公开(公告)号：US06233049B1

公开(公告)日：2001-05-15

申请号：US09273544

申请日：1999-03-22

申请人： Takashi Kondo ,  Hideki Tanabe ,  Makoto Miyazaki ,  Eiichi Ide ,  Hiroshi Uchino ,  Toshio Norita

发明人： Takashi Kondo ,  Hideki Tanabe ,  Makoto Miyazaki ,  Eiichi Ide ,  Hiroshi Uchino ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： G01B11/2518

摘要： A three-dimensional measurement device employs a slit ray projection technique to optically determine a three-dimensional image. The device offers a choice in operating modes between high-speed measurement, high-resolution measurement and large dynamic range in the depth direction, to accommodate various situations. The different modes of operation are achieved by selectively modifying one or more of the scanning speed of a projected reference beam, the readout speed of a photosensor, the line width or line spacing of the photosensor, and the number of lines per image frame.

摘要翻译： 三维测量装置采用狭缝射线投影技术来光学地确定三维图像。 该装置可以在高速测量，高分辨率测量和深度方向上的大动态范围之间的操作模式下进行选择，以适应各种情况。 通过选择性地修改投影参考光束的扫描速度，光传感器的读出速度，光电传感器的线宽或线间距以及每个图像帧的行数来实现不同的操作模式。

公开(公告)号：US06172755B2

公开(公告)日：2001-01-09

申请号：US09465446

申请日：1999-12-17

申请人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

发明人： Toshio Norita ,  Hiroshi Uchino ,  Takuto Joko ,  Eiichi Ide

IPC分类号： G01B1124

CPC分类号： G01S7/487 ,  G01S7/4918 ,  G01S17/42 ,  G01S17/48 ,  G01S17/89

摘要： In a three dimensional measurement system, a three dimensional pickup apparatus picks up an object repeatedly to generate image information including a shape of the object, and an information processor receives image frame signals and digital signals from the pickup apparatus to process the image information. Image information is sent as image frame signals through a first output terminal, and digital signals are sent through a second output terminal in correspondence to output of the image information through the first output terminal. In the information processor, an input controller receives the digital signals from the first output terminal and receives the image frame signals suitable for transmission of moving images in correspondence to the received digital signals from the second output terminal. For example, the pickup conditions for a next period are set based on the pickup information obtained in a current period. For example, a distance sensor is provided further to adjust the pickup conditions in various ways in continuous pickup mode.

摘要翻译： 在三维测量系统中，三维拾取装置重复地拾取对象以产生包括对象的形状的图像信息，并且信息处理器从拾取装置接收图像帧信号和数字信号以处理图像信息。 图像信息通过第一输出端子作为图像帧信号发送，并且通过第一输出端子对应于图像信息的输出，通过第二输出端子发送数字信号。 在信息处理器中，输入控制器接收来自第一输出端的数字信号，并根据来自第二输出端的接收到的数字信号接收适于传输运动图像的图像帧信号。 例如，基于在当前周期中获得的拾取信息来设定下一个周期的拾取条件。 例如，距离传感器被进一步设置以在连续拾取模式下以各种方式调节拾取条件。

公开(公告)号：US6151118A

公开(公告)日：2000-11-21

申请号：US972432

申请日：1997-11-18

申请人： Toshio Norita ,  Hiroshi Uchino ,  Hideki Tanabe

发明人： Toshio Norita ,  Hiroshi Uchino ,  Hideki Tanabe

IPC分类号： G01B11/24 ,  G01B11/25 ,  G01C3/06 ,  G06T1/00

CPC分类号： G01B11/2518

摘要： A three-dimensional measuring system comprises an optical system for emitting a light and optically scanning an object, a measuring sensor having an image pickup surface consisting of a plurality of picture elements and adapted to receive the light reflected on the surface of the object, a galvanometer mirror for changing a direction in which the light irradiates the object, a system controller for driving the measuring sensor so as to allow the same to output information on the quantity of light incident on each of the picture elements, and a barycentric calculation circuit for finding an instant when the light traverses each of the picture elements. This instant is found by implementing a barycentric calculation on the basis of outputs of the measuring sensor taken for a prescribed period of time and an instant at which each of the outputs is taken. The measuring system further comprises a host computer for finding a position on the surface of the object corresponding to each of the picture elements. This position is found on the basis of a relationship between a direction in which the light irradiates the object at an instant when the light traverses each of the picture elements and a direction in which the light reflected on the surface of the object is incident on each of the picture elements.

