公开(公告)号：US07812871B2

公开(公告)日：2010-10-12

申请号：US11610805

申请日：2006-12-14

申请人： Kazuki Takemoto ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

发明人： Kazuki Takemoto ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

IPC分类号： H04N9/077 ,  G06K9/00

CPC分类号： G06F3/0346 ,  G06F3/0321

摘要： The orientation of each index is estimated from a sensed image, and the index detected from the image is identified based on the orientation of an image sensing device and that of the index estimated from known coordinate information of the index. In this way, indices which are located at nearby positions but have different orientations are never misidentified, and can be stably identified. Indices can be stably identified from the sensed image in which indices located in the physical space appear.

摘要翻译： 根据感测图像估计每个索引的取向，并且基于图像感测装置的取向和根据索引的已知坐标信息估计的索引的方向来识别从图像检测到的索引。 以这种方式，位于附近位置但具有不同取向的索引从未被错误识别，并且可以被稳定地识别。 可以从感测到的图像中稳定地识别指示，其中位于物理空间中的索引出现。

公开(公告)号：US07847844B2

公开(公告)日：2010-12-07

申请号：US11610797

申请日：2006-12-14

申请人： Kazuki Takemoto ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

发明人： Kazuki Takemoto ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

IPC分类号： H04N9/077 ,  G06K9/00

CPC分类号： G06F3/0325

摘要： A sensed image of the physical space is acquired by an image sensing apparatus. One or more indices are detected from the sensed image. The reliability of each of the detected results is determined by calculating a first reliability value based on the sensed image and a second reliability value based on orientation information of the image sensing apparatus. Each of the detected indices is then identified based on its first and second reliability values.

摘要翻译： 物理空间的感测图像由图像感测装置获取。 从感测图像中检测一个或多个索引。 通过基于感测图像计算第一可靠性值和基于图像感测装置的取向信息的第二可靠性值来确定每个检测结果的可靠性。 然后基于其第一和第二可靠性值来识别检测到的每个索引。

公开(公告)号：US20070139321A1

公开(公告)日：2007-06-21

申请号：US11610797

申请日：2006-12-14

申请人： Kazuki TAKEMOTO ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

发明人： Kazuki TAKEMOTO ,  Kiyohide Satoh ,  Shinji Uchiyama ,  Masahiro Suzuki

IPC分类号： G09G3/36

CPC分类号： G06F3/0325

摘要： A sensed image of the physical space is acquired by an image sensing apparatus. One or more indices are detected from the sensed image. A first reliability based on the sensed image and a second reliability based on orientation information of the image sensing apparatus are calculated for each of the detected results. Each of the detected indices is then identified based on its first and second reliabilities.

摘要翻译： 物理空间的感测图像由图像感测装置获取。 从感测图像中检测一个或多个索引。 针对每个检测结果计算基于感测图像的第一可靠性和基于图像感测装置的取向信息的第二可靠性。 然后基于其第一和第二可靠性来识别检测到的每个索引。

公开(公告)号：US07124053B2

公开(公告)日：2006-10-17

申请号：US10837480

申请日：2004-04-29

申请人： Rika Tanaka ,  Kiyohide Satoh ,  Kazuki Takemoto

发明人： Rika Tanaka ,  Kiyohide Satoh ,  Kazuki Takemoto

IPC分类号： G01C9/00

CPC分类号： G06T7/80

摘要： A system is provided for obtaining parameters about the position and orientation of a camera, where the camera has a fixed position and orientation, by using the image coordinates and world coordinates of markers included in an image photographed by the camera. This system uses a live-image display mode for successively obtaining images input to the camera and a still-image display mode for obtaining an image input to the camera at predetermined time. The markers can be extracted by using the image obtained in either mode. The system can select either automatic-extraction mode or manual-extraction mode for extracting the marker in live images, so that the markers can be extracted with a high degree of accuracy under all conditions to obtain the position and orientation parameters of the camera.

