公开(公告)号：US20090262113A1

公开(公告)日：2009-10-22

申请号：US12418082

申请日：2009-04-03

申请人： Daisuke Kotake ,  Shinji Uchiyama

发明人： Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G06T15/20

CPC分类号： G06F3/011 ,  G02B27/017 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0187 ,  G06T7/12 ,  G06T7/73 ,  G06T19/006 ,  G06T2207/10016

摘要： A unit (110) acquires an image, sensed by an image sensing device (100), of a physical object having an outer appearance that can be expressed by line segments. A unit (120) stores defining data used to classify line segments configuring a 3D virtual object that simulates the outer appearance of the physical object into a plurality of groups and to define respective line segments belonging to the groups. A unit (130) selects one group from the groups one by one without any repetition. The unit (130) projects line segments which belong to the selected group onto a physical space using the defining data used to define that line segments, and the image of the physical space. The unit (130) then updates a position and orientation of the image sensing unit based on the line segments projected onto the physical space and a feature in the image of the physical object.

摘要翻译： 单元（110）获取由图像感测装置（100）感测到的具有可以由线段表示的外观的物理对象的图像。 单元（120）存储定义用于将配置3D虚拟对象的线段分类的数据，所述3D虚拟对象将物理对象的外观模拟成多个组，并且定义属于组的各个线段。 一个单元（130）从一个接一个地选择一个组而不重复。 单元（130）使用用于定义该线段的定义数据和物理空间的图像将属于所选择的组的线段投射到物理空间上。 然后，单元（130）基于投影到物理空间上的线段和物理对象的图像中的特征来更新图像感测单元的位置和方位。

公开(公告)号：US09437005B2

公开(公告)日：2016-09-06

申请号：US13538437

申请日：2012-06-29

申请人： Keisuke Tateno ,  Daisuke Kotake ,  Shinji Uchiyama

发明人： Keisuke Tateno ,  Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G06T7/00 ,  G01B11/00 ,  B25J9/16

CPC分类号： B25J9/1697 ,  G01B11/002 ,  G05B2219/37425 ,  G05B2219/40548 ,  G06T7/75 ,  G06T2207/10021 ,  G06T2207/30108

摘要： An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference amount.

摘要翻译： 一种被配置为使用成像装置估计测量对象的位置和姿态的信息处理装置，包括近似位置和方向输入单元，被配置为输入成像装置和测量对象之间的相对近似位置和取向，第一位置和方向 更新单元，被配置为通过将三维形状模型与拍摄图像相匹配来更新近似位置和取向;位置和方位差信息输入单元，被配置为计算并获取所述成像装置相对于所述测量的位置和方位差量 已经在成像装置捕获了测量对象的图像之后或者在获取了最后位置和方位差异信息之后已经移动的对象，以及被配置为基于位置和方向来更新大致位置和取向的第二位置和方位更新单元， 取向差值。

公开(公告)号：US20130114886A1

公开(公告)日：2013-05-09

申请号：US13810731

申请日：2011-07-21

申请人： Daisuke Kotake ,  Shinji Uchiyama

发明人： Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G06K9/00

CPC分类号： G06K9/00 ,  G01B11/002 ,  G01B11/24 ,  G01B11/272

摘要： A position and orientation measurement apparatus for measuring a position and orientation of a target object, comprising: storage means for storing a three-dimensional model representing three-dimensional shape information of the target object; obtaining means for obtaining a plurality of measurement data about the target object sensed by image sensing means; reliability calculation means for calculating reliability for each of the pieces of measurement data; selection means for selecting the measurement data by a predetermined number from the plurality of measurement data based on the reliability; association means for associating planes forming the three-dimensional model with each of the measurement data selected by the selection means; and decision means for deciding the position and orientation of the target object based on the result associated by the association means.

摘要翻译： 一种用于测量目标物体的位置和姿态的位置和姿态测量装置，包括：存储装置，用于存储表示目标物体的三维形状信息的三维模型; 获取用于获得关于由图像感测装置感测的目标对象的多个测量数据的装置; 用于计算每个测量数据的可靠性的可靠性计算装置; 选择装置，用于根据可靠性从多个测量数据中选择预定数量的测量数据; 用于将形成三维模型的平面与由选择装置选择的每个测量数据相关联的关联装置; 以及用于基于由所述关联装置相关联的结果来确定所述目标对象的位置和方向的决定装置。

公开(公告)号：US08391589B2

公开(公告)日：2013-03-05

申请号：US12013123

申请日：2008-01-11

申请人： Daisuke Kotake ,  Shinji Uchiyama ,  Hirokazu Kato

发明人： Daisuke Kotake ,  Shinji Uchiyama ,  Hirokazu Kato

IPC分类号： G06K9/00

CPC分类号： G01C11/00 ,  G01S5/16 ,  G06T7/20 ,  G06T7/73

摘要： Three pieces of candidate position information are calculated based on a plurality of pieces of sensing position information, and three pieces of candidate orientation information are calculated based on a plurality of pieces of sensing orientation information. Sets each of which combines one candidate position information and one candidate orientation information are prepared for all combinations. For each set, the candidate position information and candidate orientation information which configure that set are corrected. An evaluation value is calculated for each corrected set, and one of the sets is selected based on the calculated evaluation values. The candidate position information and candidate orientation information which configure the selected set are respectively recorded in a memory as sensing position information and sensing orientation information.

