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1.发明授权公开(公告)号：US07259870B2
公开(公告)日：2007-08-21
申请号：US10803673
申请日：2004-03-18
申请人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
发明人： Kazuhiko Arai , Akio Kosaka , Takashi Miyoshi , Kazuhiko Takahashi , Hidekazu Iwaki , Yasunori Ohki
IPC分类号： G01B11/24
CPC分类号： G01C11/06
摘要： A 3-dimensional image acquisition apparatus acquires images to be used for 3-dimensionally reconstructing an object by picking up the object by a camera twice or more in an image acquisition set including picking up at least once the object carrying a pattern projected onto it by a projection light source. The apparatus comprises a light projection information memory configured to store information on projection of light including information on the time for projecting light for the purpose of projecting the pattern in the image acquisition set, an image acquisition progress information memory configured to store information on the progress of image acquisition in the image acquisition set, and a controller configured to control the projection of light by the projection light source and the picking up by the camera on the basis of the stored information on projection of light and the stored information on the progress.
摘要翻译： 3维图像获取装置通过摄像机拍摄物体2次以上拍摄物体3次重构物体3次图像获取装置，该图像拍摄装置至少包含一次携带投射到其上的图案的物体 投影光源。 该装置包括光投射信息存储器，被配置为存储关于投影光的信息，包括用于投影光的时间的信息，用于将图案投影到图像获取集合中;图像获取进度信息存储器，被配置为存储关于进度的信息 以及控制器，被配置为基于所存储的关于光的投射的信息和所存储的关于进度的信息来控制由投影光源投射的光和由照相机拾取的光。
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2.发明授权Calibration pattern unit photographed by an imaging system to acquire an image for obtaining correction information 有权由成像系统拍摄的校准图案单元，以获取用于获得校正信息的图像公开(公告)号：US07138645B2
公开(公告)日：2006-11-21
申请号：US10650619
申请日：2003-08-28
CPC分类号： G01B11/2504 , G01B11/00
摘要： A calibration pattern unit which obtains correction information of an imaging system by imaging at the imaging system is formed by combining a plurality of three-dimensionally arranged planes. The calibration pattern unit comprises supporting members each of which has a predetermined surface corresponding to one of the planes, and a calibration pattern in which a predetermined pattern is formed on the predetermined surface of the supporting member. The supporting member can selectively set the calibration pattern unit to a first form for photographing when the correction information is obtained, and a second form for other purposes.
摘要翻译： 通过组合多个三维布置的平面来形成通过在成像系统成像获得成像系统的校正信息的校准图案单元。 校准图案单元包括每个具有对应于一个平面的预定表面的支撑构件，以及在支撑构件的预定表面上形成预定图案的校准图案。 支撑构件可以在获得校正信息时选择性地将校准图案单元设置为用于拍摄的第一形式，以及用于其他目的的第二形式。
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3.发明申请Image pickup apparatus, and image pickup method and control method of the image pickup apparatus 审中-公开图像拾取装置，以及图像拾取装置的图像拾取方法和控制方法公开(公告)号：US20050007487A1
公开(公告)日：2005-01-13
申请号：US10737273
申请日：2003-12-16
IPC分类号： G01B11/00 , G01B11/25 , G03B7/093 , G03B7/28 , G03B15/00 , G03B15/02 , G03B15/03 , G03B15/05 , G03B19/02 , G03B35/08 , G06T1/00 , H04N5/235
CPC分类号： G01B11/25 , H04N13/254
摘要： An image pickup apparatus is capable of performing an image pickup with pattern projection on an object to obtain three-dimensional information on the object, and an image pickup without pattern projection. The image pickup apparatus comprises an exposure level determination section configured to determine a predetermined exposure level needed by an image pickup device of the image pickup apparatus, and a shutter speed determination section configured to determine a first shutter speed to achieve the predetermined exposure level determined by the exposure level determination section in the image pickup without pattern projection, and a second shutter speed not slower than the first shutter speed. The image pickup with pattern projection is conducted by use of the second shutter speed.
摘要翻译： 图像拾取装置能够在对象上执行图案投影的图像拾取以获得关于对象的三维信息，以及不具有图案投影的图像拾取。 图像拾取装置包括曝光水平确定部分，被配置为确定图像拾取装置的图像拾取装置所需的预定曝光水平，以及快门速度确定部分，其被配置为确定第一快门速度以实现由 没有图形投影的图像拾取中的曝光水平确定部分和不慢于第一快门速度的第二快门速度。 具有图案投影的图像拾取器通过使用第二快门速度进行。
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公开(公告)号：US07286698B2
公开(公告)日：2007-10-23
申请号：US10650590
申请日：2003-08-28
IPC分类号： G06K9/00
CPC分类号： G01B11/2504 , G06T7/80
摘要： A calibration pattern unit which obtains correction information of an imaging system by imaging at the imaging system comprises a calibration pattern which has a known geometric pattern formed on a plurality of three-dimensionally arranged planes, and a relative position and posture fixing section which fixes relative position and posture between the calibration pattern and the imaging system.
