公开(公告)号：US07567246B2

公开(公告)日：2009-07-28

申请号：US10602600

申请日：2003-06-25

申请人： Katsushi Ikeuchi ,  Hiroshi Kawasaki ,  Ryusuke Sagawa ,  Shuntaro Yamazaki

发明人： Katsushi Ikeuchi ,  Hiroshi Kawasaki ,  Ryusuke Sagawa ,  Shuntaro Yamazaki

IPC分类号： G06T15/00 ,  G06T17/20 ,  G06T17/00 ,  G09G5/00

CPC分类号： G06T15/08 ,  G06T15/04

摘要： This invention provides an apparatus and the like, which render an object from a predetermined view direction by a method using microfacet billboarding using 2D images obtained by photographing an object to be rendered from a plurality of photographing directions, and a depth image of the object to be rendered. This method obtains the geometrical shape of the object to be rendered on the basis of the depth image and the like, and approximates the geometrical shape using a set of microfacets whose directions change depending on the view direction. By mapping 2D images selected based on the view direction and photographing directions onto the respective microfacets as texture images, an arbitrary shaped object and landscape can be efficiently rendered.

摘要翻译： 本发明提供一种装置等，其通过使用通过使用通过从多个拍摄方向拍摄要渲染的对象而获得的2D图像的微型投影板的方法来使预定视图方向上的物体，以及该物体的深度图像 被渲染。 该方法基于深度图像等获得要渲染的对象的几何形状，并且使用一组根据视图方向改变的微细图形来近似几何形状。 通过将基于视图方向选择的2D图像和拍摄方向映射到作为纹理图像的各个微型图像上，可以有效地呈现任意形状的对象和景观。

公开(公告)号：US08837812B2

公开(公告)日：2014-09-16

申请号：US12997088

申请日：2009-06-04

申请人： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

发明人： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

IPC分类号： G06K9/00 ,  G06T1/00 ,  G01B11/25 ,  G06T7/00

CPC分类号： G01B11/25 ,  G06T1/00 ,  G06T7/521 ,  G06T2200/08 ,  G06T2207/10028

摘要： Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing. An image processing device mainly consists of a projector serving as a projection means, a camera as a photographing means, and an image processing means consisting of, for example, a personal computer. The image processing means acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector and the camera. The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

摘要翻译： 提供能够进行高密度恢复并且对于图像处理也很强的图像处理装置，图像处理方法和程序。 图像处理装置主要由用作投影装置的投影仪，作为拍摄装置的照相机和由例如个人计算机组成的图像处理装置组成。 图像处理装置从拍摄图像获取图案之间的交点，并且通过使用第一临时平面的约束条件和包括从该位置获得的交点和约束条件的第二临时平面来计算包括自由度的第一解 投影机和相机之间的关系。 通过主要搜索取消自由度，从而恢复三维形状。

公开(公告)号：US20110081072A1

公开(公告)日：2011-04-07

申请号：US12997088

申请日：2009-06-04

申请人： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

发明人： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

IPC分类号： G06K9/00

CPC分类号： G01B11/25 ,  G06T1/00 ,  G06T7/521 ,  G06T2200/08 ,  G06T2207/10028

摘要： [PROBLEM] Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing.[METHOD FOR SOLUTION] An image processing device (10) mainly consists of a projector (12) serving as a projection means, a camera (14) as a photographing means, and an image processing means (16) consisting of, for example, a personal computer. The image processing means (16) acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector (12) and the camera (14). The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

摘要翻译： 提供了一种图像处理装置，图像处理方法和能够进行高密度恢复并且对图像处理也很强的程序。 [解决方案]图像处理装置（10）主要由用作投影装置的投影仪（12），作为拍摄装置的照相机（14）和图像处理装置（16）组成，图像处理装置 一台个人电脑 图像处理装置（16）从拍摄图像获取图案之间的交点，并且通过使用第一临时平面的约束条件和包括交点和约束条件的第二暂定平面来计算包括自由度的第一解 根据投影仪（12）和照相机（14）之间的位置关系。 通过主要搜索取消自由度，从而恢复三维形状。