摘要翻译： 基于多条感测位置信息计算三条候选位置信息，并且基于多条感测取向信息来计算三条候选方向信息。 对于所有组合，为每个组合一个候选位置信息和一个候选方向信息。 对于每个集合，配置该组的候选位置信息和候选方向信息被校正。 针对每个校正组计算评估值，并且基于所计算的评估值来选择一组。 配置所选择的集合的候选位置信息和候选方向信息分别作为感测位置信息和感测取向信息记录在存储器中。

公开(公告)号：US07529387B2

公开(公告)日：2009-05-05

申请号：US11126436

申请日：2005-05-11

申请人： Daisuke Kotake ,  Shinji Uchiyama

发明人： Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G06K2009/3225 ,  G06T7/73

摘要： A method is provided for estimating the placement information of a plurality of types of markers of which the amounts of the placement information differ respectively, detects a plurality of types of markers from multiple images, calculates the position where the detected marker is projected on an image surface based on the approximate values of the positions and orientations of an imaging device when multiple images are photographed, obtains the correction value of the placement information of a marker so as to reduce a sum of error between the position of the detected marker on the image surface and the projected position of the marker calculated, corrects the placement information of the marker, and also calculates the placement information of a plurality of types of markers by repeating these processes.

摘要翻译： 提供了一种用于估计多个类型的标记的放置信息的放置信息的方法，其中放置信息的量分别不同，从多个图像中检测多种类型的标记，计算检测到的标记投影在图像上的位置 基于拍摄多个图像时的成像装置的位置和取向的近似值的表面，获得标记的放置信息的校正值，以减少图像上检测到的标记的位置之间的误差之和 计算出标记的投影位置，校正标记的放置信息，并且还通过重复这些处理来计算多种类型的标记的放置信息。

公开(公告)号：US20080172201A1

公开(公告)日：2008-07-17

申请号：US12013123

申请日：2008-01-11

申请人： Daisuke Kotake ,  Shinji Uchiyama ,  Hirokazu Kato

发明人： Daisuke Kotake ,  Shinji Uchiyama ,  Hirokazu Kato

IPC分类号： G01C11/00

CPC分类号： G01C11/00 ,  G01S5/16 ,  G06T7/20 ,  G06T7/73

摘要： Three pieces of candidate position information are calculated based on a plurality of pieces of sensing position information, and three pieces of candidate orientation information are calculated based on a plurality of pieces of sensing orientation information. Sets each of which combines one candidate position information and one candidate orientation information are prepared for all combinations. For each set, the candidate position information and candidate orientation information which configure that set are corrected. An evaluation value is calculated for each corrected set, and one of the sets is selected based on the calculated evaluation values. The candidate position information and candidate orientation information which configure the selected set are respectively recorded in a memory as sensing position information and sensing orientation information.

摘要翻译： 基于多条感测位置信息计算三条候选位置信息，并且基于多条感测取向信息来计算三条候选方向信息。 对于所有组合，为每个组合一个候选位置信息和一个候选方向信息。 对于每个集合，配置该组的候选位置信息和候选方向信息被校正。 针对每个校正组计算评估值，并且基于所计算的评估值来选择一组。 配置所选择的集合的候选位置信息和候选方向信息分别作为感测位置信息和感测取向信息记录在存储器中。

公开(公告)号：US07664341B2

公开(公告)日：2010-02-16

申请号：US11611404

申请日：2006-12-15

申请人： Rika Takemoto ,  Shinji Uchiyama

发明人： Rika Takemoto ,  Shinji Uchiyama

IPC分类号： G06K9/36 ,  H04N1/46

CPC分类号： G06T7/33 ,  G06T7/80

摘要： An index layout measurement method and apparatus measures a relative layout relationship between a first index or index group which exists in a given first region in a physical space and a second index or index group which exists in a second region. The method includes a first image sensing step of sensing an image so as to simultaneously include some or all of the first index/index group and an auxiliary index which is temporarily laid out in the physical space and a position and orientation in a three-dimensional space of which can be defined, a second image sensing step of sensing an image so as to simultaneously include some or all of the second index/index group and the auxiliary index, and a layout calculation step of calculating a relative layout relationship among the first index/index group, the auxiliary index, and the second index/index group from one or a plurality of images obtained by performing the first image sensing step once or repeating it a plurality of number of times, and one or a plurality of images obtained by performing the second image sensing step once or repeating it a plurality of number of times. The auxiliary index is removed after the layout relationship among the respective indices laid out in the physical space is calculated.

