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公开(公告)号：US07518636B2
公开(公告)日：2009-04-14
申请号：US10779791
申请日：2004-02-18
IPC分类号： H04N5/228
CPC分类号： H04N5/23248 , H04N5/23238 , H04N5/23258 , H04N5/23267
摘要： Shakiness of a panoramic video can be reduced by an image processing method comprising: setting a common coordinate system which can be transformed from individual coordinate systems of a plurality of image sensing devices; estimating postures of at least one of the plurality of image sensing devices; calculating an estimated posture of the common coordinate system using at least one of the estimated posture of the plurality of image sensing devices; calculating a correction transform for reducing a shakiness of the common coordinate system using the estimated posture of the common coordinate system; calculating a correction transform for reducing a shakiness of each of the plurality of image sensing devices using the correction transform; applying the corresponding correction transform to a sensed image which is sensed by each of the plurality of image sensing devices; and composing a panoramic image by joining a plurality of transformed sensed images.
摘要翻译： 可以通过图像处理方法来减少全景视频的抖动，包括：设置可以从多个图像感测装置的各个坐标系变换的公共坐标系; 估计所述多个图像感测装置中的至少一个的姿势; 使用所述多个图像感测装置的估计姿势中的至少一个来计算所述公共坐标系的估计姿势; 使用所述公共坐标系的估计姿态来计算用于减小所述公共坐标系的抖动的校正变换; 计算用于使用所述校正变换来减少所述多个图像感测装置中的每一个的抖动的校正变换; 将相应的校正变换应用于由所述多个图像感测装置中的每一个感测到的感测图像; 以及通过连接多个变换的感测图像来构成全景图像。
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32.发明申请Engine Misfire Detection Apparatus For Internal Combustion Engine And Engine Misfire Detection Method 有权用于内燃机和发动机失火检测方法的发动机失火检测装置公开(公告)号：US20080148835A1
公开(公告)日：2008-06-26
申请号：US11666994
申请日：2006-02-24
IPC分类号： G01M15/04
CPC分类号： B60W20/50 , B60K6/445 , B60W10/06 , B60W20/00 , B60W30/20 , F02D41/0097 , F02D41/0245 , F02D41/1498 , F02D2200/1015 , F02P5/1506 , G01M15/11 , Y02T10/26 , Y02T10/46 , Y02T10/54 , Y02T10/6239
摘要： The engine misfire detection apparatus of the invention successively determines whether a rotational fluctuation difference Nxd360 as a difference between a rotational fluctuation Nxd at a certain crank angle CA of an engine and a rotational fluctuation Nxd at a 360 degree-prior crank angle CA exceeds a predetermined reference value A1 (step S150) and whether a rotational fluctuation difference Nxd720 as a difference between the rotational fluctuation Nxd at the certain crank angle CA and a rotational fluctuation Nxd at a 720 degree-prior crank angle CA exceeds a predetermined reference value B1 (step S160). The engine misfire detection apparatus detects a misfire of the engine upon satisfaction of all conditions regarding rotational fluctuation difference proportions Nja2, Nja3, and Nja4 on the basis of the rotational fluctuation difference Nxd360 (step S200) and all conditions regarding rotational fluctuation difference proportions Njb2, Njb3, and Njb4 on the basis of the rotational fluctuation difference Nxd720 (step S210), when both the rotational fluctuation differences Nxd360 and Nxd720 exceed the respective reference values A1 and B1 (steps S150 and S160). This arrangement ensures adequate and accurate detection of an engine misfire during warm-up of a catalyst included in an exhaust emission control unit with a significant delay of the ignition timing in the engine.
摘要翻译： 本发明的发动机失火检测装置依次确定作为发动机的特定曲轴角CA处的旋转变动量Nxd与360度的曲轴角CA的旋转变动量Nxd之间的差的旋转变动差Nxd 360是否超过 作为在特定曲柄角CA处的旋转变动量Nxd与720度以前的曲轴角CA的旋转变动量Nxd之间的差异的旋转变动差Nxd 720是否超过规定的基准值A 1（步骤S150） 值B 1（步骤S160）。 发动机失火检测装置在满足关于旋转波动差异比例Nja 2，Nja 3和Nja 4的所有条件的基础上，基于旋转波动差Nxd 360（步骤S 200）和关于旋转的所有条件来检测发动机的失火 当旋转波动差Nxd 360和Nxd 720两者都超过相应的参考值A 1和B 1（基于旋转波动差Nxd 720）时，基于旋转波动差Nxd 720（步骤S1010），起伏差异比例Njb 2，Njb 3和Njb 4 步骤S150和S160）。 这种布置确保了在包括在废气排放控制单元中的催化剂预热期间发动机失火的充分和准确的检测，其中引擎中的点火正时显着延迟。
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公开(公告)号：US07110592B2
公开(公告)日：2006-09-19
申请号：US09799518
申请日：2001-03-07
申请人： Daisuke Kotake , Akihiro Katayama , Hiroshi Ikeoka , Takaaki Endo
发明人： Daisuke Kotake , Akihiro Katayama , Hiroshi Ikeoka , Takaaki Endo
IPC分类号： G06K9/00
CPC分类号： G01C21/26
摘要： An image/map association division displays map data stored in a map data storing division, and sets a plurality of segment points and a “path” (route) sandwiched by two segment points on a map. The image/map association division reproduces video data stored in an image data storing division, and displays the map data stored in the map data storing division. If the route set on the map and desired frames of the video data being reproduced are designated via an operation division, association data for associating the segment points at both ends of the “route” with the designated frames is generated and it is stored in the association data storing division.
