公开(公告)号：US20050271264A1

公开(公告)日：2005-12-08

申请号：US11109876

申请日：2005-04-20

申请人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

发明人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

IPC分类号： G01B11/24 ,  G06T1/00 ,  G06T3/00 ,  G06T5/00 ,  G06T7/00 ,  G06K9/00

CPC分类号： G06T5/006 ,  G06T7/32 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/20016 ,  G06T2207/30181

摘要： The present invention provides a three-dimensional image measuring apparatus and method capable of measuring projections and depressions on a surface of an object with fine precision, as well as ensuring stable convergence, even for stereo images with significant project distortion. The apparatus includes an area setting section 56 for setting a reference area 57 in one image 53 of a pair of stereo images 46 and a search area 58 in the other image 54 in a position corresponding to the reference area 57, a search image distortion correcting section 62 for applying an image distortion correction to either one of the one image 53 or the other image 54 according to the positional relationship between the reference area 57 and the search area 58 corresponding to the reference area 57, and an area shape measuring section 66 for measuring a shape of a measuring object 41 photographed in the stereo images 46 based on the reference area 57 in the one image 53 and the search area 58 in the other image 54, either one of which has been corrected by the search image distortion correcting section 62.

摘要翻译： 本发明提供了能够以精确的精度测量物体表面上的凹凸的三维图像测量装置和方法，并且即使对于具有显着的项目失真的立体图像也能确保稳定的收敛。 该装置包括区域设定部分56，用于在对应于参考区域57的位置中的另一图像54中的一对立体图像46和搜索区域58的一个图像53中设置参考区域57，搜索图像失真校正 根据参考区域57和对应于参考区域57的搜索区域58之间的位置关系，对图像53或另一图像54中的任一个施加图像失真校正部分62和区域形状测量部分66 用于基于一个图像53中的参考区域57和另一图像54中的搜索区域58来测量在立体图像46中拍摄的测量对象41的形状，其中任一个已经通过搜索图像失真校正 第62条。

公开(公告)号：US07301560B2

公开(公告)日：2007-11-27

申请号：US10853741

申请日：2004-05-26

申请人： Takayuki Noma ,  Tadayuki Ito ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Nobuo Kochi

发明人： Takayuki Noma ,  Tadayuki Ito ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Nobuo Kochi

IPC分类号： H04N17/00

CPC分类号： G01C11/00 ,  G01C25/00

摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.

摘要翻译： 具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准 用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内， 角区域110。

公开(公告)号：US07116818B2

公开(公告)日：2006-10-03

申请号：US10738172

申请日：2003-12-18

申请人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

发明人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

IPC分类号： G06K9/00

CPC分类号： G01C11/06

摘要： An image forming process for easily making an image drawing (ortho-image) in an actual place while confirming it in real time. Measuring of control points (at least three points) is performed (S110), and preparation is made for forming an ortho-image based on image data thereof and survey data. Where photographing is carried out from a plurality of directions, additional image measuring is performed (S140). Then, ortho-image formation is performed on a PC (S160). Here, if a formed ortho-image is not what is desired, ortho-image correction is performed (S180). After a satisfactory image is obtained (S200), the process moves to a next area to be measured, and the same operation is repeated. On the other hand, unless a satisfactory image is obtained, additional image measuring (S140) is performed again.

摘要翻译： 一种用于在实际确认的同时容易地进行图像绘制（正像）的图像形成处理。 执行控制点（至少三点）的测量（S110），并根据其图像数据和测量数据进行准备以形成正射影像。 在从多个方向进行拍摄的情况下，执行附加的图像测量（S140）。 然后，在PC上执行邻图像形成（S160）。 这里，如果形成的正像不是期望的，则进行正像校正（S180）。 在获得令人满意的图像（S 200）之后，处理移动到下一个要测量的区域，并且重复相同的操作。 另一方面，除非获得令人满意的图像，否则再次执行附加图像测量（S140）。

公开(公告)号：US20060013474A1

公开(公告)日：2006-01-19

申请号：US11229577

申请日：2005-09-20

申请人： Nobuo Kochi ,  Hitoshi Otani ,  Tadayuki Ito

发明人： Nobuo Kochi ,  Hitoshi Otani ,  Tadayuki Ito

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G01C11/06 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/20016 ,  H04N13/239 ,  H04N2013/0081

摘要： The present invention discloses a stereo image measuring device capable of carrying out high-speed and highly reliable three-dimensional measurement for a stereo image, easily correcting any omitted measurement, measurement errors or the like, and achieving a much higher speed, efficiency and reliability for measurement as a whole. A survey instrument measures a number of control points on site. A camera is, for example a digital camera, a film camera or the like. A control point search unit executes correlation between a control point measured beforehand by the instrument survey and an image. A search area setting unit sets a search area to be used for image correlation processing based on the control points correlated by the control point search unit, and sets respective data blocks, i.e., a reference data block and a search data block. An arithmetic operation unit executes orientation calculation, and image correlation processing (stereo matching) for the search area set by the search area setting unit. A display unit is a stereo monitor, a personal computer monitor or the like providing stereoscopic vision. A measuring unit executes additional measurement when the result of correlation processing is not satisfactory.

