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31.发明授权公开(公告)号：US07110021B2
公开(公告)日：2006-09-19
申请号：US10447523
申请日：2003-05-29
申请人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
发明人： Kunio Nobori , Masamichi Nakagawa , Satoshi Sato , Mikiya Nakata
摘要： A synthesized image showing the situation around a vehicle is produced from images taken with cameras capturing the surroundings of the vehicle and presented to a display. A position computation section computes position information and the reliability of the position information, for a plurality of points in the camera images. An image variable-synthesis section produces a first synthesized image from the camera images using the position information. An image fixed-synthesis section produces a second synthesized image by road surface projection, for example, without use of the position information. A synthesis scheme selection section selects either one of the first and second synthesized images according to the reliability as the synthesized image to be presented.
摘要翻译： 显示车辆周围情况的合成图像是从拍摄车辆周围的摄像机拍摄的图像产生的，呈现给显示器。 位置计算部分计算相机图像中的多个点的位置信息和位置信息的可靠性。 图像可变合成部分使用位置信息从照相机图像产生第一合成图像。 图像固定合成部，例如不使用位置信息，通过路面投影产生第二合成图像。 合成方案选择部根据可靠性选择第一和第二合成图像中的任一个作为要呈现的合成图像。
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32.发明授权Object detection device, object detection server, and object detection method 有权对象检测设备，对象检测服务器和对象检测方法公开(公告)号：US07180050B2
公开(公告)日：2007-02-20
申请号：US10486677
申请日：2003-04-25
申请人： Taro Imagawa , Masamichi Nakagawa , Takeo Azuma , Shusaku Okamoto
发明人： Taro Imagawa , Masamichi Nakagawa , Takeo Azuma , Shusaku Okamoto
CPC分类号： H04N7/183 , G01S11/14 , G06K9/00362 , G06T7/74 , G07C9/00
摘要： A tag communication section (12) receives tag information transmitted from an information tag (11) attached to a person (P) to be detected. An attribute lookup section (15) looks up an attribute storage section (16) using ID included in the tag information to obtain attribute information such as the height of the person (P). A target detection section (14) specifies the position, posture and the like of the person (P) in an image obtained from an imaging section (13) using the attribute information.
摘要翻译： 标签通信部（12）接收从附属于要检测的人（P）的信息标签（11）发送的标签信息。 属性查找部分（15）使用包括在标签信息中的ID来查找属性存储部分（16），以获得诸如人（P）的高度的属性信息。 目标检测部（14）使用属性信息指定从成像部（13）获得的图像中的人（P）的位置，姿势等。
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公开(公告)号：US06801127B2
公开(公告)日：2004-10-05
申请号：US10215439
申请日：2002-08-09
IPC分类号： B60Q100
CPC分类号： B60K35/00 , B60K2350/2013 , G06T15/10
摘要： In correspondence with each face of a rectangular parallelepiped obtained when the inside of the rectangular parallelepiped is shot, a monitor screen is split into a plurality of sub-screen areas. An image shot by a vehicle-mounted camera is processed and the processed image is split correspondingly to the sub-screen areas. Each split image is displayed in the corresponding sub-screen areas. This allows intuitive understanding of the direction of an image displayed in a sub-screen thereby providing the driver with an image free from a sense of incongruity.
摘要翻译： 对应于当长方体的内部被拍摄时获得的长方体的每个面，监视器屏幕被分割成多个子屏幕区域。 处理由车载照相机拍摄的图像，并且对应于子屏幕区域对经处理的图像进行分割。 每个分割图像显示在相应的子屏幕区域中。 这允许直观地理解在子屏幕中显示的图像的方向，从而为驾驶员提供没有不协调感的图像。
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34.发明授权公开(公告)号：US06175379B1
公开(公告)日：2001-01-16
申请号：US09447638
申请日：1999-11-23
IPC分类号： H04N1302
CPC分类号： H04N13/398 , H04N13/122 , H04N13/128 , H04N13/161 , H04N13/167 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/257 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/327 , H04N13/337 , H04N13/341 , H04N13/356 , H04N13/361 , H04N13/373 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range. According to the thus constructed stereoscopic CG image generating apparatus and stereoscopic TV apparatus, proper camera parameters (focal length or field of view, camera spacing, and converging point) are determined based on the camera-to-object distance information, the magnitude of parallax of the generated stereoscopic CG images on the display device (or in a window on the display screen), and the viewing distance, so that easy-to-view stereoscopic CG images are automatically generated regardless of the display size, and by horizontally translating left-eye and right-eye images, binocular parallax of displayed images is automatically brought within the viewer's binocular fusional range regardless of the size of a stereoscopic display used.