摘要翻译： 三维测量系统包括用于发射光并光学扫描物体的光学系统;测量传感器，具有由多个像素组成的图像拾取表面，并适于接收在物体的表面上反射的光， 用于改变光照射物体的方向的电流计反射镜，用于驱动测量传感器以使其能够输出关于入射到每个像素上的光量的信息的系统控制器，以及用于 当光线穿过每个图像元素时发现瞬间。 通过基于测量传感器在规定时间段的输出和采取每个输出的时刻的输出来实现重心计算来找到该时刻。 测量系统还包括主机，用于找到与每个图像元素对应的对象的表面上的位置。 该位置是基于光在光沿着每个图像元素的时刻照射到物体的方向与物体表面上反射的光的入射方向之间的关系的基础上发现的 的图片元素。

公开(公告)号：US20130100249A1

公开(公告)日：2013-04-25

申请号：US13520895

申请日：2010-12-16

申请人： Toshio Norita

发明人： Toshio Norita

IPC分类号： H04N13/02

CPC分类号： H04N13/204 ,  G01B11/245 ,  H04N13/239 ,  H04N13/257

摘要： Degradation of a three-dimensional measurement accuracy of a stereo camera device that takes an image of an object in a wide wavelength band is suppressed. In order to achieve the above object, a stereo camera device includes: a stereo image acquiring part for taking an image of light from the object to acquire a stereo image; a corresponding point searching part for performing a corresponding point search between images constituting the stereo image; a wavelength acquiring part for acquiring a representative wavelength of a wavelength component of the light; a parameter acquiring part for acquiring each parameter value corresponding to the representative wavelength with respect to at least one of camera parameters of the stereo image acquiring part in which the parameter value fluctuates according to the wavelength component of the light; and a three-dimensional information acquiring part for acquiring three-dimensional information on the object from a result of the corresponding point search using the each parameter value.

摘要翻译： 抑制了拍摄宽波长带中的物体的图像的立体相机装置的三维测量精度的降低。 为了实现上述目的，立体相机装置包括：立体图像获取部分，用于拍摄来自对象的光的图像以获取立体图像; 相应的点搜索部分，用于在构成立体图像的图像之间执行相应的点搜索; 用于获取光的波长分量的代表性波长的波长获取部分; 参数获取部分，用于获取与根据光的波长分量相关的参数值波动的立体图像获取部分的相机参数中的至少一个获取与代表波长对应的每个参数值; 以及三维信息获取部分，用于使用每个参数值从对应点搜索的结果获取关于对象的三维信息。

公开(公告)号：US07925060B2

公开(公告)日：2011-04-12

申请号：US11588025

申请日：2006-10-26

申请人： Toshio Norita ,  Yuichi Kawakami

发明人： Toshio Norita ,  Yuichi Kawakami

IPC分类号： G06K9/00

CPC分类号： G06K9/00288 ,  G06K9/00214

摘要： An authentication system comprises: a generating part for generating face information including at least one of three-dimensional shape information and two-dimensional information in the face of a first person to be authenticated on the basis of measurement information of the first person; a model modifying part for modifying a standard model of a human face by using the face information, thereby generating an individual model of the face of the first person; a calculating part for calculating a first model perfection level as a perfection level of the individual model on the basis of reliability of the face information; an extracting part for extracting first feature information as feature information of the first person from the individual model; an obtaining part for obtaining second feature information as feature information of a second person to be compared which is pre-registered; and an authenticating part for performing an authenticating operation on the first person by using the first model perfection level in addition to similarity between the first feature information and the second feature information.

摘要翻译： 认证系统包括：产生部件，用于根据第一人的测量信息，生成面对面信息，该面部信息包括面对要认证的第一人的三维形状信息和二维信息中的至少一个; 用于通过使用面部信息来修改人脸的标准模型的模型修改部分，从而生成第一人的面部的个人模型; 计算部分，用于基于面部信息的可靠性计算第一模型完成水平作为个体模型的完美水平; 提取部，用于从所述个人模型中提取作为所述第一人的特征信息的第一特征信息; 获取部分，用于获得第二特征信息作为预先注册的待比较的第二人的特征信息; 以及用于通过使用第一模型完成级别除了第一特征信息和第二特征信息之间的相似性来对第一人员执行认证操作的认证部分。

公开(公告)号：US20060126054A1

公开(公告)日：2006-06-15

申请号：US11335508

申请日：2006-01-20

申请人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

发明人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

IPC分类号： G01C3/08

CPC分类号： G01S7/497 ,  G01B11/25 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/105 ,  G01S17/42 ,  G01S17/89 ,  G06T7/521

摘要： The purpose of the present invention is to realize a compact three-dimensional measurement device of high resolution. In the present invention, a pulse light is projected on an object, the light reflected from the object is received by a solid state area sensor having a plurality of photoelectric conversion elements, the area sensor is controlled with a timing synchronized with the projection of the pulse light, and the distance to each photoelectric conversion element is measured based on the output of the solid state area sensor.