公开(公告)号：US07922652B2

公开(公告)日：2011-04-12

申请号：US10587881

申请日：2005-02-17

申请人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

发明人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

IPC分类号： A61B1/04

CPC分类号： A61B1/00177 ,  A61B1/00009 ,  A61B1/041 ,  A61B1/126

摘要： An endoscope that is free from a dead area and capable of preventing the physician from overlooking any nidus is an endoscope for taking the inside of digestive organs, and the endoscope is provided with an omnidirectional camera (32), a light (34), a forceps (36) and a rinse water injection port (38) at the tip (24). The omnidirectional camera (32) is a device for taking the inside of digestive organs, and is able to take 360-degree images of its surroundings. A probe-type endoscope (20) is provided with a receiver (26) composed of orthogonal coils, and the receiver (26) is used for estimating the position and attitude of the probe-type endoscope (20). An image taken by the omnidirectional camera (32) is presented on a display unit (28) of an image processing device (22) connected to the probe-type endoscope (20). In the image processing device, a video mosaicking process is performed on a plurality of images obtained by the omnidirectional camera (32) to generate a panoramic image of the inside of a digestive organ.

摘要翻译： 一种无死角并能够防止医生俯瞰任何痣的内窥镜，是用于摄取消化器官内部的内窥镜，内窥镜设置有全向照相机（32），光（34）， 镊子（36）和尖端（24）处的冲洗水注入口（38）。 全方向摄像机（32）是用于摄取消化器官内部的装置，能够拍摄周围360度的图像。 探针型内窥镜（20）具有由正交线圈构成的接收器（26），所述接收器（26）用于估计所述探针型内窥镜（20）的位置和姿势。 由全向照相机（32）拍摄的图像呈现在连接到探针型内窥镜（20）的图像处理装置（22）的显示单元（28）上。 在图像处理装置中，对由全向照相机（32）获得的多个图像执行视频镶嵌处理，以产生消化器官内部的全景图像。

公开(公告)号：US08005279B2

公开(公告)日：2011-08-23

申请号：US11883551

申请日：2005-12-19

申请人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

发明人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

IPC分类号： G06K9/00

CPC分类号： A61B1/00009 ,  A61B1/00016 ,  A61B1/041 ,  A61B1/042 ,  A61B5/7264 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/20 ,  G06T2207/10068 ,  G06T2207/30028 ,  H04N2005/2255

摘要： The present invention discloses a capsule endoscope image display controller (26) including: an image-to-image similarity calculating unit (36) that calculates, for each image included in an image sequence captured by a capsule endoscope which moves within the digestive organs, a similarity between the image and its temporally consecutive image; an amount-of-movement calculating unit (47) that calculates, for each image included in the image sequence, an amount of movement of a feature area included in the image; a video state classifying unit (41) that classifies, for each image included in the image sequence, a video state of the image into one of the following states, based on the video state, the similarity, and the amount of movement of the image: (a) “stationary state” indicating that the capsule endoscope is stationary, (b) “digestive organs deformation state” indicating that the digestive organs are deformed, and (c) “capsule moving state” indicating that the capsule endoscope is moving, based on the similarity and the amount of movement of the image; a rendering duration determining unit (42) that determines, for each image included in the image sequence, a rendering duration between the image and its temporally consecutive image; and a display controlling unit (44) that sequentially displays, on a screen, the images included in the image sequence with the determined rendering durations.

摘要翻译： 本发明公开了一种胶囊型内窥镜图像显示控制器（26），包括：图像相似度计算单元，对于在消化器官内移动的胶囊型内窥镜拍摄的图像序列中包含的各图像， 图像与其时间上连续的图像之间的相似性; 移动量计算单元（47）针对包括在图像序列中的每个图像计算图像中包括的特征区域的移动量; 视频状态分类单元，根据视频状态，相似度和图像的移动量​​，将包括在图像序列中的每个图像的图像的视频状态分类为以下状态之一： （a）表示胶囊型内窥镜静止的“静止状态”，（b）表示消化器官变形的“消化器官变形状态”，（c）表示胶囊型内窥镜正在移动的“胶囊移动状态” 基于图像的相似性和移动量; 对于包括在图像序列中的每个图像，确定图像与其时间上连续的图像之间的渲染持续时间的渲染持续时间确定单元（42） 以及显示控制单元，其在屏幕上依次在所确定的渲染持续时间内显示包括在图像序列中的图像。

