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1.发明授权Position and orientation measurement method and position and orientation measurement apparatus 有权位置和方向测量方法以及位置和方向测量装置公开(公告)号：US08355531B2
公开(公告)日：2013-01-15
申请号：US11944998
申请日：2007-11-26
申请人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
CPC分类号： G01C11/04 , G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30208 , G06T2207/30244
摘要： Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.
摘要翻译： 从被图像感测装置时间序列感测的帧的感测图像中检测分配或设置在对象上的指示。 与从感兴趣的感兴趣图像检测到的每个索引相关联，获取来自感兴趣的帧之前的帧的检测条件。 根据获取的指标检测条件，计算该指标的可靠性。 使用至少与检测到的索引的图像坐标和索引的可靠性相关联的信息来计算对象或图像感测设备的位置和取向。
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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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3.发明申请公开(公告)号：US20080122869A1
公开(公告)日：2008-05-29
申请号：US11944998
申请日：2007-11-26
申请人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
发明人： Shinichi Aratani , Kiyohide Satoh , Daisuke Kotake
IPC分类号： G09G5/00
CPC分类号： G01C11/04 , G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30208 , G06T2207/30244
摘要： Indices allocated or set on an object are detected from sensed images of frames, which are time-serially sensed by an image sensing device. In association with each index detected from the sensed image of the frame of interest, a detection condition from frames before the frame of interest is acquired. According to the acquired detection condition of the index, the reliability of this index is calculated. The position and orientation of the object or the image sensing device are calculated using at least information associated with the image coordinates of the detected indices and the reliabilities of the indices.
摘要翻译： 从被图像感测装置时间序列感测的帧的感测图像中检测分配或设置在对象上的指示。 与从感兴趣的感兴趣图像检测到的每个索引相关联，获取来自感兴趣的帧之前的帧的检测条件。 根据获取的指标检测条件，计算该指标的可靠性。 使用至少与检测到的索引的图像坐标和索引的可靠性相关联的信息来计算对象或图像感测设备的位置和取向。
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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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公开(公告)号：US20050256395A1
公开(公告)日：2005-11-17
申请号：US11127000
申请日：2005-05-11
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译： 一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。
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公开(公告)号：US07613361B2
公开(公告)日：2009-11-03
申请号：US11127000
申请日：2005-05-11
CPC分类号： G06T7/246 , G06T7/80 , G06T2207/30241
摘要： An information processing device for obtaining placement information regarding an imaging device of markers to be calibrated that are provided upon the imaging device, includes: a first image obtaining unit adapted to obtain a first image photographed with the imaging device; a second image obtaining unit adapted to obtain a second image obtained by photographing the imaging device from a bird's-eye view position; a first detecting unit adapted to detect information relating to image coordinates of reference markers placed in a scene, from the first image; a second detecting unit adapted to detect information relating to image coordinates of markers to be calibrated from the second image; and a calibration information calculating unit adapted to obtain the calibration information using information relating to image coordinates of the reference markers detected by the first detecting unit and the second detecting unit.
摘要翻译： 一种信息处理装置，用于获得关于设置在成像装置上的待校准标记的成像装置的放置信息，包括：第一图像获取单元，适于获得用成像装置拍摄的第一图像; 第二图像获取单元，其适于获得通过从鸟瞰图位置拍摄成像装置而获得的第二图像; 第一检测单元，适于从第一图像检测与放置在场景中的参考标记的图像坐标有关的信息; 第二检测单元，适于从第二图像检测与要校准的标记的图像坐标有关的信息; 以及校准信息计算单元，其适于使用与由所述第一检测单元和所述第二检测单元检测到的参考标记的图像坐标有关的信息来获得所述校准信息。
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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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