公开(公告)号：US07124053B2

公开(公告)日：2006-10-17

申请号：US10837480

申请日：2004-04-29

申请人： Rika Tanaka ,  Kiyohide Satoh ,  Kazuki Takemoto

发明人： Rika Tanaka ,  Kiyohide Satoh ,  Kazuki Takemoto

IPC分类号： G01C9/00

CPC分类号： G06T7/80

摘要： A system is provided for obtaining parameters about the position and orientation of a camera, where the camera has a fixed position and orientation, by using the image coordinates and world coordinates of markers included in an image photographed by the camera. This system uses a live-image display mode for successively obtaining images input to the camera and a still-image display mode for obtaining an image input to the camera at predetermined time. The markers can be extracted by using the image obtained in either mode. The system can select either automatic-extraction mode or manual-extraction mode for extracting the marker in live images, so that the markers can be extracted with a high degree of accuracy under all conditions to obtain the position and orientation parameters of the camera.

摘要翻译： 提供一种用于通过使用由相机拍摄的图像中包括的标记的图像坐标和世界坐标来获得关于相机的位置和方位的参数的系统，其中相机具有固定的位置和方向。 该系统使用实时图像显示模式来连续获得输入到相机的图像和静止图像显示模式，用于在预定时间获得输入到相机的图像。 可以通过使用在任一模式下获得的图像来提取标记。 系统可以选择自动提取模式或手动提取模式，用于提取实况图像中的标记，从而可以在所有条件下高精度地提取标记，以获得相机的位置和方向参数。

公开(公告)号：US20060227211A1

公开(公告)日：2006-10-12

申请号：US11398350

申请日：2006-04-05

申请人： Daisuke Kotake ,  Kiyohide Satoh

发明人： Daisuke Kotake ,  Kiyohide Satoh

IPC分类号： H04N7/18 ,  H04N5/225

CPC分类号： G01C11/00 ,  G02B2027/0138 ,  G06T7/73 ,  G06T2207/30204 ,  G06T2207/30244

摘要： A position and an orientation of an image capturing device or an object to which an inclination sensor is mounted are obtained without performing iterative calculation. A position and orientation measuring method includes the steps of: inputting a measured inclination value of an inclination sensor mounted to one of an object and an image capturing device; inputting a captured image from the image capturing device; detecting an index on the object from the captured image; and calculating a position and an orientation of one of the object and the image capturing device to which the inclination sensor is mounted on the basis of the measured inclination value, an image coordinate of the detected index, and already-known positional information on the detected index without performing iterative calculation.

摘要翻译： 获得了不进行迭代计算的图像拍摄装置或安装有倾斜传感器的物体的位置和取向。 位置和姿态测量方法包括以下步骤：输入安装到物体和图像捕获装置中的一个的倾斜传感器的测量的倾斜度值; 从图像捕获装置输入捕获的图像; 从所捕获的图像检测对象上的索引; 并根据所测量的倾斜值，检测到的索引的图像坐标和已检测到的已知的位置信息来计算安装有倾斜传感器的对象和图像捕获装置之一的位置和方位 索引，而不执行迭代计算。

公开(公告)号：US06993450B2

公开(公告)日：2006-01-31

申请号：US10351326

申请日：2003-01-27

申请人： Kazuki Takemoto ,  Shinji Uchiyama ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Shinji Uchiyama ,  Kiyohide Satoh

IPC分类号： G01C17/00

CPC分类号： G06T1/0007 ,  G06T7/80

摘要： A position and orientation determination apparatus for identifying a parameter indicating the position and orientation of image sensing apparatus which performs image sensing on actual space where plural feature points exist in already-known positions. In the position and orientation determination apparatus, the position and orientation of the image sensing apparatus can be measured by a method other than utilization of video image obtained by image sensing, and a parameter indicating the position and orientation of the image sensing apparatus is obtained. Then, the parameter is corrected based on the plural feature points in the video image of actual space obtained by image sensing by the image sensing apparatus, and a parameter indicating the position and orientation of the image sensing apparatus is identified. Upon correction of the parameter, first, the parameter is corrected by a general method using the feature points, and then correction is performed by rotation about a visual axis, thereby the position and orientation of the image sensing apparatus can be detected with high accuracy.

