公开(公告)号：US20080284864A1

公开(公告)日：2008-11-20

申请号：US11836077

申请日：2007-08-08

申请人： Daisuke Kotake ,  Toshihiro Nakazawa ,  Masahiro Suzuki ,  Rika Takemoto ,  Kiyohide Satoh ,  Yoshihiko Iwase

发明人： Daisuke Kotake ,  Toshihiro Nakazawa ,  Masahiro Suzuki ,  Rika Takemoto ,  Kiyohide Satoh ,  Yoshihiko Iwase

IPC分类号： H04N5/228

CPC分类号： G06K9/3216

摘要： In position and orientation measurement based on natural features, erroneous detection of the natural features is prevented when an observation target object is occluded by another object, and registration stability is improved. To this end, an occluding object that can occlude the observation target object is defined, and an occluding region where the occluding object occludes the observation target object is detected in an input captured image. Image features of the observation target object are detected in a region of the captured image other than the detected occluding region. Therefore, the position or orientation of an image pickup apparatus that captured the captured image, or the position or orientation of the observation target object in the captured image are calculated.

摘要翻译： 在基于自然特征的位置和姿态测量中，当观察目标物体被另一物体遮挡时，防止了自然特征的错误检测，并提高了对准稳定性。 为此，限定可遮挡观察目标物体的闭塞物体，并且在输入的拍摄图像中检测出遮挡对象遮挡观察对象物体的遮挡区域。 在除了检测到的闭塞区域之外的捕获图像的区域中检测观察目标对象的图像特征。 因此，计算拍摄图像的摄像装置的位置或取向，或者拍摄图像中的观察对象物的位置或取向。

公开(公告)号：US08144238B2

公开(公告)日：2012-03-27

申请号：US11836077

申请日：2007-08-08

申请人： Daisuke Kotake ,  Toshihiro Nakazawa ,  Masahiro Suzuki ,  Rika Takemoto ,  Kiyohide Satoh ,  Yoshihiko Iwase

发明人： Daisuke Kotake ,  Toshihiro Nakazawa ,  Masahiro Suzuki ,  Rika Takemoto ,  Kiyohide Satoh ,  Yoshihiko Iwase

IPC分类号： G03B13/00 ,  H04N5/232 ,  H04N5/262 ,  G06K9/00 ,  G06K9/48

CPC分类号： G06K9/3216

摘要： In position and orientation measurement based on natural features, erroneous detection of the natural features is prevented when an observation target object is occluded by another object, and registration stability is improved. To this end, an occluding object that can occlude the observation target object is defined, and an occluding region where the occluding object occludes the observation target object is detected in an input captured image. Image features of the observation target object are detected in a region of the captured image other than the detected occluding region. Therefore, the position or orientation of an image pickup apparatus that captured the captured image, or the position or orientation of the observation target object in the captured image are calculated.

摘要翻译： 在基于自然特征的位置和姿态测量中，当观察目标物体被另一物体遮挡时，防止了自然特征的错误检测，并提高了对准稳定性。 为此，限定可遮挡观察目标物体的闭塞物体，并且在输入的拍摄图像中检测出遮挡对象遮挡观察对象物体的遮挡区域。 在除了检测到的闭塞区域之外的捕获图像的区域中检测观察目标对象的图像特征。 因此，计算拍摄图像的摄像装置的位置或取向，或者拍摄图像中的观察对象物的位置或取向。

公开(公告)号：US07783443B2

公开(公告)日：2010-08-24

申请号：US12037489

申请日：2008-02-26

申请人： Shinichi Aratani ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Daisuke Kotake ,  Kazuhiko Kobayashi ,  Rika Takemoto

发明人： Shinichi Aratani ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Daisuke Kotake ,  Kazuhiko Kobayashi ,  Rika Takemoto

IPC分类号： G06F19/00 ,  G06K9/00

CPC分类号： G06T7/70 ,  G06T7/80 ,  G06T2207/30244

摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).

