POSITION AND ORIENTATION MEASUREMENT APPARATUS,POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM
    21.
    发明申请
    POSITION AND ORIENTATION MEASUREMENT APPARATUS,POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 有权
    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:US20130121592A1

    公开(公告)日:2013-05-16

    申请号:US13811776

    申请日:2011-07-12

    IPC分类号: G06K9/32

    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被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联点是否存在于封闭区域内; 以及测量装置,用于基于构成投影线段的点和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。

    POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM
    22.
    发明申请
    POSITION/ORIENTATION MEASUREMENT APPARATUS, PROCESSING METHOD THEREFOR, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM 有权
    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:US20130076865A1

    公开(公告)日:2013-03-28

    申请号:US13702365

    申请日:2011-06-09

    IPC分类号: G06K9/62 G06K9/78

    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。

    INFORMATION PROCESSING METHOD AND APPARATUS FOR CALCULATING INFORMATION REGARDING MEASUREMENT TARGET ON THE BASIS OF CAPTURED IMAGES
    23.
    发明申请
    INFORMATION PROCESSING METHOD AND APPARATUS FOR CALCULATING INFORMATION REGARDING MEASUREMENT TARGET ON THE BASIS OF CAPTURED IMAGES 审中-公开
    信息处理方法和计算关于捕获图像基准测量目标的信息的设备

    公开(公告)号:US20120288216A1

    公开(公告)日:2012-11-15

    申请号:US13561473

    申请日:2012-07-30

    IPC分类号: G06K9/60

    摘要: From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.

    摘要翻译: 从图像拾取单元拍摄的图像序列中,自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。 为此,在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息,确定是否使用与位置和方位对应的拍摄图像。 使用确定使用的拍摄图像,获得标记放置信息,关于测量对象的放置信息,或者用作未知参数的图像拾取单元的位置和方向,以便使测量的图像坐标和 基于参数的粗略值估计的每个标记的理论图像坐标。

    THREE-DIMENSIONAL MEASUREMENT APPARATUS, MEASUREMENT METHOD THEREFOR, AND COMPUTER-READABLE STORAGE MEDIUM
    24.
    发明申请
    THREE-DIMENSIONAL MEASUREMENT APPARATUS, MEASUREMENT METHOD THEREFOR, AND COMPUTER-READABLE STORAGE MEDIUM 有权
    三维测量装置,其测量方法和计算机可读存储介质

    公开(公告)号:US20100328682A1

    公开(公告)日:2010-12-30

    申请号:US12818538

    申请日:2010-06-18

    IPC分类号: G01B11/14

    CPC分类号: G01B11/25 G06T7/521

    摘要: A three-dimensional measurement apparatus comprises: a model holding unit configured to hold a three-dimensional shape model of a measurement object; a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object; an illumination unit configured to irradiate the measurement object with a predetermined illumination pattern; an image sensing unit configured to sense an image of the measurement object while the illumination unit irradiates the measurement object; a distance calculation unit configured to calculate distance information indicating a distance from the image sensing unit to the measurement object based on region corresponding to the distance measurement region within the sensed image; and a position and orientation calculation unit configured to calculate a position and orientation of the measurement object based on the distance information and the three-dimensional shape model.

    摘要翻译: 三维测量装置包括:模型保持单元,被配置为保持测量对象的三维形状模型; 确定单元,被配置为基于指示所述测量对象的三维形状的信息来确定所述测量对象上的距离测量区域; 照明单元,被配置为以预定的照明图案照射所述测量对象; 图像感测单元,被配置为在照明单元照射测量对象时感测测量对象的图像; 距离计算单元,被配置为基于与感测图像内的距离测量区域对应的区域来计算指示从图像感测单元到测量对象的距离的距离信息; 以及位置和姿势计算单元,被配置为基于所述距离信息和所述三维形状模型来计算所述测量对象的位置和取向。

    IMAGE PROCESSING APPARATUS AND METHOD FOR CONTROLLING THE SAME
    25.
    发明申请
    IMAGE PROCESSING APPARATUS AND METHOD FOR CONTROLLING THE SAME 有权
    图像处理装置及其控制方法

    公开(公告)号:US20100220914A1

    公开(公告)日:2010-09-02

    申请号:US12714798

    申请日:2010-03-01

    IPC分类号: G06K9/00

    摘要: An image processing apparatus includes an image acquisition unit configured to acquire a tomographic image of an object, a layer detection unit configured to detect a layer that constitutes the object from the tomographic image acquired by the image acquisition unit, and a normal structure estimation unit configured to estimate a normal structure of the layer based on the layer detected by the layer detection unit and a feature that is modified by a lesion of the layer.

    摘要翻译: 一种图像处理装置包括:图像获取单元,被配置为获取对象的断层图像;层检测单元,被配置为从由图像获取单元获取的断层图像中检测构成对象的层;以及正常结构估计单元, 基于由层检测单元检测到的层和由层的损伤修改的特征来估计层的正常结构。

    Information processing apparatus, information processing method, and calibration Jig
    26.
    发明授权
    Information processing apparatus, information processing method, and calibration Jig 有权
    信息处理装置,信息处理方法和校准夹具

    公开(公告)号:US07783443B2

    公开(公告)日:2010-08-24

    申请号:US12037489

    申请日:2008-02-26

    IPC分类号: G06F19/00 G06K9/00

    摘要: When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).

