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    Four-wheeled adjustable vehicle
    21.
    发明授权
    Four-wheeled adjustable vehicle 失效
    四轮可调车

    公开(公告)号：US4563954A

    公开(公告)日：1986-01-14

    申请号：US540178

    申请日：1983-10-11

    申请人： Tokuji Okada ,  Takeo Kanade

    发明人： Tokuji Okada ,  Takeo Kanade

    IPC分类号： B61B13/10 ,  G01M3/00

    CPC分类号： G01M3/005 ,  B61B13/10

    摘要： A motor driven vehicle for traversing the interior of a pipe or conduit accommodates itself to variations in the interior contour of the pipe and automatically positions itself on the longest axis of any cross section of the pipe. It comprises a pair of two-wheeled trucks each pivotally connected to an end of a stretcher member which urges the trucks away from each other against diametrically opposite paths of travel on the pipe wall. Each truck has a driving wheel and a swivelling wheel, the driving wheels being diagonally opposite each other. The driving wheel motors are servo-connected so as to keep the angles between stretcher and truck bolsters equal. The driving wheels are preferably constructed with rim segments which rotate about axes tangent to the mean circumference of the rim, thereby permitting movement sidewise of the wheel.

    摘要翻译： 用于横穿管道或导管内部的电机驱动车辆可容纳其内部轮廓的变化，并自动将其自身定位在管道的任何横截面的最长轴线上。 它包括一对两轮卡车，它们各自枢转地连接到担架构件的端部，该牵引构件推动卡车彼此远离管道壁上径向相对的行进路线。 每辆卡车都有一个驱动轮和一个旋转轮，驱动轮彼此对角相对。 驱动轮电动机是伺服连接的，以保持担架和卡车支架之间的角度相等。 驱动轮优选地构造有围绕与轮辋的平均圆周相切的轴线的边缘段，从而允许轮的侧面移动。

    SENSOR GUIDED CATHETER NAVIGATION SYSTEM
    23.
    发明申请
    SENSOR GUIDED CATHETER NAVIGATION SYSTEM 有权
    传感器导向导管系统

    公开(公告)号：US20110257525A1

    公开(公告)日：2011-10-20

    申请号：US13167400

    申请日：2011-06-23

    申请人： Takeo Kanade ,  David Schwartzman ,  Hua Zhong

    发明人： Takeo Kanade ,  David Schwartzman ,  Hua Zhong

    IPC分类号： A61B8/12

    CPC分类号： A61B8/0841 ,  A61B5/0402 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B6/032 ,  A61B6/5205 ,  A61B6/541 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/461 ,  A61B8/5207 ,  A61B8/5238 ,  A61B8/543 ,  G06T7/344 ,  G06T2207/10016 ,  G06T2207/10081 ,  G06T2207/10136 ,  G06T2207/20076 ,  G06T2207/30021 ,  G06T2207/30048

    摘要： A method and a system for producing images of a subject, such as the heart of a human being. The method may comprise acquiring ultrasound images of the subject with a catheter comprising a position sensor. The method may also comprise capturing a plurality of 4D surface registration points in the acquired ultrasound images corresponding to points on the subject. The method may also comprise registering, in space and time, a high-resolution 4D model of the subject with the plurality of 4D surface registration points. The method may also comprise displaying high resolution, real-time images of the subject during a medical procedure based on the registration of the high resolution 4D model to the 4D surface registration points. Embodiments of the present invention are especially useful in left atrium ablation procedures.

    摘要翻译： 用于产生对象的图像的方法和系统，例如人的心脏。 该方法可以包括用包括位置传感器的导管获取对象的超声图像。 该方法还可以包括在所获取的超声图像中拍摄对应于被摄体上的点的多个4D表面注册点。 该方法还可以包括用空间和时间注册具有多个4D表面注册点的对象的高分辨率4D模型。 该方法还可以包括在医疗过程中基于高分辨率4D模型的注册到4D表面注册点来显示对象的高分辨率实时图像。 本发明的实施例在左心房消融手术中特别有用。

    Sensor guided catheter navigation system
    24.
    发明授权
    Sensor guided catheter navigation system 有权
    传感器引导导航系统

