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1.发明授权公开(公告)号：US12175601B2
公开(公告)日：2024-12-24
申请号：US17943415
申请日：2022-09-13
Inventor： Satoshi Yoshikawa , Toru Matsunobu , Kensho Teranishi , Masaki Fukuda , Ukyou Katsura
Abstract: A shooting method executed by a shooting device includes: shooting first images of a target space; generating a first three-dimensional point cloud of the target space, based on the first images and a first shooting position and a first shooting orientation of each of the first images; and determining a first region of the target space for which generating a second three-dimensional point cloud which is denser than the first three-dimensional point cloud is difficult, using the first three-dimensional point cloud and without generating the second three-dimensional point cloud. The determining includes generating a mesh using the first three-dimensional point cloud, and determining the region other than a second region of the target space for which the mesh is generated.
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公开(公告)号：US11869146B2
公开(公告)日：2024-01-09
申请号：US17748331
申请日：2022-05-19
Inventor： Kensho Teranishi , Satoshi Yoshikawa , Toru Matsunobu , Masaki Fukuda
CPC classification number: G06T17/05 , G06T7/55 , G06T7/80 , G06T2200/04 , G06T2200/08
Abstract: A three-dimensional model generation method includes: obtaining map information generated by camera calibration executed by controlling one or more cameras to shoot a subject from a plurality of viewpoints, the map information including three-dimensional points each indicating a position on the subject in a three-dimensional space; obtaining a first image from a first view point and a second image from a second viewpoint; determining a search range in the three-dimensional space, based on the map information, the search range including a first three-dimensional point on the subject, the first three-dimensional point corresponding to a first point in the first image; searching for a similar point that is similar to the first point, in a range in the second image which corresponds to the search range; and generating a three-dimensional model using a search result in the searching.
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公开(公告)号：US12002152B2
公开(公告)日：2024-06-04
申请号：US17560584
申请日：2021-12-23
Inventor： Kensho Teranishi , Toru Matsunobu , Toshiyasu Sugio , Satoshi Yoshikawa , Masaki Fukuda
Abstract: A three-dimensional model generation method includes: generating a first three-dimensional model of a predetermined region from first frames; projecting the first three-dimensional model onto at least one second frame; and generating a second three-dimensional model in accordance with first pixels in the at least one second frame onto which the first three-dimensional model is not projected.
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公开(公告)号：US12249027B2
公开(公告)日：2025-03-11
申请号：US17746190
申请日：2022-05-17
Inventor： Toru Matsunobu , Satoshi Yoshikawa , Masaki Fukuda , Kensho Teranishi , Pradit Mittrapiyanuruk , Keng Liang Loi , Pongsak Lasang
IPC: G06T17/00 , G01B11/26 , G01S7/48 , G01S7/4865 , G01S17/86 , G01S17/89 , G06T3/40 , G06T3/4007 , G06T7/70 , G06T7/90 , G06T19/00
Abstract: A three-dimensional model generation method executed by an information processing device includes: obtaining a first three-dimensional model from a measuring device that emits an electromagnetic wave and obtains a reflected wave which is the electromagnetic wave reflected by a measurement target to thereby generate a first three-dimensional model including first position information indicating first three-dimensional positions in the measurement target; obtaining a multi-viewpoint image generated by one or more cameras shooting the measurement target from different positions; and generating a second three-dimensional model by enhancing the definition of the first three-dimensional model using the multi-viewpoint image.
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Patent Agency Ranking
公开(公告)号：US12190534B2
公开(公告)日：2025-01-07
申请号：US17459219
申请日：2021-08-27
Inventor： Masaki Fukuda , Toshiyasu Sugio , Toru Matsunobu , Satoshi Yoshikawa , Kensho Teranishi
Abstract: An object amount calculation apparatus includes: a receiver configured to obtain a first three-dimensional model and a second three-dimensional model different from the first three-dimensional model, each of the first three-dimensional model and the second three-dimensional model representing a same space, each of the first three-dimensional model and the second three-dimensional model being constituted with regions having respective attributes; and a processor configured to: align the first three-dimensional model and the second three-dimensional model based on at least one attribute of the first three-dimensional model and the second three-dimensional model; calculate, for each of the attributes, a difference between the first three-dimensional model aligned and the second three-dimensional model aligned; and output (i) a total amount of differences corresponding to two or more attributes among the attributes and (ii) information on the two or more attributes.
