公开(公告)号：US20090207246A1

公开(公告)日：2009-08-20

申请号：US11989625

申请日：2006-07-28

申请人： Masahiko Inami ,  Dairoku Sekiguchi ,  Hiroki Mori ,  Shigesumi Kuwashima ,  Fumitoshi Matsuno

发明人： Masahiko Inami ,  Dairoku Sekiguchi ,  Hiroki Mori ,  Shigesumi Kuwashima ,  Fumitoshi Matsuno

IPC分类号： H04N7/18 ,  G06K9/00

CPC分类号： H04N5/232 ,  G01S3/7864 ,  G08B13/19641 ,  H04N5/23238 ,  H04N5/247 ,  H04N5/2628 ,  H04N5/76 ,  H04N7/181 ,  H04N2005/2255

摘要： The present invention tracks a specified target object and provides an image in real time in a way that gives a viewer a sense of reality. The present invention connects, in order to produce a spherical image Q1, the images captured by cameras 13 that can move in a space and are arranged so as to take images of different directions such that the images captured by at least two or more image pickup elements are partially overlapped with one another, calculates a positional correlation between the spherical image Q1 and the target object specified from the images, and then arranges the target object substantially at the center of the spherical image Q1 in accordance with the positional correlation. This provides a tracking image that tracks and focuses on the target object out of the spherical image Q1.

摘要翻译： 本发明跟踪指定的目标对象并且以给予观看者现实感的方式实时提供图像。 本发明为了产生球形图像Q1，连接由相机13拍摄的图像，其可以在空间中移动并被布置成拍摄不同方向的图像，使得由至少两个或更多个图像拾取 元件彼此部分地重叠，计算球面图像Q1和从图像指定的目标对象之间的位置相关性，然后根据位置相关性将目标对象基本上布置在球形图像Q1的中心。 这提供了跟踪和聚焦在球形图像Q1之外的目标对象的跟踪图像。

公开(公告)号：US20070165033A1

公开(公告)日：2007-07-19

申请号：US10587016

申请日：2005-01-19

申请人： Fumitoshi Matsuno ,  Masahiko Inami ,  Naoji Shiroma

发明人： Fumitoshi Matsuno ,  Masahiko Inami ,  Naoji Shiroma

IPC分类号： G06T15/70

CPC分类号： H04N7/18 ,  G05D1/0038

摘要： This invention provides an image generating method that simplifies moving body operation. This method includes the following steps. (1) a step of receiving environment information (for example, environment images) using one or a plurality of space measurement sensors (for example, a camera) attached to a moving body; (2) a step of receiving time when the environment information is received, and parameter of the space measurement sensor itself (for example, position and attitude of a camera) at the time; (3) a step of saving history information representing the environment information, the time, and the parameters; (4) a step of receiving designation for virtual observation point; and (5) a step of generating virtual environment image seen from the virtual observation point based on the saved history information.

摘要翻译： 本发明提供了一种简化移动体操作的图像生成方法。 该方法包括以下步骤。 （1）使用附接到移动体的一个或多个空间测量传感器（例如，照相机）接收环境信息（例如，环境图像）的步骤; （2）当接收到环境信息时接收时间的步骤，空间测量传感器本身的参数（例如，相机的位置和姿态）; （3）保存表示环境信息，时间和参数的历史信息的步骤; （4）接收虚拟观测点的指定的步骤; 以及（5）基于所保存的历史信息，生成从虚拟观察点看到的虚拟环境图像的步骤。

公开(公告)号：US20100134488A1

公开(公告)日：2010-06-03

申请号：US12625628

申请日：2009-11-25

申请人： Toru KIDO ,  Yorihide TAKEHARA ,  Masataka ITO ,  Maki SUGIMOTO ,  Fumitoshi MATSUNO

发明人： Toru KIDO ,  Yorihide TAKEHARA ,  Masataka ITO ,  Maki SUGIMOTO ,  Fumitoshi MATSUNO

IPC分类号： G06T15/00

CPC分类号： G06T15/20 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0202 ,  H04N7/185

摘要： A remote control system and a remote control apparatus allow a human operator to remotely control a mobile body easily even if the system uses a low-speed communications link. The remote control system includes a remote control apparatus, in which a CPU selects old information based on both old information and the latest mobile body information from a mobile body, and determines a virtual view point V. The CPU generates a three-dimensional environmental image K and the virtual view point V based on the selected old information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding a mobile body model M, in a global coordinate system GC. The CPU calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor.

摘要翻译： 远程控制系统和远程控制装置允许人类操作者即使系统使用低速通信链路也能够容易地远程控制移动体。 遥控系统包括远程控制装置，其中CPU根据来自移动体的旧信息和最新移动体信息选择旧信息，并且确定虚拟视点V. CPU产生三维环境图像 K和基于所选择的旧信息的虚拟视点V，并且还基于关于移动体模型M的最新移动体信息和数据，生成移动体模型M，参考点B和剪切中心点 全局坐标系GC。 CPU基于虚拟视点V与参考点B之间的距离d来计算视角，将三维环境图像K和移动体模型M从虚拟视点V向剪辑状态的透视投影 中心点以获得投影图像，基于视角从投影图像制作剪辑，从而形成合成图像，并将合成图像转换为预定尺寸的显示图像。 所得到的显示图像显示在显示器上。

公开(公告)号：US08421797B2

公开(公告)日：2013-04-16

申请号：US12625628

申请日：2009-11-25

申请人： Toru Kido ,  Yorihide Takehara ,  Masataka Ito ,  Maki Sugimoto ,  Fumitoshi Matsuno

发明人： Toru Kido ,  Yorihide Takehara ,  Masataka Ito ,  Maki Sugimoto ,  Fumitoshi Matsuno

IPC分类号： G06T15/00

CPC分类号： G06T15/20 ,  G05D1/0038 ,  G05D1/0044 ,  G05D1/0246 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0202 ,  H04N7/185

摘要： A remote control system and a remote control apparatus allow a human operator to remotely control a mobile body easily even if the system uses a low-speed communications link. The remote control system includes a remote control apparatus, in which a CPU selects old information based on both old information and the latest mobile body information from a mobile body, and determines a virtual view point V. The CPU generates a three-dimensional environmental image K and the virtual view point V based on the selected old information, and also generates a mobile body model M, a reference point B and a clipping center point based on the latest mobile body information and data regarding a mobile body model M, in a global coordinate system GC. The CPU calculates an angle of view based on a distance d between the virtual viewpoint V and the reference point B, makes a perspective projection of the three-dimensional environmental image K and the mobile body model M from the virtual view point V toward the clipping center point to obtain a projected image, makes a clip from the projected image based on the angle of view thereby making a composite image, and converts the composite image into a display image of a predetermined size. The resulting display image is displayed on a monitor.

摘要翻译： 远程控制系统和远程控制装置允许人类操作者即使系统使用低速通信链路也能够容易地远程控制移动体。 遥控系统包括远程控制装置，其中CPU根据来自移动体的旧信息和最新移动体信息选择旧信息，并且确定虚拟视点V. CPU产生三维环境图像 K和基于所选择的旧信息的虚拟视点V，并且还基于关于移动体模型M的最新移动体信息和数据，生成移动体模型M，参考点B和剪切中心点 全局坐标系GC。 CPU基于虚拟视点V与参考点B之间的距离d来计算视角，将三维环境图像K和移动体模型M从虚拟视点V向剪辑状态的透视投影 中心点以获得投影图像，基于视角从投影图像制作剪辑，从而形成合成图像，并将合成图像转换为预定尺寸的显示图像。 产生的显示图像显示在显示器上。