    公开(公告)号：US07981038B2

    公开(公告)日：2011-07-19

    申请号：US12083044

    申请日：2006-10-11

    申请人： Takeo Kanade ,  David Schwartzman ,  Hua Zjong

    发明人： Takeo Kanade ,  David Schwartzman ,  Hua Zjong

    IPC分类号： A61B8/00 ,  A61B5/05 ,  G06K9/00

    CPC分类号： A61B8/0841 ,  A61B5/0402 ,  A61B5/06 ,  A61B5/062 ,  A61B5/065 ,  A61B6/032 ,  A61B6/5205 ,  A61B6/541 ,  A61B8/12 ,  A61B8/4254 ,  A61B8/461 ,  A61B8/5207 ,  A61B8/5238 ,  A61B8/543 ,  G06T7/344 ,  G06T2207/10016 ,  G06T2207/10081 ,  G06T2207/10136 ,  G06T2207/20076 ,  G06T2207/30021 ,  G06T2207/30048

    摘要： A method and a system for producing images of a subject, such as the heart of a human being. The method may comprise acquiring ultrasound images of the subject with a catheter comprising a position sensor. The method may also comprise capturing a plurality of 4D surface registration points in the acquired ultrasound images corresponding to points on the subject. The method may also comprise registering, in space and time, a high-resolution 4D model of the subject with the plurality of 4D surface registration points. The method may also comprise displaying high resolution, real-time images of the subject during a medical procedure based on the registration of the high resolution 4D model to the 4D surface registration points. Embodiments of the present invention are especially useful in left atrium ablation procedures.

    摘要翻译： 用于产生对象的图像的方法和系统，例如人的心脏。 该方法可以包括用包括位置传感器的导管获取对象的超声图像。 该方法还可以包括在所获取的超声图像中拍摄对应于被摄体上的点的多个4D表面注册点。 该方法还可以包括用空间和时间注册具有多个4D表面注册点的对象的高分辨率4D模型。 该方法还可以包括在医疗过程中基于高分辨率4D模型的注册到4D表面注册点来显示对象的高分辨率实时图像。 本发明的实施例在左心房消融手术中特别有用。

    Vehicle-use visual field assistance system in which information dispatch apparatus transmits images of blind spots to vehicles
    25.
    发明申请
    Vehicle-use visual field assistance system in which information dispatch apparatus transmits images of blind spots to vehicles 有权
    信息发送装置向车辆发送盲点图像的车用视野辅助系统

    公开(公告)号：US20090140881A1

    公开(公告)日：2009-06-04

    申请号：US12283422

    申请日：2008-09-11

    申请人： Hiroshi Sakai ,  Yukimasa Tamatsu ,  Ankur Datta ,  Yaser Sheikh ,  Takeo Kanade

    发明人： Hiroshi Sakai ,  Yukimasa Tamatsu ,  Ankur Datta ,  Yaser Sheikh ,  Takeo Kanade

    IPC分类号： G08G1/123 ,  B60Q1/00 ,  G08G1/00

    CPC分类号： G08G1/164 ,  B60R1/00

    摘要： A camera of a ground-based information dispatch apparatus captures a blind-spot image, showing a region that is a blind spot with respect to a vehicle driver. A vehicle-mounted camera captures a forward-view image corresponding to the viewpoint of the driver, and the forward-view image is transmitted to the information dispatch apparatus together with vehicle position and direction information and camera parameters. Based on the received information, the blind-spot image is converted to a corresponding image having the viewpoint of the vehicle driver, and the forward-view image and viewpoint-converted blind-spot image are combined to form a synthesized image, which is transmitted to the vehicle.

