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1.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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2.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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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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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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6.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：US07860345B2
公开(公告)日：2010-12-28
申请号：US11690914
申请日：2007-03-26
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译： 通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。 在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。 如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。 如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。 通过使用基于获得的第一至第三值的校正值来校正第一值。
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7.发明申请公开(公告)号：US20070242899A1
公开(公告)日：2007-10-18
申请号：US11690914
申请日：2007-03-26
IPC分类号： G06K9/36
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译： 通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。 在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。 如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。 如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。 通过使用基于获得的第一至第三值的校正值来校正第一值。
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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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9.发明申请Marker placement information estimating method and information processing device 失效标记位置信息估计方法和信息处理装置公开(公告)号：US20050253870A1
公开(公告)日：2005-11-17
申请号：US11126916
申请日：2005-05-11
申请人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
发明人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
CPC分类号： G06T7/73
摘要： A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.
摘要翻译： 一种标记放置信息估计方法，包括：约束条件设定步骤，用于设定可以利用关于标记的放置信息的几何条件来定义的约束条件;捕获步骤，用于捕获包括标记图像的拍摄图像，用于检测标记的标记检测步骤 以及估计步骤，用于使用检测到的标记在图像上的位置和约束条件来估计标记的放置信息。 因此，即使存在关于标记的放置的约束条件，也可以精确地获得放置信息，以满足约束条件。
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10.发明授权Marker placement information estimating method and information processing device 失效标记位置信息估计方法和信息处理装置公开(公告)号：US07657065B2
公开(公告)日：2010-02-02
申请号：US11126916
申请日：2005-05-11
申请人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
发明人： Daisuke Kotake , Shinji Uchiyama , Kiyohide Satoh
CPC分类号： G06T7/73
摘要： A marker placement information estimating method includes a constraint condition setting step for setting a constraint condition that can be defined with a geometric condition regarding placement information of markers, a capturing step for capturing photographed images including a marker image, a marker detecting step for detecting markers from the photographed images, and an estimating step for estimating the placement information of the markers using the positions of the detected markers on the images and the constraint condition. Thus, even if a constraint condition regarding the placement of markers exists, the placement information can be obtained with precision so as to satisfy the constraint condition.
摘要翻译： 一种标记放置信息估计方法，包括：约束条件设定步骤，用于设定可以利用关于标记的放置信息的几何条件来定义的约束条件;捕获步骤，用于捕获包括标记图像的拍摄图像，用于检测标记的标记检测步骤 以及估计步骤，用于使用检测到的标记在图像上的位置和约束条件来估计标记的放置信息。 因此，即使存在关于标记的放置的约束条件，也可以精确地获得放置信息，以满足约束条件。
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