摘要翻译： 提供一种用于通过使用由相机拍摄的图像中包括的标记的图像坐标和世界坐标来获得关于相机的位置和方位的参数的系统，其中相机具有固定的位置和方向。 该系统使用实时图像显示模式来连续获得输入到相机的图像和静止图像显示模式，用于在预定时间获得输入到相机的图像。 可以通过使用在任一模式下获得的图像来提取标记。 系统可以选择自动提取模式或手动提取模式，用于提取实况图像中的标记，从而可以在所有条件下高精度地提取标记，以获得相机的位置和方向参数。

公开(公告)号：US06993450B2

公开(公告)日：2006-01-31

申请号：US10351326

申请日：2003-01-27

申请人： Kazuki Takemoto ,  Shinji Uchiyama ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Shinji Uchiyama ,  Kiyohide Satoh

IPC分类号： G01C17/00

CPC分类号： G06T1/0007 ,  G06T7/80

摘要： A position and orientation determination apparatus for identifying a parameter indicating the position and orientation of image sensing apparatus which performs image sensing on actual space where plural feature points exist in already-known positions. In the position and orientation determination apparatus, the position and orientation of the image sensing apparatus can be measured by a method other than utilization of video image obtained by image sensing, and a parameter indicating the position and orientation of the image sensing apparatus is obtained. Then, the parameter is corrected based on the plural feature points in the video image of actual space obtained by image sensing by the image sensing apparatus, and a parameter indicating the position and orientation of the image sensing apparatus is identified. Upon correction of the parameter, first, the parameter is corrected by a general method using the feature points, and then correction is performed by rotation about a visual axis, thereby the position and orientation of the image sensing apparatus can be detected with high accuracy.

公开(公告)号：US09135513B2

公开(公告)日：2015-09-15

申请号：US12257260

申请日：2008-10-23

申请人： Kazuki Takemoto ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Kiyohide Satoh

IPC分类号： G06K9/00 ,  G06K9/32

CPC分类号： H04N13/207 ,  G06K9/00 ,  G06K9/32 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10012

摘要： An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.

摘要翻译： 图像处理装置基于拍摄图像中的图像特征的图像坐标，获取拍摄图像中的各图像特征的位置信息。 图像处理装置选择可用于计算所获取的位置信息中的成像装置的位置和方位的位置信息。 图像处理装置基于所选择的位置信息和与包含在拍摄图像中的图像特征中的所选择的位置信息相对应的图像特征，获得成像装置的位置和取向。

公开(公告)号：US07519218B2

公开(公告)日：2009-04-14

申请号：US11091624

申请日：2005-03-29

申请人： Kazuki Takemoto ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Kiyohide Satoh

IPC分类号： G06K9/00

CPC分类号： G02B27/017 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0187 ,  G06T7/80 ,  G06T19/006 ,  G06T2207/10024 ,  G06T2207/30204

摘要： A marker detection method includes the steps of acquiring a captured image, detecting a marker from the captured image, and determining whether or not a surrounding region of the detected marker includes a pixel of a predetermined color. An additional step includes determining, as a valid marker, a marker for which it is determined that the surrounding region does not include any pixel of the predetermined color.

摘要翻译： 标记检测方法包括以下步骤：获取捕获的图像，从捕获的图像中检测标记，以及确定检测标记的周围区域是否包括预定颜色的像素。 附加步骤包括确定作为有效标记的标记，其被确定为周围区域不包括预定颜色的任何像素。

公开(公告)号：US20050234333A1

公开(公告)日：2005-10-20

申请号：US11091624

申请日：2005-03-29

申请人： Kazuki Takemoto ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Kiyohide Satoh

IPC分类号： A61B5/05 ,  G06T1/00 ,  G06T5/00 ,  G06T7/00 ,  H04N5/232

CPC分类号： G02B27/017 ,  G02B2027/0138 ,  G02B2027/014 ,  G02B2027/0187 ,  G06T7/80 ,  G06T19/006 ,  G06T2207/10024 ,  G06T2207/30204

摘要： This invention relates to a mixed reality presentation apparatus for obtaining the position and orientation of an image sensing unit using markers. Whether or not a marker detected in a captured image has suspicion of partial occlusion is determined by checking if a region that neighbors a marker region includes a predetermined color, thus inhibiting information obtained from the marker with suspicion of partial occlusion from being used in position and orientation estimation of the image sensing unit. The precision of the obtained position and orientation can be improved.