公开(公告)号：US20050012844A1

公开(公告)日：2005-01-20

申请号：US10853741

申请日：2004-05-26

申请人： Takayuki Noma ,  Tadayuki Ito ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Nobuo Kochi

发明人： Takayuki Noma ,  Tadayuki Ito ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Nobuo Kochi

IPC分类号： G01B11/00 ,  G01C11/00 ,  G01C25/00 ,  G03B15/00 ,  G06T1/00 ,  H04N5/232 ,  H04N5/225

CPC分类号： G01C11/00 ,  G01C25/00

摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.

摘要翻译： 具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准 用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内， 角区域110。

公开(公告)号：US06442293B1

公开(公告)日：2002-08-27

申请号：US09324840

申请日：1999-06-03

申请人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

发明人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

IPC分类号： G06K936

CPC分类号： G01C11/06

摘要： An image forming process for easily making an image drawing (ortho-image) in an actual place while confirming it in real time. Measuring of control points (at least three points) is performed (S110), and preparation is made for forming an ortho-image based on image data thereof and survey data. Where photographing is carried out from a plurality of directions, additional image measuring is performed (S140). Then, ortho-image formation is performed on a PC (S160). Here, if a formed ortho-image is not what is desired, ortho-image correction is performed (S180). After a satisfactory image is obtained (S200), the process moves to a next area to be measured, and the same operation is repeated. On the other hand, unless a satisfactory image is obtained, additional image measuring (S140) is performed again.

公开(公告)号：US08559702B2

公开(公告)日：2013-10-15

申请号：US13176362

申请日：2011-07-05

申请人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

发明人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

IPC分类号： G06K9/00 ,  G06K7/00 ,  G01C3/14 ,  G06T17/00 ,  G06G5/00

CPC分类号： G01C11/02 ,  G06T7/593 ,  G06T17/00 ,  G06T2200/24 ,  G06T2207/10032 ,  G06T2207/30184

摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。

公开(公告)号：US07986825B2

公开(公告)日：2011-07-26

申请号：US11154959

申请日：2005-06-17

申请人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

发明人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

IPC分类号： G06K9/00 ,  G06K7/00 ,  G01C3/14 ,  G06T17/00 ,  G06G5/00

CPC分类号： G01C11/02 ,  G06T7/593 ,  G06T17/00 ,  G06T2200/24 ,  G06T2207/10032 ,  G06T2207/30184

摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。

公开(公告)号：US07746377B2

公开(公告)日：2010-06-29

申请号：US10995524

申请日：2004-11-24

申请人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

发明人： Tadayuki Ito ,  Hitoshi Otani ,  Nobuo Kochi

IPC分类号： H04N13/00

CPC分类号： G06T17/00 ,  G06T7/593 ,  G06T7/75 ,  G06T15/04 ,  G06T2207/10012

摘要： A three-dimensional image display apparatus is provided that can integrate and visualize 3D measurement data obtained from a stereo image with an image of a measuring object to which stereoscopic texture is applied. The apparatus includes: an orientation section for finding relationship as to corresponding points in a stereo image of a measuring object; a three-dimensional coordinate data section for obtaining three-dimensional coordinate data on the corresponding points of the measuring object; a model forming section for forming a model of the measuring object based on the three-dimensional coordinate data on the corresponding points; an image correlating section for correlating the stereo image of the measuring object stored in the stereo image data storage section and the model formed by the model forming section; and a model display section for displaying an image of the measuring object to which stereoscopic texture is applied.

摘要翻译： 提供一种能够将立体图像获得的3D测量数据与应用了立体纹理的测量对象的图像整合并可视化的三维图像显示装置。 该装置包括：用于查找与测量对象的立体图像中的对应点的关系的定向部分; 三维坐标数据部分，用于获得测量对象的相应点上的三维坐标数据; 模型形成部，用于基于对应点上的三维坐标数据形成测量对象的模型; 用于使存储在立体图像数据存储部分中的测量对象的立体图像与由模型形成部分形成的模型相关联的图像相关部分; 以及用于显示应用了立体纹理的测量对象的图像的模型显示部分。

公开(公告)号：US20060239539A1

公开(公告)日：2006-10-26

申请号：US11154959

申请日：2005-06-17

申请人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

发明人： Nobuo Kochi ,  Hiroyuki Aoki ,  Hitoshi Otani ,  Mitsuharu Yamada ,  Tadayuki Ito

IPC分类号： H04N13/00 ,  G06K9/00 ,  G06T15/00

CPC分类号： G01C11/02 ,  G06T7/593 ,  G06T17/00 ,  G06T2200/24 ,  G06T2207/10032 ,  G06T2207/30184

摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.

摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。