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6.发明授权公开(公告)号：US11210846B2
公开(公告)日：2021-12-28
申请号：US17066935
申请日：2020-10-09
Inventor： Toru Matsunobu , Toshiyasu Sugio , Satoshi Yoshikawa , Tatsuya Koyama , Masaki Fukuda
Abstract: A three-dimensional model processing method includes: generating, from first images shot by respective cameras at a first time, a first three-dimensional model including: first three-dimensional points indicating a subject at the first time; and first camera parameters indicating positions and orientations of the cameras; generating, from second images shot by the respective cameras at a second time, a second three-dimensional model including: second three-dimensional points indicating the subject at the second time; and second camera parameters indicating positions and orientations of the cameras; detecting a stationary camera among the cameras, whose position and orientation has not changed between the first and second times, or stationary three-dimensional points among the three-dimensional points, whose positions have not changed between the first and second times; and matching world coordinate systems of the first and second three-dimensional models, based on the first camera parameters of the stationary camera or the stationary three-dimensional points detected.
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公开(公告)号：US20240155224A1
公开(公告)日：2024-05-09
申请号：US18413807
申请日：2024-01-16
Inventor： Satoshi Yoshikawa , Toshiyasu Sugio , Toru Matsunobu , Masaki Fukuda , Kensho Teranishi
IPC: H04N23/60 , G06F3/04842 , G06T7/33 , G06T19/20 , H04N23/63
CPC classification number: H04N23/64 , G06F3/04842 , G06T7/344 , G06T19/20 , H04N23/631 , H04N23/633 , G06T2219/2004
Abstract: A displacement detection method, performed by a computer, includes: obtaining (i) a first three-dimensional (3D) model representing a region at a first timing by 3D points and including first objects and (ii) a second three-dimensional model representing the region at a second timing by 3D points and including second objects, the second timing being different from the first timing; detecting, by use of attribute information of the first objects and the second objects, (i) first 3D points included in the first 3D model and (ii) second 3D points included in the second 3D model and associated with the respective first 3D points; performing alignment of the first 3D model and the second 3D model by use of the first 3D points and the second 3D points; and detecting displacement between the first 3D model and the second 3D model after the alignment.
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公开(公告)号：US11956532B2
公开(公告)日：2024-04-09
申请号：US17462630
申请日：2021-08-31
Inventor： Satoshi Yoshikawa , Toshiyasu Sugio , Toru Matsunobu , Masaki Fukuda , Kensho Teranishi
CPC classification number: H04N23/64 , G06F3/04842 , G06T7/344 , G06T19/20 , H04N23/631 , H04N23/633 , G06T2219/2004
Abstract: A displacement detection method, performed by a computer, includes: obtaining (i) a first three-dimensional (3D) model representing a region at a first timing by 3D points and including first objects and (ii) a second three-dimensional model representing the region at a second timing by 3D points and including second objects, the second timing being different from the first timing; detecting, by use of attribute information of the first objects and the second objects, (i) first 3D points included in the first 3D model and (ii) second 3D points included in the second 3D model and associated with the respective first 3D points; performing alignment of the first 3D model and the second 3D model by use of the first 3D points and the second 3D points; and detecting displacement between the first 3D model and the second 3D model after the alignment.
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公开(公告)号：US11176707B2
公开(公告)日：2021-11-16
申请号：US17070290
申请日：2020-10-14
Inventor： Tatsuya Koyama , Masaki Fukuda , Toshiyasu Sugio , Toru Matsunobu , Satoshi Yoshikawa
IPC: G06T7/80 , G06T7/246 , G06T7/73 , H04N13/246
Abstract: A calibration apparatus calibrates parameters of imaging apparatuses which are disposed at different positions and image a common three-dimensional space. The calibration apparatus includes: an obtaining circuit which obtains videos captured by the imaging apparatuses and each including frames; an extraction circuit which extracts feature points from the frames included in the videos, the feature points including first feature points extracted from first frames included in the videos and second feature points extracted from areas containing an image of a moving object in second frames included in the videos and different from the first frames; a matching circuit which performs matching using the feature points, the matching including matching between the first feature points and matching between the second feature points; and a calibration circuit which calculates parameters of the imaging apparatuses based on first matching results obtained through the matching by the matching circuit.
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