    摘要翻译: 当包括图像感测装置(100)的校准夹具(50)在图像感测装置(200)的图像感测范围内移动时,图像感测装置(100)上的索引(110)的图像坐标 提取由图像感测装置(200)感测的多个图像。 提取由图像感测装置(100)感测的多个图像中的环境分配索引(300)的图像坐标。 信息处理装置(1000)基于所提取的索引(110)的图像坐标和环境分配索引(300)来计算图像感测装置(200)的相机参数。

    INFORMATION PROCESSING APPARATUS, PROCESSING METHOD THEREOF, AND COMPUTER-READABLE STORAGE MEDIUM
    27.
    发明申请
    INFORMATION PROCESSING APPARATUS, PROCESSING METHOD THEREOF, AND COMPUTER-READABLE STORAGE MEDIUM 有权
    信息处理装置,其处理方法和计算机可读存储介质

    公开(公告)号:US20100142826A1

    公开(公告)日:2010-06-10

    申请号:US12627279

    申请日:2009-11-30

    IPC分类号: G06K9/46

    CPC分类号: G06T7/75 G06T2207/30244

    摘要: An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, holds three-dimensional information including a plurality of line segments that constitute the object, acquires an image of the object captured by the image capture device, detects an image feature indicating a line segment from the acquired image, calculates a position and orientation of the image capture device based on correspondence between the image feature indicating the detected line segment and the held line segment, and determines, for each of the held line segments, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature, and information acquired in the calculation of the position and orientation.

    摘要翻译: 一种信息处理装置,其计算关于图像捕获装置相对于由图像捕获装置拍摄的对象的位置和姿态的信息,保存包括构成该对象的多个线段的三维信息,获取 通过图像拍摄装置捕获的对象,从所获取的图像检测指示线段的图像特征,基于指示检测到的线段的图像特征与所保持的线段之间的对应关系,计算图像捕获装置的位置和方向,以及 基于所检测到的图像特征的结果中的至少一个和在位置的计算中获取的信息中的至少一个,为每个所保持的线段确定是否使用线段来计算位置和方向 和方向。

    Method and apparatus for processing information
    28.
    发明授权
    Method and apparatus for processing information 有权
    处理信息的方法和装置

    公开(公告)号:US07580027B2

    公开(公告)日:2009-08-25

    申请号:US11265981

    申请日:2005-11-03

    IPC分类号: G09G5/00 A61B5/05

    CPC分类号: G01S5/163

    摘要: An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.

    摘要翻译: 获得在客观视点位置拍摄的物体的客观视点图像,接收传感器的测量值,从目标视点图像检测关于校准索引的图像坐标的信息,以及校准的两种排列信息 基于测量值和关于校准指标​​的图像坐标的信息,获得放置在物体上并相对于物体的传感器。 由此,同时容易且准确地获得两种布置信息。

    Position and orientation estimating method and apparatus
    29.
    发明授权
    Position and orientation estimating method and apparatus 有权
    位置和方向估计方法和装置

    公开(公告)号:US07397930B2

    公开(公告)日:2008-07-08

    申请号:US10943550

    申请日:2004-09-17

    IPC分类号: G06K9/00

    CPC分类号: G06T7/74

    摘要: A position and orientation estimating method and apparatus are disclosed in which position and orientation measured values are acquired from an image pickup device, and in which an index is detected from an image of a real space photographed by the image pickup device, and identified. By using the index obtained, correction values for correcting position and orientation measured values are calculated. Correction values at a current time are calculated using the calculated corrected values together with correction values for past n-times. The obtained correction values at the current time are stored and accumulated, and the position and orientation measured values are corrected by the correction values at the current time. If the detection or identification of the index ends in failure, the position and orientation measured values are corrected by using correction values obtained in the past.

    摘要翻译: 公开了一种位置和方向估计方法和装置,其中从图像拾取装置获取位置和取向测量值,并且从图像拾取装置拍摄的真实空间的图像中检测到索引并识别。 通过使用所获得的指标,计算校正位置和取向测量值的校正值。 使用计算的校正值以及过去n次的校正值来计算当前时间的校正值。 所获得的当前时间的修正值被存储和累积,并且通过当前时间的校正值来校正位置和取向测量值。 如果索引的检测或识别失败,则通过使用过去获得的校正值来校正位置和取向测量值。

    INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS
    30.
    发明申请
    INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS 有权
    信息处理方法和信息处理装置

    公开(公告)号:US20070092161A1

    公开(公告)日:2007-04-26

    申请号:US11459746

    申请日:2006-07-25

    IPC分类号: G06K9/36 G09G5/00

    CPC分类号: G06T7/73

    摘要: An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.

    摘要翻译: 一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法,包括:图像输入步骤,输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤 输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。 索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息,并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息 关于索引的图像坐标。