公开(公告)号：US20080119691A1

公开(公告)日：2008-05-22

申请号：US11883551

申请日：2005-12-19

申请人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

发明人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

IPC分类号： A61B1/045

CPC分类号： A61B1/00009 ,  A61B1/00016 ,  A61B1/041 ,  A61B1/042 ,  A61B5/7264 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/20 ,  G06T2207/10068 ,  G06T2207/30028 ,  H04N2005/2255

摘要： The present invention discloses a capsule endoscope image display controller (26) including: an image-to-image similarity calculating unit (36) that calculates, for each image included in an image sequence captured by a capsule endoscope which moves within the digestive organs, a similarity between the image and its temporally consecutive image; an amount-of-movement calculating unit (47) that calculates, for each image included in the image sequence, an amount of movement of a feature area included in the image; a video state classifying unit (41) that classifies, for each image included in the image sequence, a video state of the image into one of the following states, based on the video state, the similarity, and the amount of movement of the image: (a) “stationary state” indicating that the capsule endoscope is stationary, (b) “digestive organs deformation state” indicating that the digestive organs are deformed, and (c) “capsule moving state” indicating that the capsule endoscope is moving, based on the similarity and the amount of movement of the image; a rendering duration determining unit (42) that determines, for each image included in the image sequence, a rendering duration between the image and its temporally consecutive image; and a display controlling unit (44) that sequentially displays, on a screen, the images included in the image sequence with the determined rendering durations.

摘要翻译： 本发明公开了一种胶囊型内窥镜图像显示控制器（26），包括：图像相似度计算单元，对于在消化器官内移动的胶囊型内窥镜拍摄的图像序列中包含的各图像， 图像与其时间上连续的图像之间的相似性; 移动量计算单元（47）针对包括在图像序列中的每个图像计算图像中包括的特征区域的移动量; 视频状态分类单元，根据视频状态，相似度和图像的移动量​​，将包括在图像序列中的每个图像的图像的视频状态分类为以下状态之一： （a）表示胶囊型内窥镜静止的“静止状态”，（b）表示消化器官变形的“消化器官变形状态”，（c）表示胶囊型内窥镜正在移动的“胶囊移动状态” 基于图像的相似性和移动量; 对于包括在图像序列中的每个图像，确定图像与其时间上连续的图像之间的渲染持续时间的渲染持续时间确定单元（42） 以及显示控制单元，其在屏幕上依次在所确定的渲染持续时间内显示包括在图像序列中的图像。

公开(公告)号：US20070161853A1

公开(公告)日：2007-07-12

申请号：US10587881

申请日：2005-02-17

申请人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

发明人： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

IPC分类号： A61B1/04

CPC分类号： A61B1/00177 ,  A61B1/00009 ,  A61B1/041 ,  A61B1/126

摘要： An endoscope that is free from a dead area and capable of preventing the physician from overlooking any nidus is an endoscope for taking the inside of digestive organs, and the endoscope is provided with an omnidirectional camera (32), a light (34), a forceps (36) and a rinse water injection port (38) at the tip (24). The omnidirectional camera (32) is a device for taking the inside of digestive organs, and is able to take 360-degree images of its surroundings. A probe-type endoscope (20) is provided with a receiver (26) composed of orthogonal coils, and the receiver (26) is used for estimating the position and attitude of the probe-type endoscope (20). An image taken by the omnidirectional camera (32) is presented on a display unit (28) of an image processing device (22) connected to the probe-type endoscope (20). In the image processing device, a video mosaicking process is performed on a plurality of images obtained by the omnidirectional camera (32) to generate a panoramic image of the inside of a digestive organ.

摘要翻译： 一种无死角并能够防止医生俯瞰任何痣的内窥镜，是用于摄取消化器官内部的内窥镜，内窥镜设置有全向照相机（32），光（34）， 镊子（36）和尖端（24）处的冲洗水注入口（38）。 全方向摄像机（32）是用于摄取消化器官内部的装置，能够拍摄周围360度的图像。 探针型内窥镜（20）具有由正交线圈构成的接收器（26），所述接收器（26）用于估计所述探针型内窥镜（20）的位置和姿势。 由全向照相机（32）拍摄的图像呈现在连接到探针型内窥镜（20）的图像处理装置（22）的显示单元（28）上。 在图像处理装置中，对由全向照相机（32）获得的多个图像执行视频镶嵌处理，以产生消化器官内部的全景图像。