摘要翻译： 本发明涉及一种用于使用标记获得图像感测单元的位置和方向的混合现实呈现装置。 通过检查邻近标记区域的区域是否包含预定颜色来确定在捕获图像中检测到的标记是否具有部分闭塞的怀疑，从而抑制从标记获得的信息，其中怀疑部分遮挡被用于位置，并且 摄像单元的姿态估计。 可以提高获得的位置和取向的精度。

公开(公告)号：US06853935B2

公开(公告)日：2005-02-08

申请号：US09818600

申请日：2001-03-28

申请人： Kiyohide Satoh ,  Mahoro Anabuki ,  Toshikazu Ohshima ,  Shinji Uchiyama ,  Kazuki Takemoto

发明人： Kiyohide Satoh ,  Mahoro Anabuki ,  Toshikazu Ohshima ,  Shinji Uchiyama ,  Kazuki Takemoto

IPC分类号： A63B67/04 ,  A63F13/812 ,  G01B7/00 ,  G01B7/30 ,  G01B11/00 ,  G06F3/01 ,  G06F3/033 ,  G06F3/0346 ,  G06F3/038 ,  G06T7/60 ,  G06T19/00 ,  G01C17/38

CPC分类号： G06T15/10 ,  A63F13/00 ,  A63F13/211 ,  A63F13/807 ,  A63F2300/105 ,  A63F2300/1093 ,  A63F2300/30 ,  A63F2300/69 ,  A63F2300/8082

摘要： A view transformation matrix that represents the position/attitude of an HMD is generated based on a signal that represents the position/attitude of the HMD (S602). On the other hand, landmarks and their locations are detected based on a captured picture (S604) and a calibration matrix ΔMc is generated using the detected locations of the landmarks (S605). The position/attitude of the HMD is calibrated using the view transformation matrix and calibration matrix ΔMc generated by the above processes (S606), a picture of a virtual object is generated based on external parameters that represent the position/attitude of the calibrated HMD, and a mixed reality picture is generated (S607). The generated mixed reality picture is displayed in the display section (S609).

摘要翻译： 基于表示HMD的位置/姿态的信号，生成表示HMD的位置/姿势的视角变换矩阵（S602）。 另一方面，基于拍摄图像检测地标及其位置（S604），并且使用检测到的地标的位置生成校准矩阵DeltaMc（S605）。 使用由上述处理生成的视角变换矩阵和校准矩阵DeltaMc校正HMD的位置/姿态（S606），基于表示校准HMD的位置/姿态的外部参数生成虚拟对象的图像， 并生成混合现实画面（S607）。 生成的混合现实图像显示在显示部分（S609）中。

公开(公告)号：US20090110241A1

公开(公告)日：2009-04-30

申请号：US12257260

申请日：2008-10-23

申请人： Kazuki Takemoto ,  Kiyohide Satoh

发明人： Kazuki Takemoto ,  Kiyohide Satoh

IPC分类号： G06K9/00

CPC分类号： H04N13/207 ,  G06K9/00 ,  G06K9/32 ,  G06T7/60 ,  G06T7/73 ,  G06T2207/10012

摘要： An image processing apparatus obtains location information of each image feature in a captured image based on image coordinates of the image feature in the captured image. The image processing apparatus selects location information usable to calculate a position and an orientation of the imaging apparatus among the obtained location information. The image processing apparatus obtains the position and the orientation of the imaging apparatus based on the selected location information and an image feature corresponding to the selected location information among the image features included in the captured image.

摘要翻译： 图像处理装置基于拍摄图像中的图像特征的图像坐标，获取拍摄图像中的各图像特征的位置信息。 图像处理装置选择可用于计算所获取的位置信息中的成像装置的位置和方位的位置信息。 图像处理装置基于所选择的位置信息和与包含在拍摄图像中的图像特征中的所选择的位置信息相对应的图像特征，获得成像装置的位置和取向。