摘要翻译： 立体CG图像生成装置和立体电视装置具有投影变换部，其基于描述对象的三维形状的三维结构信息，从多个角度生成多个二维投影模型 视点的距离信息提取部，其生成用于投影变换部中的计算的相机对物体距离信息;以及照相机参数确定部，其基于距离信息提取部的输出， 用于显示最终生成的二维投影模型和观看者的观看距离的立体图像显示装置确定相机参数，使得立体CG图像将被带入观看者的双目融合范围内。 根据如此构造的立体CG图像生成装置和立体电视装置，基于相机到物体的距离信息来确定适当的相机参数（焦距或视场，相机间距和会聚点），视差的大小 在显示装置（或显示屏幕上的窗口）中产生的立体CG图像和观看距离，使得易于观看的立体CG图像被自动生成，而不管显示尺寸如何，并且通过水平平移左 眼睛和右眼图像，无论所使用的立体显示器的尺寸如何，显示图像的双目视差自动被带入观察者的双目视觉范围内。
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公开(公告)号：US06268880B1
公开(公告)日：2001-07-31
申请号：US09668092
申请日：2000-09-22
IPC分类号： H04N1302
CPC分类号： H04N13/398 , H04N13/122 , H04N13/128 , H04N13/161 , H04N13/167 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/257 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/327 , H04N13/337 , H04N13/341 , H04N13/356 , H04N13/361 , H04N13/373 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range. According to the thus constructed stereoscopic CG image generating apparatus and stereoscopic TV apparatus, proper camera parameters (focal length or field of view, camera spacing, and converging point) are determined based on the camera-to-object distance information, the magnitude of parallax of the generated stereoscopic CG images on the display device (or in a window on the display screen), and the viewing distance, so that easy-to-view stereoscopic CG images are automatically generated regardless of the display size, and by horizontally translating left-eye and right-eye images, binocular parallax of displayed images is automatically brought within the viewer's binocular fusional range regardless of the size of a stereoscopic display used.
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36.发明授权Stereoscopic computer graphics image generating apparatus and stereoscopic TV apparatus 失效立体计算机图形图像产生装置和立体电视装置
公开(公告)号：US06005607A
公开(公告)日：1999-12-21
申请号：US669768
申请日：1996-06-27
CPC分类号： H04N13/0278 , H04N13/0022 , H04N13/0296 , H04N13/0434 , H04N13/0438 , H04N13/0452 , H04N13/0475 , H04N13/0497 , H04N13/0018 , H04N13/0048 , H04N13/0051 , H04N13/0055 , H04N13/0059 , H04N13/0239 , H04N13/0257 , H04N13/0289 , H04N13/0404 , H04N13/0409 , H04N13/0422 , H04N13/0425 , H04N13/0456 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range.
摘要翻译： 立体CG图像生成装置和立体电视装置具有投影变换部，其基于描述对象的三维形状的三维结构信息，从多个角度生成多个二维投影模型 视点的距离信息提取部，其生成用于投影变换部中的计算的相机对物体距离信息;以及照相机参数确定部，其基于距离信息提取部的输出， 用于显示最终生成的二维投影模型和观看者的观看距离的立体图像显示装置确定相机参数，使得立体CG图像将被带入观看者的双目融合范围内。
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公开(公告)号：US6166746A
公开(公告)日：2000-12-26
申请号：US505607
申请日：1995-07-21
CPC分类号： G06T13/40
摘要： An image processing apparatus has a three-dimensional joint position storing circuit for storing a three-dimensional coordinate position for each of available joints of an object at each frame for a standard action; a geometric data storing circuit for storing geometric data for at least a portion of the object based on unique coordinate systems for each of the available joints; a unique coordinate system determining circuit for determining the unique coordinate system for each of the available joints based on the stored three-dimensional coordinate positions; a three-dimensional joint angle computing circuit for computing a three-dimensional joint angle for at least one of the available joints based on a desired mode of action modification and the determined unique coordinate systems; a joint angle displacing circuit for displacing the three-dimensional joint angle for at least one of the available joints; a unique coordinate system generating circuit for generating the unique coordinate system for at least one of the available joints; and an action synthesizing circuit for assigning the geometric data corresponding to each of the available joints.
摘要翻译： 一种图像处理装置具有三维关节位置存储电路，用于存储用于标准动作的每个帧处的对象的每个可用关节的三维坐标位置; 几何数据存储电路，用于基于每个可用关节的唯一坐标系存储用于至少一部分对象的几何数据; 一个独特的坐标系确定电路，用于基于存储的三维坐标位置确定每个可用关节的唯一坐标系; 三维关节角度计算电路，用于基于期望的作用修改模式和确定的唯一坐标系统计算至少一个可用关节的三维关节角度; 关节角位移电路，用于移位用于至少一个可用接头的三维关节角; 唯一的坐标系生成电路，用于为至少一个可用关节产生独特的坐标系; 以及动作合成电路，用于分配对应于每个可用关节的几何数据。
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公开(公告)号：US5479529A
公开(公告)日：1995-12-26
申请号：US158636
申请日：1993-11-29
IPC分类号： A63F9/06 , A63F13/00 , G06T1/00 , H05K1/00 , H05K1/02 , H05K1/09 , H05K1/11 , H05K1/18 , H05K3/00 , H05K3/24 , H05K3/28 , H05K3/34 , H05K3/36 , H05K3/38 , H05K3/42 , H05K3/46 , G06K9/00
CPC分类号： G06K9/00268
摘要： A character and fortune telling apparatus for hobby use comprises an input unit for generating a two-dimensional image based on a person's face, a feature extraction unit for extracting the coordinates and distances expressing the shapes and positions of the features of the face, from the two-dimensional image, and an output unit for producing personal information about a person from the extracted features, and for outputting the information on an appropriate output device.