公开(公告)号：US07009690B2

公开(公告)日：2006-03-07

申请号：US09855506

申请日：2001-05-16

申请人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

发明人： Koichi Kamon ,  Toshio Norita ,  Hiroshi Uchino

IPC分类号： G01C3/00 ,  G01C3/08 ,  G01C5/00 ,  G06K9/00

CPC分类号： G01S7/497 ,  G01B11/25 ,  G01S7/4863 ,  G01S7/4865 ,  G01S17/105 ,  G01S17/42 ,  G01S17/89 ,  G06T7/521

摘要： The purpose of the present invention is to realize a compact three-dimensional measurement device of high resolution. In the present invention, a pulse light is projected on an object, the light reflected from the object is received by a solid state area sensor having a plurality of photoelectric conversion elements, the area sensor is controlled with a timing synchronized with the projection of the pulse light, and the distance to each photoelectric conversion element is measured based on the output of the solid state area sensor.

摘要翻译： 本发明的目的是实现高分辨率的紧凑型三维测量装置。 在本发明中，将脉冲光投射在物体上，从物体反射的光被具有多个光电转换元件的固态区域传感器接收，该区域传感器以与 脉冲光，并且基于固态区域传感器的输出测量到每个光电转换元件的距离。

公开(公告)号：US06674534B2

公开(公告)日：2004-01-06

申请号：US10330111

申请日：2002-12-30

申请人： Toshio Norita ,  Makoto Miyazaki

发明人： Toshio Norita ,  Makoto Miyazaki

IPC分类号： G01B1104

CPC分类号： G01B11/2518 ,  G06T7/521

摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.

摘要翻译： 当在区域图像传感器中输入扫描开始位置设置信号时，将内容传送到垂直扫描电路，并设置扫描开始位置。 通过水平扫描读取所需行的图像。 然后，输入用于垂直扫描的一个移位信号，扫描的位置移位一行，并进行水平扫描。 因此，读取下一行的图像。 通过重复该操作，读取期望的条形图像。 确定物体的形状，并且当确定部分具有复杂形状时，通过具有长焦距的透镜输入图像数据，并且借助于具有短焦距的透镜输入其他部分的图像数据 。 通过合成多个输入图像数据，生成整体的图像数据。

公开(公告)号：US06522412B2

公开(公告)日：2003-02-18

申请号：US09879896

申请日：2001-06-14

申请人： Toshio Norita ,  Makoto Miyazaki ,  Eiro Fujii ,  Shigeaki Imai ,  Fumiya Yagi ,  Satoru Hirose

发明人： Toshio Norita ,  Makoto Miyazaki ,  Eiro Fujii ,  Shigeaki Imai ,  Fumiya Yagi ,  Satoru Hirose

IPC分类号： G01B1124

CPC分类号： G01B11/2518 ,  G06T7/521

摘要： When a scanning start position set signal is input in an area image sensor, the content is transferred to a vertical scanning circuit, and the scan start position is set. Image of a desired row is read by horizontal scanning. Then, one shift signal for vertical scanning is input, the position of scanning is shifted by one row, and horizontal scanning is performed. Thus image of the next row is read. By repeating this operation, a desired strip-shaped image is read. The shape of the object is determined and when a portion is determined to have complicated shape, the image data is input by means of a lens having long focal length, and image data of other portions are input by means of a lens having short focal length. By putting together a plurality of input image data, image data as a whole is generated.

公开(公告)号：US06429941B1

公开(公告)日：2002-08-06

申请号：US09352346

申请日：1999-07-13

申请人： Koichi Kamon ,  Toshio Norita

发明人： Koichi Kamon ,  Toshio Norita

IPC分类号： G01B1124

CPC分类号： G01S17/10 ,  G01S7/497

摘要： A distance measuring equipment and method that measures a distance to an object with high accuracy regardless of the reflectivity of the object is disclosed. The distance measuring equipment includes a transmitter for transmitting pulsed light to the outside, a receiver for receiving the pulsed light reflected by an object in the outside and performing photoelectric conversion and a measuring portion for measuring a time period from the transmission time point of the pulsed light to the reception time point of the reflected light so as to output data of the distance to the object. The measuring portion periodically samples the electric signal obtained by the photoelectric conversion of the receiver and memorize plural instantaneous values at plural time points. Then, the measuring portion determines the time point at the inflection point of the quantity variation of the received light on the basis of the memorized plural instantaneous values so as to generate the data of the distance to the object on the basis of the determined time point as the reception point.

摘要翻译： 公开了一种距离测量设备和方法，其与物体的反射率无关地以高精度测量到物体的距离。 距离测量设备包括用于将脉冲光传输到外部的发射器，用于接收由外部物体反射的脉冲光并执行光电转换的接收器，以及用于测量从脉冲的传输时间点开始的时间段的测量部分 照射到反射光的接收时间点，以输出到对象的距离的数据。 测量部分周期性地对通过接收机的光电转换获得的电信号进行采样，并在多个时间点存储多个瞬时值。 然后，测量部分基于存储的多个瞬时值确定接收光的量变化的拐点处的时间点，以便根据所确定的时间点生成到对象的距离的数据 作为接待点。