公开(公告)号：US20050256391A1

公开(公告)日：2005-11-17

申请号：US11126437

申请日：2005-05-11

申请人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

发明人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

IPC分类号： G06T7/00 ,  A61B5/05

CPC分类号： G06T7/74 ,  G06T7/33

摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.

摘要翻译： 在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。 从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。 来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。 位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。 位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

公开(公告)号：US06956503B2

公开(公告)日：2005-10-18

申请号：US10660637

申请日：2003-09-12

申请人： Yasuyoshi Yokokohji ,  Shinji Uchiyama ,  Kiyohide Satoh ,  Daisuke Eto ,  Tomoyasu Nakatsuru ,  Tsuneo Yoshikawa

发明人： Yasuyoshi Yokokohji ,  Shinji Uchiyama ,  Kiyohide Satoh ,  Daisuke Eto ,  Tomoyasu Nakatsuru ,  Tsuneo Yoshikawa

IPC分类号： G01C21/36 ,  G01S5/16 ,  G02B27/00 ,  G02B27/01 ,  G08G1/0962 ,  G08G1/123

CPC分类号： G01C21/365 ,  G01S5/163 ,  G02B27/01 ,  G02B2027/0138 ,  G02B2027/0187 ,  G06T7/277 ,  G06T7/70 ,  G06T2207/10016 ,  G06T2207/30268 ,  G08G1/0962

摘要： An external index detection unit (105) receives an image sensed by a camera (100), and detects an external index set in a real scene. A tachometer (110) measures the rotational velocities of two rear wheels of a vehicle. A vehicle measurement unit (120) measures the position and azimuth of the vehicle on the basis of the image coordinate position of the external index and the rotational velocities of the two rear wheels of the vehicle. A head index detection unit (135) receives an image sensed by a camera (130), and detects a head index set on the head of a passenger (132). A head measurement unit (140) measures the position of the head on the basis of the image coordinate position of the head index. An image generation unit (150) generates a display image based on the position and azimuth of the vehicle and the position of the head, so that the passenger can observe predetermined navigation information superimposed at a predetermined position of the real scene, and controls a projector (160) to project the generated image.

公开(公告)号：US06951515B2

公开(公告)日：2005-10-04

申请号：US09506084

申请日：2000-02-17

申请人： Toshikazu Ohshima ,  Kiyohide Satoh

发明人： Toshikazu Ohshima ,  Kiyohide Satoh

IPC分类号： A63F13/00 ,  A63F13/10

CPC分类号： A63F13/212 ,  A63F13/10 ,  A63F13/57 ,  A63F2300/1012 ,  A63F2300/64 ,  A63F2300/8076 ,  A63F2300/8082

摘要： A game apparatus allows a virtual object to act in a mixed reality space as if it had its own will. A player can play a game with the virtual object. Rules for controlling the action patterns of the virtual object on the basis of the objective of the game, and the relative positional relationship between the virtual object and the real object is pre-stored. The next action pattern of the virtual object is determined based on an operator command, the stored rule(s), a simulation progress status, and geometric information of a real object(s).