    摘要翻译： 基于地面的信息调度装置的摄像机捕获盲点图像，显示相对于车辆驾驶员的盲区的区域。 车载摄像机拍摄与驾驶员的视点相对应的前视图像，并且将前视图像与车辆位置和方向信息以及相机参数一起发送到信息发送装置。 基于接收到的信息，将盲点图像转换为具有车辆驾驶员的视点的对应图像，并将前视图像和视点转换盲点图像组合以形成被发送的合成图像 到车里

    System and method for stabilizing rotational images
    26.
    发明授权
    System and method for stabilizing rotational images 失效
    用于稳定旋转图像的系统和方法

    公开(公告)号：US07102666B2

    公开(公告)日：2006-09-05

    申请号：US10074315

    申请日：2002-02-12

    申请人： Takeo Kanade ,  Robert Collins

    发明人： Takeo Kanade ,  Robert Collins

    IPC分类号： H04N7/18

    CPC分类号： H04N5/2627 ,  G03B41/00 ,  H04N5/232 ,  H04N5/2628

    摘要： A method and a system of generating an image sequence of an object within a scene. According to one embodiment, the method includes capturing an image (images I1-N) of the object with a plurality of camera systems, wherein the camera systems are positioned around the scene. Next, the method includes 2D projective transforming certain of the images (I2-N) such that a point of interest in each of the images is at a same position as a point of interest in a first image (I1) from one of the camera systems. The method further includes outputting the transformed images (I2′-N′) and the first image (I1) in a sequence corresponding to a positioning of the corresponding camera systems around the scene.

    摘要翻译： 一种在场景内生成对象的图像序列的方法和系统。 根据一个实施例，该方法包括用多个相机系统捕获对象的图像（图像I 1-N N），其中相机系统位于场景周围。 接下来，该方法包括2D投影变换某些图像（I 2-N N），使得每个图像中的兴趣点处于与第一图像中的兴趣点相同的位置 （I 1> 1 ）。 该方法还包括以对应于相应摄像机系统的定位的顺序输出变换图像（I SUB-N'）和第一图像（I SUB 1） 围绕现场。

    Optical flow estimation method and image synthesis method
    27.
    发明授权
    Optical flow estimation method and image synthesis method 失效
    光流估计方法及图像合成方法

    公开(公告)号：US06788802B2

    公开(公告)日：2004-09-07

    申请号：US09081862

    申请日：1998-05-21

    申请人： Naoki Chiba ,  Takeo Kanade ,  Hiroshi Kano

    发明人： Naoki Chiba ,  Takeo Kanade ,  Hiroshi Kano

    IPC分类号： G06K900

    CPC分类号： G06T7/246 ,  G06T7/33

    摘要： Optical flow is calculated for each sub-block on the basis of two images, the sub-blocks are then partitioned into a region having low confidence and a region having high confidence depending on the reliability of the optical flow, and the optical flow in the region having low confidence is filled by dilation processing using the optical flow in its surrounding regions.

    摘要翻译： 基于两个图像计算每个子块的光流，然后根据光流的可靠性将子块划分成具有低置信度的区域和具有高置信度的区域，并且在 具有低置信度的区域通过使用其周围区域中的光流的扩张处理来填充。

    Method and apparatus for environment recognition
    29.
    发明授权
    Method and apparatus for environment recognition 有权
    环境识别方法和装置

    公开(公告)号：US06535114B1

    公开(公告)日：2003-03-18

    申请号：US09533167

    申请日：2000-03-22

    申请人： Toshihiko Suzuki ,  Takeo Kanade

    发明人： Toshihiko Suzuki ,  Takeo Kanade

    IPC分类号： B60Q100

    CPC分类号： G06T7/20 ,  G06T7/70 ,  G06T2207/30244

    摘要： Images are captured using a single camera in motion. A recognition process section detects a possible object in a photographed image, tracks the possible object within the moving image, and generates object shape information from the trajectory information. A motion and pose determination section determines camera motion and pose using the photographed images for recognition processing. The determined data are used for object recognition along with the tracking information. The motion and pose determination section converts the optical flow parameters obtained from the photographed images into physical parameters in three-dimensional space. An Extended Kalman Filter is used for both the determination of motion and pose and for object recognition.

    摘要翻译： 使用单个相机运动拍摄图像。 识别处理部分检测拍摄图像中的可能对象，跟踪运动图像内的可能对象，并从轨迹信息生成对象形状信息。 运动和姿势确定部分使用所拍摄的图像来确定相机运动和姿势以进行识别处理。 确定的数据与跟踪信息一起用于对象识别。 运动和姿势确定部分将从拍摄图像获得的光流参数转换成三维空间中的物理参数。 扩展卡尔曼滤波器用于运动和姿态的确定以及对象识别。