公开(公告)号：US20140037168A1

公开(公告)日：2014-02-06

申请号：US14008826

申请日：2012-04-04

申请人： Ryo Ishikawa ,  Takaaki Endo ,  Kiyohide Satoh

发明人： Ryo Ishikawa ,  Takaaki Endo ,  Kiyohide Satoh

IPC分类号： G06T7/00

CPC分类号： G06T7/0012 ,  A61B5/055 ,  A61B6/5247 ,  A61B8/08 ,  A61B8/4245 ,  A61B8/4263 ,  A61B8/429 ,  A61B8/486 ,  A61B8/5261 ,  G06T7/12 ,  G06T7/149 ,  G06T7/33 ,  G06T2207/10088 ,  G06T2207/10132

摘要： An image processing apparatus comprises: shape obtaining means for obtaining information indicating a surface shape of a target object; discrimination means for discriminating a contact portion and a noncontact portion between the target object and an imaging surface of an ultrasonic probe which captures an ultrasonic image of the target object; position and orientation obtaining means for obtaining information indicating a position and orientation of the ultrasonic probe at the time of imaging; and alignment means for estimating deformation of the target object based on information indicating the surface shape, a discrimination result obtained by the discrimination means, and information indicating the position and orientation, and aligning the surface shape with the ultrasonic image.

摘要翻译： 图像处理装置包括：形状获取装置，用于获得指示目标对象的表面形状的信息; 鉴别装置，用于区分目标物体与捕获目标物体的超声波图像的超声波探头的成像表面之间的接触部分和非接触部分; 位置和姿势获取装置，用于在成像时获得指示超声波探头的位置和姿势的信息; 以及对准装置，用于根据指示表面形状的信息，由鉴别装置获得的鉴别结果和指示位置和取向的信息，以及使表面形状与超声波图像对准来估计目标物体的变形。

公开(公告)号：US08350897B2

公开(公告)日：2013-01-08

申请号：US11909236

申请日：2006-04-19

申请人： Takaaki Endo ,  Taichi Matsui ,  Hideo Noro

发明人： Takaaki Endo ,  Taichi Matsui ,  Hideo Noro

IPC分类号： H04N9/47

CPC分类号： G06F3/012 ,  B33Y80/00 ,  G06F3/011 ,  G06T7/73 ,  G06T19/006

摘要： The position and orientation of the viewpoint of the observer are acquired (2030), the moving amount of a movable part is acquired (2032), a movable part of a virtual object is moved based on the moving amount of the movable part of a physical object, and an image which is observed from the viewpoint of the observer is generated (2040).

摘要翻译： 获取观察者的视点的位置和方向（2030），获取可移动部分的移动量（2032），虚拟对象的可移动部分基于物理的可移动部分的移动量而移动 生成从观察者的观点观察到的图像（2040）。

公开(公告)号：US20120249549A1

公开(公告)日：2012-10-04

申请号：US13516623

申请日：2010-10-06

申请人： Takaaki Endo ,  Kiyohide Satoh

发明人： Takaaki Endo ,  Kiyohide Satoh

IPC分类号： G06T15/00

CPC分类号： A61B8/483 ,  A61B8/00 ,  A61B8/4416 ,  G06T19/00 ,  G06T2219/008 ,  G06T2219/2004

摘要： An image processing apparatus includes a display control unit configured to display cross-sectional images based on planes passing through positions designated for a plurality of items of three-dimensional image data; and a change unit configured to cooperatively rotate the planes around the designated positions and to change the cross-sectional images to be displayed.

摘要翻译： 一种图像处理装置，包括显示控制单元，被配置为基于通过对多个三维图像数据项指定的位置的平面显示横截面图像; 以及改变单元，其被配置为协调地围绕指定位置旋转平面并且改变要显示的横截面图像。

公开(公告)号：US20120007863A1

公开(公告)日：2012-01-12

申请号：US13257720

申请日：2010-03-10

申请人： Takaaki Endo ,  Kiyohide Satoh ,  Ryo Ishikawa

发明人： Takaaki Endo ,  Kiyohide Satoh ,  Ryo Ishikawa

IPC分类号： G06T15/00

CPC分类号： A61B8/13 ,  A61B8/42 ,  A61B8/483 ,  G06T17/20 ,  G06T19/00

摘要： Based on the position and orientation information of an ultrasonic probe, an image generation unit acquires, from three-dimensional volume data, an image of a slice corresponding to a tomographic image of an object obtained by the ultrasonic probe. An image composition unit composes the image of the slice with the tomographic image to generate and output a composite image. In this composition, a region of the tomographic image is specified as an unclear image sensing region, and the image in the unclear image sensing region is replaced with the image in a region of the image of the slice corresponding to the unclear image sensing region, thereby composing the tomographic image with the image of the slice.