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公开(公告)号：US20050195332A1
公开(公告)日：2005-09-08
申请号：US11115344
申请日：2005-04-27
摘要： There is provided an image processing apparatus for describing a real image as a virtual object using space data formed based on a photo image of the real object, and generating a virtual image of the virtual object using the space data. The image processing apparatus captures the photo image of the real object from a real camera viewpoint position while illuminating the real object by an illumination light source placed at a real illumination position. The captured photo image is converted into space data in the form of an object for each pixel, and the space data is stored in a memory together with various illumination conditions at the real illumination position to allow a search at a later time.
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35.发明申请Image reproducing method and apparatus for displaying annotations on a real image in virtual space 失效用于在虚拟空间中的真实图像上显示注释的图像再现方法和装置公开(公告)号：US20050116964A1
公开(公告)日：2005-06-02
申请号：US10988615
申请日：2004-11-16
CPC分类号： G06T15/205 , G06T19/003 , G06T2219/004
摘要： In an image reproducing method capable of displaying annotations in virtual space constituted by a group of real panoramic images. If an object for which an annotation is to be displayed falls within the field of view at the position of the observer, the object is adopted as the display position of the annotation. If the object is not within the field of view, then the direction of forward travel of the observer is adopted as the annotation display position. If the object is in a state of transition, then the annotation display position is decided by interpolation.
摘要翻译： 在能够在由一组真实全景图像构成的虚拟空间中显示注释的图像再现方法中。 如果要在其上显示注释的对象落在观察者位置的视野内，则将该对象作为注释的显示位置。 如果对象不在视野内，则采用观察者前进方向作为注释显示位置。 如果对象处于转换状态，则通过插值确定注释显示位置。
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公开(公告)号：US20050024507A1
公开(公告)日：2005-02-03
申请号：US10900175
申请日：2004-07-28
摘要： An image processing method for reconstructing an image of an arbitrary view point from plural photographed images, for the purpose of reducing a memory capacity for storing photographed images in an image generating apparatus capable of generating an image of an arbitrary view point, the method including a setting step of setting a view point position, an input step of inputting photographed images, and an extraction step of extracting light beam data necessary for reconstructing an image at the set view point position from the photographed images, wherein the input step and the extraction step are repeated until the reconstructed image is generated.
摘要翻译： 一种图像处理方法，用于从能够生成任意视点的图像的图像生成装置中减少用于存储拍摄图像的存储容量的目的，从多个拍摄图像重建任意视点的图像，该方法包括： 设置视点位置的设置步骤，输入拍摄图像的输入步骤，以及提取步骤，从拍摄图像中提取在设定视点位置重建图像所需的光束数据，其中输入步骤和提取步骤 直到产生重建的图像。
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公开(公告)号：US06628820B2
公开(公告)日：2003-09-30
申请号：US09866669
申请日：2001-05-30
IPC分类号： G06K900
CPC分类号： G06K9/209 , G06T7/97 , G06T15/10 , G06T15/20 , G06T15/205
摘要： Upon observation of multi-viewpoint images, even when the viewpoint moves continuously, the image cannot normally be displayed in correspondence with the continuous movement of the viewpoint, and an image from a viewpoint closest to the current viewpoint is displayed. To prevent this, each two adjacent images of the multi-viewpoint images are interpolated by detecting corresponding pixels and generating an interpolated image in accordance with the correspondences among pixels. The interpolated image is generated in such a manner that an epipolar plane image is generated by juxtaposing corresponding lines of the multi-viewpoint image, straight lines are detected from the epipolar plane image, and the intersecting points between interpolated lines and the detected straight lines are detected as interpolated pixels. In this case, as for a point for which a straight line cannot be detected, a straight line passing the point is estimated, thereby generating an interpolated pixel. When a plurality of straight lines are detected for a pixel of interest, the priority level is assigned to the pixel of interest in correspondence with the number of detected straight lines. When the priority level is smaller than that of another pixel through which the detected straight line passes, the straight line is ignored, and an interpolated pixel is not generated.