摘要翻译： 索引布局测量方法和装置测量存在于物理空间中的给定第一区域中的第一索引或索引组与存在于第二区域中的第二索引或索引组之间的相对布局关系。 该方法包括：第一图像感测步骤，用于感测图像，以便同时包括临时布置在物理空间中的第一索引/索引组和辅助索引中的一些或全部，以及三维中的位置和取向 可以定义其空间的第二图像感测步骤，感测图像以同时包括第二索引/索引组和辅助索引中的一些或全部的第二图像感测步骤，以及布局计算步骤，用于计算第一 索引/索引组，辅助索引和第二索引/索引组，通过执行第一图像感测步骤而获得的一个或多个图像或重复多次，并且获得一个或多个图像 通过执行第二图像感测步骤一次或重复多次。 在计算物理空间中布置的各个索引之间的布局关系之后，去除辅助索引。

公开(公告)号：US20070091125A1

公开(公告)日：2007-04-26

申请号：US11611404

申请日：2006-12-15

申请人： Rika Takemoto ,  Shinji Uchiyama

发明人： Rika Takemoto ,  Shinji Uchiyama

IPC分类号： G09G5/00

CPC分类号： G06T7/33 ,  G06T7/80

摘要： The layout relationship between indices included in a first image and those included in a second image are calculated using the layout relationship between a common index commonly included in the first and second images, and the indices included in the first image, and that between the common index and the indices included in the second image.

摘要翻译： 使用通常包括在第一和第二图像中的公共索引与包括在第一图像中的索引之间的布局关系以及公共的第一图像之间的布局关系来计算包括在第一图像中的索引与包括在第二图像中的索引之间的布局关系 索引和包含在第二图像中的索引。

公开(公告)号：US09025857B2

公开(公告)日：2015-05-05

申请号：US12818538

申请日：2010-06-18

申请人： Daisuke Kotake ,  Shinji Uchiyama

发明人： Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G06K9/00 ,  G01B11/25 ,  G06T7/00

CPC分类号： G01B11/25 ,  G06T7/521

摘要： A three-dimensional measurement apparatus includes a model holding unit configured to hold a three-dimensional shape model of a measurement object and a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object. The measurement object is irradiated with a predetermined illumination pattern by an illumination unit. An image of the measurement object is sensed while the illumination unit irradiates the measurement object. Distance information indicating a distance from the image sensing unit to the measurement object is calculated based on region corresponding to the distance measurement region within the sensed image. A position and orientation of the measurement object is calculated based on the distance information and the three-dimensional shape model.

摘要翻译： 三维测量装置包括：模型保持单元，被配置为保持测量对象的三维形状模型;以及确定单元，被配置为基于指示测量对象的三维形状的信息来确定测量对象上的距离测量区域 测量对象。 通过照明单元以预定的照明图案照射测量对象。 当照明单元照射测量对象时，感测测量对象的图像。 基于与感测图像内的距离测量区域对应的区域来计算表示从摄像单元到测量对象的距离的距离信息。 基于距离信息和三维形状模型计算测量对象的位置和方位。

公开(公告)号：US20100328682A1

公开(公告)日：2010-12-30

申请号：US12818538

申请日：2010-06-18

申请人： Daisuke Kotake ,  Shinji Uchiyama

发明人： Daisuke Kotake ,  Shinji Uchiyama

IPC分类号： G01B11/14

CPC分类号： G01B11/25 ,  G06T7/521

摘要： A three-dimensional measurement apparatus comprises: a model holding unit configured to hold a three-dimensional shape model of a measurement object; a determination unit configured to determine a distance measurement region on the measurement object based on information indicating a three-dimensional shape of the measurement object; an illumination unit configured to irradiate the measurement object with a predetermined illumination pattern; an image sensing unit configured to sense an image of the measurement object while the illumination unit irradiates the measurement object; a distance calculation unit configured to calculate distance information indicating a distance from the image sensing unit to the measurement object based on region corresponding to the distance measurement region within the sensed image; and a position and orientation calculation unit configured to calculate a position and orientation of the measurement object based on the distance information and the three-dimensional shape model.

摘要翻译： 三维测量装置包括：模型保持单元，被配置为保持测量对象的三维形状模型; 确定单元，被配置为基于指示所述测量对象的三维形状的信息来确定所述测量对象上的距离测量区域; 照明单元，被配置为以预定的照明图案照射所述测量对象; 图像感测单元，被配置为在照明单元照射测量对象时感测测量对象的图像; 距离计算单元，被配置为基于与感测图像内的距离测量区域对应的区域来计算指示从图像感测单元到测量对象的距离的距离信息; 以及位置和姿势计算单元，被配置为基于所述距离信息和所述三维形状模型来计算所述测量对象的位置和取向。