公开(公告)号：US20090022369A1

公开(公告)日：2009-01-22

申请号：US11815540

申请日：2006-02-03

申请人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Kenji Morita

发明人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Kenji Morita

IPC分类号： G06K9/46

CPC分类号： G01B21/22 ,  G01B21/04 ,  G06T7/74 ,  G06T2207/30244

摘要： This invention relates to a position/orientation measurement apparatus which can measure a position and orientation while achieving both high stability and precision. An image including indices laid out on a space is captured, and the indices are detected from the captured image. When a plurality of indices are detected, their distribution range is calculated, and an algorithm to be applied in position/orientation calculations is selected according to the size of the range (S3033, S3050, S3060). For example, when the indices are distributed over a sufficiently broad range, six parameters of the position and orientation of an image capture device are calculated as unknowns (S3070). As the distribution range of the indices becomes smaller, the degrees of freedom of unknown parameters to be calculated are reduced (S3035, S3025).

摘要翻译： 本发明涉及一种能够同时实现高稳定性和精度的同时测量位置和取向的位置/取向测量装置。 捕获包括在空间上布置的索引的图像，并且从捕获的图像中检测索引。 当检测到多个索引时，计算其分布范围，并且根据范围的大小来选择要在位置/方向计算中应用的算法（S3033，S3050，S3060）。 例如，当索引分布在足够宽的范围上时，图像捕获装置的位置和取向的六个参数被计算为未知数（S3070）。 随着索引的分布范围变小，要计算的未知参数的自由度降低（S3035，S3025）。

公开(公告)号：US07974462B2

公开(公告)日：2011-07-05

申请号：US11835735

申请日：2007-08-08

申请人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

发明人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

IPC分类号： G06K9/00 ,  G06T15/00

CPC分类号： H04N13/246 ,  G06T7/80 ,  G06T2207/30208

摘要： In a method of calibrating an image capture environment based on a captured image obtained by capturing an image of a physical space by an image capturing unit that captures the image of the physical space, an image of the physical space is captured using the image capturing unit, an index serving as a reference for calibration is detected from the captured image of the physical space, the position and orientation of the image capturing unit are calculated from the detected index, and image capturing unit unique information, geometric information associated with the physical space, or the relationship between the image capturing unit and the physical space is calibrated using the obtained data.

摘要翻译： 在基于通过捕获物理空间的图像的图像捕获单元捕获物理空间的图像获得的拍摄图像来校准图像捕获环境的方法中，使用图像捕获单元捕获物理空间的图像 从所捕获的物理空间的图像中检测出用于校准的基准的索引，根据检测到的索引计算图像拍摄单元的位置和方向，并且，图像捕获单元的唯一信息，与物理空间相关联的几何信息 ，或者使用获得的数据校正图像捕获单元和物理空间之间的关系。

公开(公告)号：US20080292131A1

公开(公告)日：2008-11-27

申请号：US11835735

申请日：2007-08-08

申请人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

发明人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

IPC分类号： G06K9/78

CPC分类号： H04N13/246 ,  G06T7/80 ,  G06T2207/30208

摘要： In a method of calibrating an image capture environment based on a captured image obtained by capturing an image of a physical space by an image capturing unit that captures the image of the physical space, an image of the physical space is captured using the image capturing unit, an index serving as a reference for calibration is detected from the captured image of the physical space, the position and orientation of the image capturing unit are calculated from the detected index, and image capturing unit unique information, geometric information associated with the physical space, or the relationship between the image capturing unit and the physical space is calibrated using the obtained data.

摘要翻译： 在基于通过捕获物理空间的图像的图像捕获单元捕获物理空间的图像获得的拍摄图像来校准图像捕获环境的方法中，使用图像捕获单元捕获物理空间的图像 从所捕获的物理空间的图像中检测出用于校准的基准的索引，根据检测到的索引计算图像拍摄单元的位置和方位，以及图像捕获单元的唯一信息，与物理空间相关联的几何信息 ，或者使用获得的数据校正图像捕获单元和物理空间之间的关系。

公开(公告)号：US20050256391A1

公开(公告)日：2005-11-17

申请号：US11126437

申请日：2005-05-11

申请人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

发明人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

IPC分类号： G06T7/00 ,  A61B5/05

CPC分类号： G06T7/74 ,  G06T7/33

摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.