摘要翻译： 游戏装置允许虚拟对象像混合的现实空间一样行事，好像它有自己的意志。 玩家可以使用虚拟对象玩游戏。 基于游戏目的来控制虚拟对象的动作模式的规则以及虚拟对象与实际对象之间的相对位置关系被预先存储。 基于操作员命令，存储的规则，模拟进度状态和实际对象的几何信息来确定虚拟对象的下一动作模式。

公开(公告)号：US06633304B2

公开(公告)日：2003-10-14

申请号：US09816072

申请日：2001-03-26

申请人： Mahoro Anabuki ,  Kiyohide Satoh ,  Akihiro Katayama

发明人： Mahoro Anabuki ,  Kiyohide Satoh ,  Akihiro Katayama

IPC分类号： G06T1520

CPC分类号： G06F3/011 ,  G02B27/017 ,  G02B2027/0112 ,  G02B2027/014 ,  G02B2027/0187 ,  G02B2027/0198 ,  G09G5/06

摘要： A mixed reality presentation apparatus and control method thereof which can allow for suitable display of a virtual object depending on tone, brightness, and lighting conditions of a physical space on which the virtual object is superimposed and displayed is disclosed. The mixed reality presentation apparatus according to the present invention includes: a display setting adjustor 106 which adjusts the display colors and position of virtual information and the lighting settings based on the tone of the physical space which the observer sees and it determines the display colors such that a large tone difference from the physical space image is achieved for virtual text information and virtual wire frame information as well as the lighting settings used for drawing a three-dimensional virtual object with a tone such that it is merged with an object existing in the physical space.

摘要翻译： 公开了一种混合现实呈现装置及其控制方法，其可以允许根据虚拟对象被叠加和显示的物理空间的色调，亮度和照明条件的虚拟对象的适当显示。 根据本发明的混合现实呈现装置包括：显示设置调整器 106 ，其根据所述的色调调整虚拟信息的显示颜色和位置以及照明设置 观察者看到的物理空间，并且它确定显示颜色，使得实现与虚拟文本信息和虚拟有线帧信息的物理空间图像的大的色差，以及用于绘制三维虚拟对象的照明设置， 一种音调，使其与存在于物理空间中的对象合并。

公开(公告)号：US09558549B2

公开(公告)日：2017-01-31

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： G06K9/00 ,  G06T7/00 ,  A61B5/055 ,  A61B6/00 ,  A61B8/00 ,  A61B8/14 ,  A61B8/08

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：US09135513B2

公开(公告)日：2015-09-15

申请号：US12257260

申请日：2008-10-23

申请人： Kazuki Takemoto ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Kiyohide Satoh

IPC分类号： G06K9/00 ,  G06K9/32

CPC分类号： H04N13/207 ,  G06K9/00 ,  G06K9/32 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10012

摘要： An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.

摘要翻译： 图像处理装置基于拍摄图像中的图像特征的图像坐标，获取拍摄图像中的各图像特征的位置信息。 图像处理装置选择可用于计算所获取的位置信息中的成像装置的位置和方位的位置信息。 图像处理装置基于所选择的位置信息和与包含在拍摄图像中的图像特征中的所选择的位置信息相对应的图像特征，获得成像装置的位置和取向。

公开(公告)号：US08908944B2

公开(公告)日：2014-12-09

申请号：US13502981

申请日：2010-10-18

申请人： Ryo Ishikawa ,  Kiyohide Satoh ,  Takaaki Endo

发明人： Ryo Ishikawa ,  Kiyohide Satoh ,  Takaaki Endo

IPC分类号： G06K9/00 ,  G06T7/00

CPC分类号： G06T7/0032 ,  G06T7/344 ,  G06T2207/10072 ,  G06T2207/10132 ,  G06T2207/30068

摘要： An information processing apparatus for deforming an original image includes an obtaining unit configured to obtain a deformation rule by associating a movement of a feature area caused by deformation of the original image with the deformation, and a deformation unit configured to deform the original image in accordance with the deformation rule, using, as a condition of constraint, position information about a feature area of the target image and a corresponding area of the original image.

摘要翻译： 一种用于使原始图像变形的信息处理设备包括：获取单元，被配置为通过将由原始图像的变形引起的特征区域的移动与变形相关联来获得变形规则;以及变形单元，被配置为使原始图像变形 使用变形规则，使用关于目标图像的特征区域和原始图像的对应区域的位置信息作为约束条件。