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公开(公告)号：US20060094955A1
公开(公告)日：2006-05-04
申请号：US11265981
申请日：2005-11-03
IPC分类号： A61B5/05
CPC分类号： G01S5/163
摘要： An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.
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2.发明申请公开(公告)号：US20070297695A1
公开(公告)日：2007-12-27
申请号：US11766573
申请日：2007-06-21
CPC分类号： G06T7/74 , G06K9/3216 , G06K2009/3225 , G06T7/73 , G06T2207/30204
摘要： From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.
摘要翻译： 从图像拾取单元拍摄的图像序列中，自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。 为此，在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息，确定是否使用与位置和方位对应的拍摄图像。 使用确定使用的拍摄图像，获得标记放置信息，关于测量对象的放置信息，或者用作未知参数的图像拾取单元的位置和方向，以便使测量的图像坐标和 基于参数的粗略值估计的每个标记的理论图像坐标。
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3.发明申请INFORMATION PROCESSING METHOD AND APPARATUS FOR CALCULATING INFORMATION REGARDING MEASUREMENT TARGET ON THE BASIS OF CAPTURED IMAGES 审中-公开信息处理方法和计算关于捕获图像基准测量目标的信息的设备公开(公告)号：US20120288216A1
公开(公告)日：2012-11-15
申请号：US13561473
申请日：2012-07-30
IPC分类号： G06K9/60
CPC分类号： G06T7/74 , G06K9/3216 , G06K2009/3225 , G06T7/73 , G06T2207/30204
摘要： From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.
摘要翻译： 从图像拾取单元拍摄的图像序列中，自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。 为此，在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息，确定是否使用与位置和方位对应的拍摄图像。 使用确定使用的拍摄图像，获得标记放置信息，关于测量对象的放置信息，或者用作未知参数的图像拾取单元的位置和方向，以便使测量的图像坐标和 基于参数的粗略值估计的每个标记的理论图像坐标。
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4.发明授权Information processing apparatus, information processing method, and calibration Jig 有权信息处理装置，信息处理方法和校准夹具公开(公告)号：US07783443B2
公开(公告)日：2010-08-24
申请号：US12037489
申请日：2008-02-26
申请人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
发明人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
CPC分类号： G06T7/70 , G06T7/80 , G06T2207/30244
摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).
摘要翻译： 当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标 提取由图像感测装置（200）感测的多个图像。 提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。 信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。
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公开(公告)号：US07580027B2
公开(公告)日：2009-08-25
申请号：US11265981
申请日：2005-11-03
CPC分类号： G01S5/163
摘要： An objective viewpoint image of an object captured at an objective viewpoint position is obtained, a measurement value of a sensor is received, information about the image coordinates of calibrating indices is detected from an objective viewpoint image, and two kinds of arrangement information of the calibrating indices and the sensor both placed on and relative to the object are obtained on the basis of the measurement value and the information about the image coordinates of the calibrating indices. With this, the two kinds of arrangement information are easily and accurately obtained at the same time.
摘要翻译： 获得在客观视点位置拍摄的物体的客观视点图像，接收传感器的测量值，从目标视点图像检测关于校准索引的图像坐标的信息，以及校准的两种排列信息 基于测量值和关于校准指标的图像坐标的信息，获得放置在物体上并相对于物体的传感器。 由此，同时容易且准确地获得两种布置信息。
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公开(公告)号：US20070092161A1
公开(公告)日：2007-04-26
申请号：US11459746
申请日：2006-07-25
CPC分类号： G06T7/73
摘要： An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.
摘要翻译： 一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法，包括：图像输入步骤，输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤 输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。 索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息，并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息 关于索引的图像坐标。
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7.发明授权Information processing method and apparatus for calculating information regarding measurement target on the basis of captured images 有权信息处理方法和装置，用于基于所捕获的图像计算关于测量目标的信息公开(公告)号：US08989518B2
公开(公告)日：2015-03-24
申请号：US13561473
申请日：2012-07-30
CPC分类号： G06T7/74 , G06K9/3216 , G06K2009/3225 , G06T7/73 , G06T2207/30204
摘要： From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.