摘要翻译： 在观察多视点图像时，即使视点连续移动，与视点的连续移动相对应地不能正常地显示图像，并且显示来自最接近当前视点的视点的图像。 为了防止这种情况，通过检测相应的像素并根据像素之间的对应关系生成内插图像来内插多视点图像的每两个相邻图像。 以这样的方式生成内插图像，即通过并列多视点图像的相应行来生成对极平面图像，从极坐标图像检测直线，并且插入线和检测到的直线之间的交点是 检测为内插像素。 在这种情况下，对于不能检测到直线的点，估计通过点的直线，从而生成内插像素。 当针对感兴趣的像素检测到多条直线时，根据所检测的直线的数量将优先级分配给感兴趣的像素。 当优先级小于检测到的直线通过的另一像素的优先级时，忽略直线，并且不产生内插像素。
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公开(公告)号：US06608622B1
公开(公告)日：2003-08-19
申请号：US08543121
申请日：1995-10-13
申请人： Akihiro Katayama , Hiroaki Sato , Koichiro Tanaka , Eita Ono , Shinya Urisaka
发明人： Akihiro Katayama , Hiroaki Sato , Koichiro Tanaka , Eita Ono , Shinya Urisaka
IPC分类号： G06T1700
CPC分类号： G06T15/205 , G06T15/10
摘要： An image processing method according to an embodiment of the present invention has the following steps: the multi-viewpoint image input step for inputting images obtained from a plurality of viewpoint positions arranged on different straight lines, the detection step (2, 7, 17, 8) for detecting a viewpoint position and its view direction in which a user is seeing at the viewpoint position, and the image generation step (11, 12, 13, 8) for generating a virtual image viewed from the predetermined viewpoint by using the images input in the multi-viewpoint image input step on the basis of the detected predetermined viewpoint position and the view direction. In the image generation step, optimal corresponding points are obtained by detecting a straight line having a width on an epipolar plane image corresponding to the input images, thereby generating an image.
摘要翻译： 根据本发明的实施例的图像处理方法具有以下步骤：多视点图像输入步骤，用于输入从布置在不同直线上的多个视点位置获得的图像，检测步骤（2,7,17， 8），用于检测用户在视点位置观看的视点位置及其观看方向，以及图像生成步骤（11,12,13,8），用于通过使用图像生成从预定视点观看的虚像 基于检测到的预定视点位置和视图方向在多视点图像输入步骤中输入。 在图像生成步骤中，通过检测对应于输入图像的对数平面图像上的宽度的直线来获得最佳对应点，从而生成图像。
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公开(公告)号：US06256035B1
公开(公告)日：2001-07-03
申请号：US08931366
申请日：1997-09-16
申请人： Akihiro Katayama , Shinji Uchiyama
发明人： Akihiro Katayama , Shinji Uchiyama
IPC分类号： G06T1500
CPC分类号： G06T15/205
摘要： An object put on a rotational table is photographed from a plurality of visual point positions by a camera, a part of an image group inputted by the photographing is projected to a light space, a correspondence relation between a part of the projected image group and the light space is formed, an image at an arbitrary visual point position is generated on the basis of the formed correspondence relation, and the generated image is displayed, so that there is no need to perform an arithmetic operation to convert into the light group for all of the picture elements of the actual photographed images.
摘要翻译： 通过照相机从多个视点位置拍摄放置在旋转台上的物体，将通过拍摄输入的图像组的一部分投影到光空间，投影图像组的一部分与 形成光空间，根据形成的对应关系产生任意视点位置的图像，并且显示所生成的图像，使得不需要进行算术运算，以将其全部转换为光组 的实际拍摄图像的图片元素。
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公开(公告)号：US5937105A
公开(公告)日：1999-08-10
申请号：US9187
申请日：1998-01-20
CPC分类号： G06T3/4007 , G06K9/03 , G06K9/209 , G06T17/00 , G06T7/0065
摘要： Images picked up by a plurality of cameras are corrected and projected on a single plane. The input images are converted to projected images on a reference projection plane in accordance with reference parameters and camera parameters. Then images of an area of nx.times.ny whose center is an intersection B that is a perpendicular from a center of a lens of a m-th camera on the reference projection plane are extracted from the projected images. By extracting the area as described above, there is obtained an image which can be assumed that optical axes of each camera intersects perpendicular to the reference projection plane and the optical axes are parallel to each other. Therefore, when an epipolar plane is constructed during an image interpolation process, corresponding points form a straight line on the epipolar plane, thus it becomes easier to detect the corresponding points.
摘要翻译： 由多个相机拍摄的图像被校正并投影在单个平面上。 根据参考参数和相机参数，将输入图像转换为参考投影平面上的投影图像。 然后从投影图像中提取其中心是从参考投影平面上的第m个相机的透镜的中心垂直的交点B的nxxny的区域的图像。 通过如上所述提取区域，获得了可以假设每个照相机的光轴垂直于参考投影平面并且光轴彼此平行的图像。 因此，当在图像插值处理期间构造对极平面时，相应的点在对极平面上形成直线，因此更容易检测相应的点。
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