摘要翻译： 在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。 从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。 来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。 位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。 位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

公开(公告)号：US08330800B2

公开(公告)日：2012-12-11

申请号：US11482400

申请日：2006-07-07

申请人： Takaaki Endo ,  Shinji Uchiyama ,  Takashi Aso

发明人： Takaaki Endo ,  Shinji Uchiyama ,  Takashi Aso

IPC分类号： H04N15/00

CPC分类号： G06T7/60 ,  G06T7/11 ,  G06T7/70 ,  G06T11/60 ,  G06T19/006 ,  G06T2207/20112 ,  G06T2207/30204 ,  H04N5/2252 ,  H04N5/23293 ,  H04N5/265

摘要： An index detecting section detects an index in a physical space, from a captured image obtained by an imaging apparatus. An erroneous-detection prevention processing section performs erroneous-detection prevention processing, based on information relating to image coordinates of a detected index. An image output section outputs, to a display device, an image having been subjected to the erroneous-detection prevention processing. This prevents an image displayed on the display device from being mistaken for a real index when the display device is in the field of view of the imaging apparatus.

摘要翻译： 索引检测部分从由成像装置获得的拍摄图像中检测物理空间中的索引。 错误检测防止处理部根据与检测出的索引的图像坐标有关的信息进行错误检测防止处理。 图像输出部分向显示装置输出已经进行了错误检测防止处理的图像。 这防止当显示装置处于成像装置的视野时，显示装置上显示的图像被误认为实际索引。

公开(公告)号：US08019114B2

公开(公告)日：2011-09-13

申请号：US11854121

申请日：2007-09-12

申请人： Takaaki Endo ,  Kiyohide Satoh ,  Shinji Uchiyama

发明人： Takaaki Endo ,  Kiyohide Satoh ,  Shinji Uchiyama

IPC分类号： G06K9/00

CPC分类号： G01B11/002 ,  G01B11/2504 ,  G06T7/73 ,  G06T2207/30244

摘要： A position and orientation measurement apparatus has a subjective-view-index detection unit which detects indices on a physical space from an image captured by a subjective-view camera, an additional subjective-view-index detection unit which detects indices on the physical space from an image captured by an additional subjective-view camera having a spatial resolution different from the subjective-view camera, and a position and orientation estimation unit which calculates the position and orientation of the subjective-view camera using information associated with the image coordinates of the detected indices.

摘要翻译： 位置和姿态测量装置具有主观视点索引检测单元，其从由主观摄像机拍摄的图像检测物理空间上的索引;附加主观视图索引检测单元，其从 由具有与主观摄像机不同的空间分辨率的附加主观摄像机拍摄的图像，以及位置和姿态估计单元，其使用与所述主观视野摄像机的图像坐标相关联的信息来计算主观摄像机的位置和姿态 检测指标。

公开(公告)号：US20100166280A1

公开(公告)日：2010-07-01

申请号：US12640285

申请日：2009-12-17

申请人： Takaaki Endo ,  Shinji Uchiyama

发明人： Takaaki Endo ,  Shinji Uchiyama

IPC分类号： G06K9/00

CPC分类号： G06T11/00 ,  G06T7/33 ,  G06T2207/10072

摘要： A three-dimensional shape data processing apparatus includes a data input unit configured to input data of a first tomographic image group including a plurality of tomographic images and data of a second tomographic image group including a plurality of tomographic images, wherein at least a part of an image capturing area of the second tomographic image group is overlapped with at least a part of an image taking area of the first tomographic image groups, and a combination unit configured to combine first three-dimensional shape data and second three-dimensional shape data into one piece of three-dimensional shape data according to an estimated accuracy estimated values of the first and second three-dimensional shape data at a plurality of positions.