摘要翻译： 基于超声波探头的位置和姿势信息，图像生成单元从三维体数据获取与由超声波探头获得的对象的断层图像相对应的切片的图像。 图像合成单元将切片的图像与断层图像组合以生成并输出合成图像。 在该构图中，断层图像的区域被指定为不清楚的图像感测区域，并且不清楚的图像感测区域中的图像被替换为与不清晰的图像感测区域相对应的切片的图像的区域中的图像， 从而构成具有切片图像的断层图像。

公开(公告)号：US20110216958A1

公开(公告)日：2011-09-08

申请号：US13129228

申请日：2009-11-17

申请人： Kiyohide Satoh ,  Takaaki Endo ,  Ryo Ishikawa

发明人： Kiyohide Satoh ,  Takaaki Endo ,  Ryo Ishikawa

IPC分类号： G06K9/00

CPC分类号： G06T7/0028 ,  A61B5/055 ,  A61B6/032 ,  A61B6/037 ,  A61B6/5223 ,  A61B6/5247 ,  A61B8/14 ,  A61B8/4254 ,  A61B8/483 ,  A61B8/485 ,  A61B8/5261 ,  G06T7/33 ,  G06T2207/10088 ,  G06T2207/10132 ,  G06T2207/30004

摘要： First elasticity information regarding elasticity of a subject in a first image and second elasticity information regarding the elasticity of the subject in a second image are acquired, and the first image and the second image are positioned with respect to each other on the basis of at least one of the first elasticity information and the second elasticity information.

摘要翻译： 获取关于第一图像中的被检体的弹性的第一弹性信息和关于第二图像中的被检体的弹性的第二弹性信息，并且第一图像和第二图像基于至少基于彼此定位 第一弹性信息和第二弹性信息之一。

公开(公告)号：US07791618B2

公开(公告)日：2010-09-07

申请号：US12169926

申请日：2008-07-09

申请人： Takaaki Endo ,  Akihiro Katayama ,  Masahiro Suzuki ,  Daisuke Kotake

发明人： Takaaki Endo ,  Akihiro Katayama ,  Masahiro Suzuki ,  Daisuke Kotake

IPC分类号： G06T3/60 ,  G09G5/00

CPC分类号： G06T15/20 ,  G09B29/10

摘要： In order to improve the operationality of a walk-through system using panorama photography images, the system is provided with a view calculating unit for calculating view information in accordance with a user instruction from an operation unit, the view information including view position information and view direction information; a panorama image storing unit for storing a plurality of panorama images; a path storing unit for storing path information of the panorama images; an advancable path calculating unit for calculating advancable path information at a next dividing point in accordance with the view information and the path information; and an image generating unit for generating a cut-out image from the panorama image in accordance with the view information, generating a sign figure representative of the advancable path in accordance with the advancable path information, and synthesizing the cut-out image and the sign figure to generate a display image.

摘要翻译： 为了提高使用全景拍摄图像的步行系统的操作性，系统设置有用于根据来自操作单元的用户指令来计算视图信息的视图计算单元，包括视图位置信息和视图的视图信息 方向信息; 全景图像存储单元，用于存储多个全景图像; 路径存储单元，用于存储全景图像的路径信息; 用于根据视图信息和路径信息在下一个分割点处计算可行路径信息的可行路径计算单元; 以及图像生成单元，用于根据视图信息从全景图像生成切出图像，根据可推荐路径信息生成代表可行路径的符号图形，并且合成切出图像和符号 图来生成显示图像。

公开(公告)号：US07680336B2

公开(公告)日：2010-03-16

申请号：US11426778

申请日：2006-06-27

申请人： Takaaki Endo ,  Kiyohide Satoh

发明人： Takaaki Endo ,  Kiyohide Satoh

IPC分类号： G06K9/66

CPC分类号： G06T19/006 ,  G06T7/73 ,  G06T7/80 ,  G06T2207/30244

摘要： An imaging apparatus index detecting unit detects an index in a physical space from an image captured by an imaging apparatus including a first camera. A position and orientation estimating unit estimates the position and orientation of the imaging apparatus based on information relating to image coordinates of a detected index. A second camera index candidate detecting unit monitors an index on the imaging apparatus with a second camera positioned in the physical space, and detects an index candidate. A position constraint condition calculating unit calculates a position constraint condition based on information relating to image coordinates of a detected index candidate. A second camera index identifying unit identifies a second camera index based on the estimated position and orientation of the imaging apparatus and the position constraint condition of the second camera index candidate.

摘要翻译： 成像设备索引检测单元从由包括第一相机的成像设备拍摄的图像检测物理空间中的索引。 位置和姿势估计单元基于与检测到的索引的图像坐标有关的信息来估计成像设备的位置和方向。 第二照相机索引候选检测单元利用位于物理空间中的第二照相机监视成像设备上的索引，并且检测索引候选。 位置约束条件计算单元基于与检测到的索引候选的图像坐标有关的信息来计算位置约束条件。 第二相机索引识别单元基于估计的成像设备的位置和方向以及第二相机索引候选者的位置约束条件来识别第二相机索引。

公开(公告)号：US07626596B2

公开(公告)日：2009-12-01

申请号：US10988615

申请日：2004-11-16

申请人： Daisuke Kotake ,  Akihiro Katayama ,  Yukio Sakagawa ,  Takaaki Endo ,  Masahiro Suzuki

发明人： Daisuke Kotake ,  Akihiro Katayama ,  Yukio Sakagawa ,  Takaaki Endo ,  Masahiro Suzuki

IPC分类号： G09G5/00

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： 在能够在由真实全景图像组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。

公开(公告)号：US07518636B2

公开(公告)日：2009-04-14

申请号：US10779791

申请日：2004-02-18

申请人： Takaaki Endo ,  Akihiro Katayama ,  Masahiro Suzuki ,  Daisuke Kotake ,  Yukio Sakagawa

发明人： Takaaki Endo ,  Akihiro Katayama ,  Masahiro Suzuki ,  Daisuke Kotake ,  Yukio Sakagawa

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。

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.