摘要翻译： 一种用于爱好使用的角色和命运装置包括：用于基于人的脸部生成二维图像的输入单元，用于从表面的特征提取表示脸部特征的形状和位置的坐标和距离的特征提取单元 二维图像和用于从提取的特征产生关于人的个人信息的输出单元，以及用于在适当的输出设备上输出信息。
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公开(公告)号：US07443115B2
公开(公告)日：2008-10-28
申请号：US10694116
申请日：2003-10-27
IPC分类号： H02P1/54
CPC分类号： B25J9/1612 , B25J13/083
摘要： A robot arm is provided with an end effecter for grasping an object and a force sensor for detecting a force acted upon the end effecter. In the state in which end effecter grasps an object, when there is a change in the force acting on the end effecter detected by the force sensor, outputted is a signal for releasing the force of the end effecter grasping the object. The object grasped by the end effecter can be taken out as if the object were handed from person over to person.
摘要翻译： 机器人臂设置有用于抓握物体的末端执行器和用于检测作用在末端执行器上的力的力传感器。 在末端执行器抓住物体的状态下，当由力传感器检测到的作用在末端执行器上的力的变化时，输出的是用于释放抓住物体的末端执行器的力的信号。 终端执行者掌握的物体可以被拿走，好像物体由人转移到人身上。
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40.发明授权公开(公告)号：US06417880B1
公开(公告)日：2002-07-09
申请号：US09880287
申请日：2001-06-13
申请人： Kenya Uomori , Masamichi Nakagawa
发明人： Kenya Uomori , Masamichi Nakagawa
IPC分类号： H04N1300
CPC分类号： H04N13/398 , H04N13/122 , H04N13/128 , H04N13/161 , H04N13/167 , H04N13/189 , H04N13/194 , H04N13/239 , H04N13/257 , H04N13/279 , H04N13/289 , H04N13/296 , H04N13/305 , H04N13/31 , H04N13/324 , H04N13/327 , H04N13/337 , H04N13/341 , H04N13/356 , H04N13/361 , H04N13/373 , H04N2013/0081 , H04N2013/0096
摘要： The stereoscopic CG image generating apparatus and a stereoscopic TV apparatus, has a projection transformation section which, based on three-dimensional structural information describing a three-dimensional shape of an object, generates a plurality of two-dimensional projection models as viewed from a plurality of viewpoints, a distance information extraction section which generates a camera-to-object distance information used for calculations in the projection transformation section, and a camera parameter determining section which, based on the output of the distance information extraction section, the screen size of a stereoscopic image display device for displaying finally generated two-dimensional projection models, and a viewer's viewing distance, determines camera parameters so that stereoscopic CG images will be brought within the viewer's binocular fusional range. According to the thus constructed stereoscopic CG image generating apparatus and stereoscopic TV apparatus, proper camera parameters (focal length or field of view, camera spacing, and converging point) are determined based on the camera-to-object distance information, the magnitude of parallax of the generated stereoscopic CG images on the display device (or in a window on the display screen), and the viewing distance, so that easy-to-view stereoscopic CG images are automatically generated regardless of the display size, and by horizontally translating left-eye and right-eye images, binocular parallax of displayed images is automatically brought within the viewer's binocular fusional range regardless of the size of a stereoscopic display used.
摘要翻译： 立体CG图像生成装置和立体电视装置具有投影变换部，其基于描述对象的三维形状的三维结构信息，从多个角度生成多个二维投影模型 视点的距离信息提取部，其生成用于投影变换部中的计算的相机对物体距离信息;以及照相机参数确定部，其基于距离信息提取部的输出， 用于显示最终生成的二维投影模型和观看者的观看距离的立体图像显示装置确定相机参数，使得立体CG图像将被带入观看者的双目融合范围内。 根据如此构造的立体CG图像生成装置和立体电视装置，基于相机到物体的距离信息来确定适当的相机参数（焦距或视场，相机间距和会聚点），视差的大小 在显示装置（或显示屏幕上的窗口）中产生的立体CG图像和观看距离，使得易于观看的立体CG图像被自动生成，而不管显示尺寸如何，并且通过水平平移左 眼睛和右眼图像，无论所使用的立体显示器的尺寸如何，显示图像的双目视差自动被带入观察者的双目视觉范围内。
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