masatoshi Okutomi
发明人： Masayuki Tanaka , Masatoshi Okutomi
CPC分类号： G06T3/4053
摘要： The present invention provides a fast method of super-resolution processing which realizes speedup of the high-speed super-resolution processing by speeding up the calculations of an evaluation function and the differential of the evaluation function with respect to a high-resolution image in a reconstruction-based super-resolution processing.A fast method of super-resolution processing for speeding up a super-resolution processing that estimates a high-resolution image from multiple low-resolution images with displacements, the method characterized in that an evaluation function and a differential of the evaluation function with respect to the high-resolution image are calculated by a combination of basic image operations.
摘要翻译： 本发明提供了一种超分辨率处理的快速方法，其通过加速评估函数的计算和相对于高分辨率图像中的高分辨率图像的评估函数的差分来实现高速超分辨率处理的加速 基于重建的超分辨率处理。 一种超分辨率处理的快速方法，用于加速从具有位移的多个低分辨率图像估计高分辨率图像的超分辨率处理，其特征在于，评估函数和评估函数的差异相对于 通过基本图像操作的组合来计算高分辨率图像。
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公开(公告)号：US20080310706A1
公开(公告)日：2008-12-18
申请号：US12056519
申请日：2008-03-27
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06T7/593
摘要： A method for performing a convergence calculation using a projective transformation between images captured by two cameras to observe a flat part of an object in the images, wherein a computational load is reduced while securing a convergence property of the convergence calculation. Initial values (n0(i), d0(i)) are set to values satisfying a limiting condition that should be satisfied by the initial values (n0(i), d0(i)), where the limiting condition is that a plane πa(i) defined by the initial values (n0(i), d0(i)) of given types of parameters (n(i), d(i)) of a projective transformation matrix in the convergence calculation is inclined with respect to an actual plane including the flat part of the object to be observed.
摘要翻译： 一种用于使用由两个摄像机捕获的图像之间的投影变换进行收敛计算的方法，以观察图像中的对象的平坦部分，其中减小了计算负荷，同时确保了会聚计算的收敛特性。 初始值（n0（i），d0（i））被设置为满足初始值（n0（i），d0（i））应满足的限制条件的值，其中限制条件是平面pia （i）由收敛计算中的投影变换矩阵的给定类型的参数（n（i），d（i））的初始值（n0（i），d0（i））定义为相对于 实际平面包括被观察物体的平坦部分。
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公开(公告)号：US20060133641A1
公开(公告)日：2006-06-22
申请号：US10542329
申请日：2003-11-20
申请人： Masao Shimizu , Masatoshi Okutomi
发明人： Masao Shimizu , Masatoshi Okutomi
IPC分类号： G06K9/00
CPC分类号： G06K9/46 , G06T2200/32
摘要： In consideration of N-dimensional similarity, a multiparameter high precision concurrent estimation method and a multiparameter high precision concurrent estimation program in image subpixel matching, which can estimate a correspondence parameter between images precisely, concurrently, and stably with a small amount of computation at high speed. The method comprises the steps of: determining a sub-sampling position where the N-dimensional similarity value between images obtained at discrete positions is maximum or minimum on a line in parallel with a certain parameter axis, and determining an N-dimensional hyperplane that most approximates the determined sub-sampling position; determining N of the N-dimensional hyperplanes with respect to each parameter axis; determining an intersection point of N of the N-dimensional hyperplanes; and setting the intersection point as a sub-sampling grid estimation position for the correspondence parameter between images that gives a maximum value or a minimum value of N-dimensional similarity in the N-dimensional similarity space.
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公开(公告)号：US5936628A
公开(公告)日：1999-08-10
申请号：US401296
申请日：1995-03-09
摘要： A three-dimensional model processing apparatus includes a three-dimensional data-format converter for converting the data format of three-dimensional data inputted by a three-dimensional data input unit, a three-dimensional data processor for processing the three-dimensional data converted by the three-dimensional data-format converter, a three-dimensional model creating unit for creating a three-dimensional model from the three-dimensional data processed by the three-dimensional processor, and a three-dimensional model editor for editing the three-dimensional model created by the three-dimensional model creating unit and applying operations to the shape data. A three-dimensional model is created and edited irrespective of the type of three-dimensional data inputted in different modes.
摘要翻译： 三维模型处理装置包括三维数据格式转换器，用于转换由三维数据输入单元输入的三维数据的数据格式，三维数据处理器，用于处理三维数据转换 通过三维数据格式转换器，用于根据由三维处理器处理的三维数据创建三维模型的三维模型创建单元和用于编辑三维数据格式转换器的三维模型编辑器， 由三维模型创建单元创建的三维模型并对形状数据应用操作。 无论在不同模式下输入的三维数据的类型如何，都会创建和编辑三维模型。
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30.发明授权Method of managing an image memory by a process independent of an image processing process 失效通过独立于图像处理过程的处理来管理图像存储器的方法
公开(公告)号：US5384900A
公开(公告)日：1995-01-24
申请号：US116545
申请日：1993-09-07
CPC分类号： G06T1/60
摘要： An image processing apparatus includes an image memory for storing image information, an execution process for processing the image information stored in the image memory. A table is also included, for storing a use condition of the image information stored in the image memory, as well as a management process for managing a memory area of the image memory on the basis of the use condition stored in the table.
摘要翻译： 图像处理装置包括用于存储图像信息的图像存储器，用于处理存储在图像存储器中的图像信息的执行处理。 还包括表，用于存储存储在图像存储器中的图像信息的使用条件，以及用于基于存储在表中的使用条件来管理图像存储器的存储区域的管理处理。
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