摘要翻译： 三维形状数据处理装置包括：数据输入单元，被配置为输入包括多个断层图像的第一断层图像组的数据和包括多个断层图像的第二断层图像组的数据，其中至少部分 第二断层图像组的图像捕获区域与第一断层图像组的图像拍摄区域的至少一部分重叠，以及组合单元，被配置为将第一三维形状数据和第二三维形状数据组合成 根据在多个位置处的第一和第二三维形状数据的估计精度估计值的一条三维形状数据。

公开(公告)号：US07467061B2

公开(公告)日：2008-12-16

申请号：US11126437

申请日：2005-05-11

申请人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

发明人： Kiyohide Satoh ,  Shinji Uchiyama ,  Takaaki Endo ,  Masahiro Suzuki

IPC分类号： G01C9/00

CPC分类号： G06T7/74 ,  G06T7/33

摘要： In an information processing method, an orientation sensor is mounted on a targeted object to be measured, and bird's-eye view cameras for capturing images of the targeted object are fixedly installed. From the images captured by the bird's-eye view cameras, an index detecting unit detects indices mounted on the orientation sensor. A measured orientation value from the orientation sensor is input to an orientation predicting unit, and the orientation predicting unit predicts the present orientation of the targeted object based on an azimuth-drift-error correction value. A position-orientation calculating unit uses the image coordinates of the detected indices to calculate the position of the imaging device and an update value of the azimuth-drift-error correction value, which are unknown parameters. From the obtained parameters, the position-orientation calculating unit finds and outputs the position and orientation of the targeted object.

摘要翻译： 在信息处理方法中，将姿态传感器安装在待测对象物上，并固定安装用于拍摄目标物体的图像的鸟瞰摄像机。 从由鸟瞰图摄像机拍摄的图像中，索引检测单元检测安装在方位传感器上的索引。 来自方向传感器的测量取向值被输入到方向预测单元，并且方向预测单元基于方位漂移误差校正值来预测目标对象的当前方位。 位置取向计算单元使用检测到的索引的图像坐标来计算成像装置的位置和作为未知参数的方位漂移误差校正值的更新值。 位置取向计算单元根据获得的参数，求出并输出目标对象的位置和方位。

公开(公告)号：US08712016B2

公开(公告)日：2014-04-29

申请号：US12640285

申请日：2009-12-17

申请人： Takaaki Endo ,  Shinji Uchiyama

发明人： Takaaki Endo ,  Shinji Uchiyama

IPC分类号： G06K9/00

CPC分类号： G06T11/00 ,  G06T7/33 ,  G06T2207/10072

摘要： A three-dimensional shape data processing apparatus includes a data input unit configured to input data of a first tomographic image group including a plurality of tomographic images and data of a second tomographic image group including a plurality of tomographic images, wherein at least a part of an image capturing area of the second tomographic image group is overlapped with at least a part of an image taking area of the first tomographic image groups, and a combination unit configured to combine first three-dimensional shape data and second three-dimensional shape data into one piece of three-dimensional shape data according to an estimated accuracy estimated values of the first and second three-dimensional shape data at a plurality of positions.

摘要翻译： 三维形状数据处理装置包括：数据输入单元，被配置为输入包括多个断层图像的第一断层图像组的数据和包括多个断层图像的第二断层图像组的数据，其中至少部分 第二断层图像组的图像捕获区域与第一断层图像组的图像拍摄区域的至少一部分重叠，以及组合单元，被配置为将第一三维形状数据和第二三维形状数据组合成 根据在多个位置处的第一和第二三维形状数据的估计精度估计值的一条三维形状数据。

公开(公告)号：US08472703B2

公开(公告)日：2013-06-25

申请号：US13149231

申请日：2011-05-31

申请人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

发明人： Kazuki Takemoto ,  Shinji Uchiyama ,  Takaaki Endo

IPC分类号： G06T15/00

CPC分类号： H04N13/246 ,  G06T7/80 ,  G06T2207/30208

摘要： In a method of calibrating an image capture environment based on a captured image obtained by capturing an image of a physical space by an image capturing unit that captures the image of the physical space, an image of the physical space is captured using the image capturing unit, an index serving as a reference for calibration is detected from the captured image of the physical space, the position and orientation of the image capturing unit are calculated from the detected index, and image capturing unit unique information, geometric information associated with the physical space, or the relationship between the image capturing unit and the physical space is calibrated using the obtained data.

摘要翻译： 在基于通过捕获物理空间的图像的图像捕获单元捕获物理空间的图像获得的拍摄图像来校准图像捕获环境的方法中，使用图像捕获单元捕获物理空间的图像 从所捕获的物理空间的图像中检测出用于校准的基准的索引，根据检测到的索引计算图像拍摄单元的位置和方位，以及图像捕获单元的唯一信息，与物理空间相关联的几何信息 ，或者使用获得的数据校正图像捕获单元和物理空间之间的关系。