摘要翻译： 当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标 提取由图像感测装置（200）感测的多个图像。 提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。 信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。

公开(公告)号：US20080228434A1

公开(公告)日：2008-09-18

申请号：US12037489

申请日：2008-02-26

申请人： Shinichi Aratani ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Daisuke Kotake ,  Kazuhiko Kobayashi ,  Rika Takemoto

发明人： Shinichi Aratani ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Daisuke Kotake ,  Kazuhiko Kobayashi ,  Rika Takemoto

IPC分类号： G06F15/00

CPC分类号： G06T7/70 ,  G06T7/80 ,  G06T2207/30244

摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).

摘要翻译： 当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标 提取由图像感测装置（200）感测的多个图像。 提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。 信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。

公开(公告)号：US08355531B2

公开(公告)日：2013-01-15

申请号：US11944998

申请日：2007-11-26

申请人： Shinichi Aratani ,  Kiyohide Satoh ,  Daisuke Kotake

发明人： Shinichi Aratani ,  Kiyohide Satoh ,  Daisuke Kotake

IPC分类号： G06K9/00 ,  G09G5/00 ,  G01C17/00

CPC分类号： G01C11/04 ,  G06T7/246 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30208 ,  G06T2207/30244

摘要： Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.

摘要翻译： 从被图像感测装置时间序列感测的帧的感测图像中检测分配或设置在对象上的指示。 与从感兴趣的感兴趣图像检测到的每个索引相关联，获取来自感兴趣的帧之前的帧的检测条件。 根据获取的指标检测条件，计算该指标的可靠性。 使用至少与检测到的索引的图像坐标和索引的可靠性相关联的信息来计算对象或图像感测设备的位置和取向。

公开(公告)号：US20060094955A1

公开(公告)日：2006-05-04

申请号：US11265981

申请日：2005-11-03

申请人： Kiyohide Satoh ,  Daisuke Kotake ,  Shinichi Aratani ,  Shinji Uchiyama

发明人： Kiyohide Satoh ,  Daisuke Kotake ,  Shinichi Aratani ,  Shinji Uchiyama

IPC分类号： A61B5/05

CPC分类号： G01S5/163

摘要： An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.

公开(公告)号：US20050253870A1

公开(公告)日：2005-11-17

申请号：US11126916

申请日：2005-05-11

申请人： Daisuke Kotake ,  Shinji Uchiyama ,  Kiyohide Satoh

发明人： Daisuke Kotake ,  Shinji Uchiyama ,  Kiyohide Satoh

IPC分类号： G06T1/00 ,  G06T7/00 ,  G06T7/60 ,  A61B5/05

CPC分类号： G06T7/73

摘要： A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.

摘要翻译： 一种标记放置信息估计方法，包括：约束条件设定步骤，用于设定可以利用关于标记的放置信息的几何条件来定义的约束条件;捕获步骤，用于捕获包括标记图像的拍摄图像，用于检测标记的标记检测步骤 以及估计步骤，用于使用检测到的标记在图像上的位置和约束条件来估计标记的放置信息。 因此，即使存在关于标记的放置的约束条件，也可以精确地获得放置信息，以满足约束条件。

公开(公告)号：US20080122869A1

公开(公告)日：2008-05-29

申请号：US11944998

申请日：2007-11-26

申请人： Shinichi Aratani ,  Kiyohide Satoh ,  Daisuke Kotake

发明人： Shinichi Aratani ,  Kiyohide Satoh ,  Daisuke Kotake

IPC分类号： G09G5/00

CPC分类号： G01C11/04 ,  G06T7/246 ,  G06T7/73 ,  G06T2207/10016 ,  G06T2207/30208 ,  G06T2207/30244

摘要： Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.

摘要翻译： 从被图像感测装置时间序列感测的帧的感测图像中检测分配或设置在对象上的指示。 与从感兴趣的感兴趣图像检测到的每个索引相关联，获取来自感兴趣的帧之前的帧的检测条件。 根据获取的指标检测条件，计算该指标的可靠性。 使用至少与检测到的索引的图像坐标和索引的可靠性相关联的信息来计算对象或图像感测设备的位置和取向。

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：US07782361B2

公开(公告)日：2010-08-24

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： H04N5/225 ,  H04N7/18 ,  H04N5/228 ,  H04N5/232 ,  G01C17/38 ,  G01C9/00 ,  G06K9/00 ,  G06K9/36

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。