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公开(公告)号：US20230213371A1
公开(公告)日：2023-07-06
申请号：US18113223
申请日：2023-02-23
Inventor： Ukyou KATSURA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Masaki FUKUDA , Kensho TERANISHI , Tomokazu ICHIRIKI , Masanori KIMURA , Toshiyasu SUGIO
IPC: G01F23/284 , G06T7/62
CPC classification number: G01F23/2845 , G06T7/62
Abstract: A filling rate measurement method includes: obtaining a space three-dimensional model generated by measuring a storage through an opening of the storage using a range sensor facing the storage; obtaining a storage three-dimensional model that is a three-dimensional model of the storage; extracting a target part that is a part of a measurement target in the space three-dimensional model; identifying a line segment indicating a shape of the opening on a two-dimensional image of the opening which is generated; estimating a target three-dimensional model that is a three-dimensional model of the measurement target based on the target part and a three-dimensional coordinate system with respect to the position of the opening on a three-dimensional space identified based on the position of the range sensor, the specific direction, and the shape of the opening; and calculating a filling rate of the measurement target with respect to the storage space.
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公开(公告)号：US20230035883A1
公开(公告)日：2023-02-02
申请号：US17967066
申请日：2022-10-17
Inventor： Ukyou KATSURA , Toru MATSUNOBU , Toshiyasu SUGIO , Tomokazu ICHIRIKI , Masanori KIMURA
Abstract: A filling rate measurement method includes: obtaining a space three-dimensional model generated by measuring a first storage having an opening and a first storage space in which a measurement target is to be stored, the measuring being performed using a range sensor facing the first storage; obtaining a storage three-dimensional model that is a three-dimensional model of the first storage in which the measurement target is not stored; extracting a target portion corresponding to the measurement target from the space three-dimensional model using the space three-dimensional model and the storage three-dimensional model; calculating a first three-dimensional coordinate system; estimating a target three-dimensional model using the target portion and the first three-dimensional coordinate system, the target three-dimensional model being a three-dimensional model of the measurement target in the first storage space; and calculating a first filling rate of the measurement target with respect to the first storage space.
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公开(公告)号：US20230394754A1
公开(公告)日：2023-12-07
申请号：US18203925
申请日：2023-05-31
Inventor： Toru MATSUNOBU , Satoshi YOSHIKAWA , Kensho TERANISHI , Masaki FUKUDA , Ukyou KATSURA
CPC classification number: G06T17/00 , G06T7/13 , G06T2207/10012
Abstract: A three-dimensional model generation method executed by a computer includes: obtaining a first image generated by shooting a subject from a first viewpoint and a second image generated by shooting the subject from a second viewpoint; detecting, in at least the first image, a first line composed of a series of edges and corresponding to a contour of the subject; and generating first three-dimensional points representing the contour, in a three-dimensional space in the computer, based on the first image, the second image, and the first line.
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Patent Agency Ranking
公开(公告)号：US20220366596A1
公开(公告)日：2022-11-17
申请号：US17879127
申请日：2022-08-02
Inventor： Ukyou KATSURA , Tsukasa OKADA , Tomohide ISHIGAMI
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from an image captured by the image capturing apparatus, and calculates absolute position and attitude of the vehicle, based on position and attitude of the one extracted marker. A corrector calculates the corrected position and attitude, not using the absolute position and attitude calculated based on the position and attitude of the marker when a difference or ratio of an apparent height and width of the marker in the image is equal to or smaller than a threshold, but using the absolute position and attitude calculated based on the position and attitude of the marker when the difference or ratio is larger than the threshold.
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5.发明公开公开(公告)号：US20230281927A1
公开(公告)日：2023-09-07
申请号：US18195606
申请日：2023-05-10
Inventor： Toru MATSUNOBU , Kensho TERANISHI , Masaki FUKUDA , Ukyou KATSURA , Makoto KOHRIN , Satoshi YOSHIKAWA
Abstract: A three-dimensional point cloud densification device includes: an obtainer that obtains a plurality of three-dimensional points, each of which indicates a three-dimensional position of at least one object, and auxiliary information for creating a polygon; and a densifier that: identifies the polygon having, as vertices, at least three three-dimensional points among the plurality of three-dimensional points, based on the auxiliary information; and generates a new three-dimensional point inside the polygon.
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6.发明公开公开(公告)号：US20230206558A1
公开(公告)日：2023-06-29
申请号：US18117056
申请日：2023-03-03
Inventor： Masaki FUKUDA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Kensho TERANISHI , Ukyou KATSURA
IPC: G06T17/10
CPC classification number: G06T17/10
Abstract: A three-dimensional model generation method includes: detecting a first line from each of a plurality of images of a target area shot to detect a plurality of first lines, the plurality of images being shot from a plurality of viewpoints; excluding, from the plurality of first lines detected, a second line that reaches an edge of an image among the plurality of images; and generating a line segment model which is a three-dimensional model of the target area represented by lines, using a plurality of line segments which are the plurality of first lines from which the second line is excluded.
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7.发明申请公开(公告)号：US20230005220A1
公开(公告)日：2023-01-05
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：US20220366599A1
公开(公告)日：2022-11-17
申请号：US17877008
申请日：2022-07-29
Inventor： Tsukasa OKADA , Ukyou KATSURA , Tomohide ISHIGAMI
Abstract: A relative position calculator calculates relative position and attitude of a vehicle based on images captured by an image capturing apparatus on the vehicle. An absolute position calculator extracts a marker from a captured image by, and calculates absolute position and attitude of the vehicle based on position and attitude of the one extracted marker. A reliability calculator calculates reliabilities of the relative position and attitude, and reliabilities of the absolute position and attitude. A position and attitude determiner determines the relative position and attitude as position and attitude of the vehicle when the reliabilities of the relative position and attitude are equal to or larger than the reliabilities of the absolute position and attitude, and otherwise, determines the absolute position and attitude as the position and attitude of the vehicle.
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