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21.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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公开(公告)号：US20210335010A1
公开(公告)日：2021-10-28
申请号：US17370402
申请日：2021-07-08
Inventor： Masaki FUKUDA , Toshiyasu SUGIO , Toru MATSUNOBU , Satoshi YOSHIKAWA , Tatsuya KOYAMA
Abstract: A calibration method of calibrating, using a processor, parameters of a plurality of imaging apparatuses that capture a common three-dimensional space, includes: obtaining images captured by the plurality of imaging apparatuses; obtaining the parameters of the plurality of imaging apparatuses; for each of the images, generating at least one search window to extract a plurality of feature points of the image using the parameters; for each of the images, extracting the plurality of feature points from an inside of the at least one search window; performing feature point matching between the images using the plurality of feature points; and calibrating the parameters based on a plurality of matching results obtained.
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23.发明申请公开(公告)号：US20210027529A1
公开(公告)日：2021-01-28
申请号：US17066935
申请日：2020-10-09
Inventor： Toru MATSUNOBU , Toshiyasu SUGIO , Satoshi YOSHIKAWA , Tatsuya KOYAMA , Masaki FUKUDA
Abstract: A three-dimensional model processing method includes: generating, from first images shot by respective cameras at a first time, a first three-dimensional model including: first three-dimensional points indicating a subject at the first time; and first camera parameters indicating positions and orientations of the cameras; generating, from second images shot by the respective cameras at a second time, a second three-dimensional model including: second three-dimensional points indicating the subject at the second time; and second camera parameters indicating positions and orientations of the cameras; detecting a stationary camera among the cameras, whose position and orientation has not changed between the first and second times, or stationary three-dimensional points among the three-dimensional points, whose positions have not changed between the first and second times; and matching world coordinate systems of the first and second three-dimensional models, based on the first camera parameters of the stationary camera or the stationary three-dimensional points detected.
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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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Patent Agency Ranking
公开(公告)号：US20200027242A1
公开(公告)日：2020-01-23
申请号：US16577403
申请日：2019-09-20
Inventor： Tatsuya KOYAMA , Toshiyasu SUGIO , Yoichi SUGINO , Toru MATSUNOBU , Satoshi YOSHIKAWA
Abstract: A calibrator for a camera includes a controlling circuit, a photographing circuit, a calculating circuit, and an instructing circuit. The controlling circuit is configured to control a movable body to move into a shooting area of the camera. A marker is provided on the movable body for calibration of the camera. The photographing circuit is configured to control the camera to photograph the marker. The calculating circuit is configured to calculate at least one parameter of the camera based on the photographed marker. The instructing circuit is configured to transmit the at least one parameter to the camera to calibrate the camera.
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27.发明申请公开(公告)号：US20190208177A1
公开(公告)日：2019-07-04
申请号：US16295582
申请日：2019-03-07
Inventor： Tatsuya KOYAMA , Toshiyasu SUGIO , Toru MATSUNOBU , Satoshi YOSHIKAWA , Pongsak LASANG , Chi WANG
IPC: H04N13/139 , H04N13/282 , G06T7/80
CPC classification number: H04N13/139 , G06T7/55 , G06T7/70 , G06T7/85 , G06T2207/10021 , H04N13/282
Abstract: A three-dimensional model generating device includes: a converted image generating unit that, for each of input images included in one or more items of video data and having mutually different viewpoints, generates a converted image from the input image that includes fewer pixels than the input image; a camera parameter estimating unit that detects features in the converted images and estimates, for each of the input images, a camera parameter at a capture time of the input image, based on a pair of similar features between two of the converted images; and a three-dimensional model generating unit that generates a three-dimensional model using the input images and the camera parameters.
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公开(公告)号：US20190191146A1
公开(公告)日：2019-06-20
申请号：US16284339
申请日：2019-02-25
Inventor： Tatsuya KOYAMA , Toshiyasu SUGIO , Toru MATSUNOBU , Satoshi YOSHIKAWA
IPC: H04N13/246 , H04N13/243 , G06T7/80 , G06K9/00 , G06T7/20 , H04N13/296 , H04N13/111 , G06T7/70
CPC classification number: H04N13/246 , G06K9/00744 , G06K2009/00738 , G06T7/20 , G06T7/70 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04N5/222 , H04N5/232 , H04N7/18 , H04N13/111 , H04N13/243 , H04N13/296
Abstract: A multiple viewpoint image capturing system includes: a plurality of cameras that capture videos in a predetermined space from different positions; a circumstance sensing unit that senses at least one of circumstances of the respective cameras and circumstances of the predetermined space, and outputs the sensed circumstances in a form of capturing circumstance information; and an event detector that detects a predetermined event based on the capturing circumstance information, determines whether to perform camera calibration in a case of detecting the predetermined event, and outputs camera calibration information that indicates the camera calibration to be performed in a case of determining that the camera calibration is to be performed.
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公开(公告)号：US20190124254A1
公开(公告)日：2019-04-25
申请号：US16223982
申请日：2018-12-18
Inventor： Youji SHIBAHARA , Toshiyasu SUGIO , Toru MATSUNOBU , Yuki MARUYAMA
IPC: H04N5/232 , H04N21/43 , H04N5/04 , H04N21/242
CPC classification number: H04N5/23206 , H04N5/04 , H04N21/242 , H04N21/4305
Abstract: A photographing method in which a terminal device performs photographing is provided. The photographing method includes synchronizing a clock of the terminal device with a reference clock, and acquiring photographing clock time information indicating a photographing clock time which is based on the reference clock through a communication network. The photographing method also includes specifying a photographing delay time until the photographing is performed since photographing start in the terminal device, and photographing a subject at the photographing clock time indicated by the photographing clock time information. The photographing clock time being based on the clock of the terminal device already synchronized with the reference clock.
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公开(公告)号：US20190051036A1
公开(公告)日：2019-02-14
申请号：US16163010
申请日：2018-10-17
Inventor： Toru MATSUNOBU , Toshiyasu SUGIO , Satoshi YOSHIKAWA , Tatsuya KOYAMA , Pongsak LASANG , Jian GAO
Abstract: Provided is a three-dimensional reconstruction method of reconstructing a three-dimensional model from multi-view images. The method includes: selecting two frames from the multi-view images; calculating image information of each of the two frames; selecting a method of calculating corresponding keypoints in the two frames, according to the image information; and calculating the corresponding keypoints using the method of calculating corresponding keypoints selected in the selecting of the method of calculating corresponding keypoints.
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