摘要翻译： 从图像拾取单元拍摄的图像序列中，自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。 为此，在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息，确定是否使用与位置和方位对应的拍摄图像。 使用确定使用的拍摄图像，获得标记放置信息，关于测量对象的放置信息，或者用作未知参数的图像拾取单元的位置和方向，以便使测量的图像坐标和 基于参数的粗略值估计的每个标记的理论图像坐标。
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8.发明授权Information processing method and apparatus for calculating information regarding measurement target on the basis of captured images 有权信息处理方法和装置，用于基于所捕获的图像计算关于测量目标的信息公开(公告)号：US08320709B2
公开(公告)日：2012-11-27
申请号：US11766573
申请日：2007-06-21
IPC分类号： G06K9/36
CPC分类号： G06T7/74 , G06K9/3216 , G06K2009/3225 , G06T7/73 , G06T2207/30204
摘要： From a sequence of images captured by an image pickup unit, images necessary for measuring placement information regarding markers and/or a sensor are automatically determined and obtained. To this end, using position and orientation information regarding the image pickup unit at the time the image pickup unit has captured an obtained image and placement information regarding detected markers, whether to use the captured image corresponding to the position and orientation is determined. Using the captured image determined to be used, the marker placement information, placement information regarding a measurement target, or the position and orientation of the image pickup unit serving as an unknown parameter is obtained so as to minimize the error between the measured image coordinates and theoretical image coordinates of each marker, which are estimated on the basis of a rough value of the parameter.
摘要翻译： 从图像拾取单元拍摄的图像序列中，自动确定和获得关于测量关于标记和/或传感器的放置信息所需的图像。 为此，在图像拍摄单元拍摄获得的图像时使用关于图像拾取单元的位置和方向信息以及关于检测到的标记的放置信息，确定是否使用与位置和方位对应的拍摄图像。 使用确定使用的拍摄图像，获得标记放置信息，关于测量对象的放置信息，或者用作未知参数的图像拾取单元的位置和方向，以便使测量的图像坐标和 基于参数的粗略值估计的每个标记的理论图像坐标。
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公开(公告)号：US07848903B2
公开(公告)日：2010-12-07
申请号：US11459746
申请日：2006-07-25
IPC分类号： G01C7/00
CPC分类号： G06T7/73
摘要： An information processing method for obtaining placement information of a first position and orientation sensor attached to an object with respect to the object includes an image input step of inputting an image of the object captured by an image capturing device, and a sensor measurement value input step of inputting a first measurement value of the first position and orientation sensor and a second measurement value of a second position and orientation sensor attached to the image capturing device. An index detecting step detects information about image coordinates of an index attached to the object from the image, and a placement information calculating step calculates the placement information by using the first and second measurement values of the first and second position and orientation sensors and the information about the image coordinates of the index.
摘要翻译： 一种用于获得相对于物体附着到物体上的第一位置和方位传感器的放置信息的信息处理方法，包括：图像输入步骤，输入由图像捕获装置捕获的对象的图像;以及传感器测量值输入步骤 输入第一位置和方向传感器的第一测量值和附接到图像捕获装置的第二位置和方位传感器的第二测量值。 索引检测步骤从图像检测关于附加到对象的索引的图像坐标的信息，并且布置信息计算步骤通过使用第一和第二位置和方位传感器的第一和第二测量值以及信息来计算布置信息 关于索引的图像坐标。
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10.发明申请公开(公告)号：US20080228434A1
公开(公告)日：2008-09-18
申请号：US12037489
申请日：2008-02-26
申请人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
发明人： Shinichi Aratani , Kiyohide Satoh , Shinji Uchiyama , Daisuke Kotake , Kazuhiko Kobayashi , Rika Takemoto
IPC分类号： G06F15/00
CPC分类号： G06T7/70 , G06T7/80 , G06T2207/30244
摘要： When a calibration jig (50) which includes an image sensing device (100) is moved within the image sensing range of an image sensing device (200), the image coordinates of an index (110) on the image sensing device (100) in a plurality of images sensed by the image sensing device (200) are extracted. The image coordinates of environment allocation indices (300) in a plurality of images sensed by the image sensing device (100) are extracted. An information processing apparatus (1000) calculates camera parameters of the image sensing device (200) based on the extracted image coordinates of the index (110) and the environment allocation indices (300).
摘要翻译： 当包括图像感测装置（100）的校准夹具（50）在图像感测装置（200）的图像感测范围内移动时，图像感测装置（100）上的索引（110）的图像坐标 提取由图像感测装置（200）感测的多个图像。 提取由图像感测装置（100）感测的多个图像中的环境分配索引（300）的图像坐标。 信息处理装置（1000）基于所提取的索引（110）的图像坐标和环境分配索引（300）来计算图像感测装置（200）的相机参数。
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