摘要翻译： 通过在成像系统成像获得成像系统的校正信息的校准图案单元包括具有形成在多个三维布置平面上的已知几何图案的校准图案，以及相对位置和姿势固定部， 校准图案与成像系统之间的位置和姿势。
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5.发明授权Finder, marker presentation member, and presentation method of positioning marker for calibration photography 有权Finder，标记演示成员和校准摄影定位标记的演示方法公开(公告)号：US06915072B2
公开(公告)日：2005-07-05
申请号：US10688740
申请日：2003-10-17
IPC分类号： G01B11/00 , G01C3/00 , G01C3/06 , G01S5/16 , G03B13/04 , G03B13/06 , G03B15/00 , G03B17/20 , G03B19/12 , G03B35/10 , G03B37/00 , H04N5/225 , H04N5/232 , H04N13/00 , G03B13/02 , H04N17/00
CPC分类号： G03B13/04 , G01S5/16 , G03B19/12 , H04N5/217 , H04N5/23293 , H04N13/218
摘要： A finder apparatus which is used together with a photographing apparatus presents a marker for positioning for setting relative positions of the photographing apparatus and an object for calibration so as to be visually recognizable by an operator in a finder configured to present an image of a subject so as to be visually recognizable by the operator, when photographing the object for calibration including at least one of a known shape and a known surface attribute in order to acquire parameters of a photographing optical system of the photographing apparatus.
摘要翻译： 与拍摄装置一起使用的取景器装置提供用于定位的标记，用于设置拍摄装置和用于校准的对象的相对位置，以便在被配置为呈现被摄体的图像的作业者中由操作者在视觉上可识别 为了获取拍摄装置的拍摄光学系统的参数，当拍摄包括已知形状和已知表面属性中的至少一种的用于校准的对象时，由操作者可视觉识别。
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6.发明授权Calibration apparatus, calibration method, program for calibration, and calibration jig 有权校准装置，校准方法，校准程序和校准夹具公开(公告)号：US07894661B2
公开(公告)日：2011-02-22
申请号：US10740348
申请日：2003-12-18
IPC分类号： G06K9/00
摘要： A calibration apparatus which estimates a calibration parameter of an image acquisition apparatus, comprises a calibration jig which includes at least two planes and in which calibration markers having known three-dimensional positions are arranged in each plane based on a predetermined rule. The calibration apparatus further comprises a calibration marker recognition section configured to measure and number in-image positions of the calibration markers in at least one image obtained by photographing the calibration jig by the image acquisition apparatus, and a parameter estimate section configured to estimate the calibration parameters of the image acquisition apparatus by the use of the three-dimensional position and the in-image position of the calibration markers numbered by the calibration marker recognition section.
摘要翻译： 估计图像获取装置的校准参数的校准装置包括校准夹具，其包括至少两个平面，并且其中具有已知三维位置的校准标记基于预定规则排列在每个平面中。 所述校准装置还包括校准标记识别部，被配置为在通过由所述图像获取装置拍摄所述校准夹具而获得的至少一幅图像中测量和编号所述校准标记的图像中位置;以及参数估计部，被配置为估计所述校准 通过使用由校准标记识别部分编号的校准标记的三维位置和图像内位置的图像获取装置的参数。
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7.发明授权公开(公告)号：US06996339B2
公开(公告)日：2006-02-07
申请号：US10680504
申请日：2003-10-07
IPC分类号： G03B35/00
CPC分类号： H04N13/218 , H04N13/189 , H04N13/239 , H04N13/254 , H04N13/296
摘要： A three-dimensional photographing apparatus includes a photographing unit configured to photograph an object from a plurality of viewpoints and a projecting unit configured to project a pattern on the object in photographing. The projecting unit including an optical system having a projection view angle. The projection view angle of the optical system falls within a range where the photographing unit photographs the object and is set so as to project the pattern on an overlapped area which is formed by overlapping photographing spaces capable of photographing the object from the viewpoints.
摘要翻译： 三维拍摄装置包括：拍摄单元，被配置为从多个视点拍摄对象;以及投影单元，被配置为在拍摄中将图案投影在对象上。 投影单元包括具有投影视角的光学系统。 光学系统的投影视角落在拍摄单元拍摄对象的范围内，并且被设置为将图案投影到由能够从视点拍摄对象的重叠拍摄空间形成的重叠区域上。
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公开(公告)号：US07386226B2
公开(公告)日：2008-06-10
申请号：US11288647
申请日：2005-11-29
申请人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
发明人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
CPC分类号： H04N13/133
摘要： This stereo camera system is constituted of a stereo optical module which acquires a stereo image, a central control unit which evaluates an object as a target based on the stereo image acquired by the stereo optical module, and a communication line through which stereo image data output from the stereo optical module is input to the central control unit. Further, in this stereo camera system, an image output processing circuit which performs predetermined image processing with respect to the stereo image acquired by the stereo optical module is provided in the stereo optical module, whereby this image output processing circuit performs a correction arithmetic operation which corrects unbalance at the time of capturing the stereo image.
摘要翻译： 该立体摄像机系统由立体声光学模块取得立体图像，中央控制单元，其基于由立体光学模块获取的立体图像对象作为目标进行评估;以及通信线路，立体图像数据输出 从立体声光模块输入到中央控制单元。 此外，在该立体相机系统中，在立体光学模块中设置了对由立体光学模块获取的立体图像执行预定图像处理的图像输出处理电路，由此该图像输出处理电路执行校正算术运算， 纠正拍摄立体图像时的不平衡。
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9.发明申请Stereo camera supporting apparatus, stereo camera supporting method, calibration detection apparatus, calibration correction apparatus, and stereo camera system 审中-公开立体相机支持装置，立体相机支持方法，校准检测装置，校准校正装置和立体相机系统公开(公告)号：US20050237385A1
公开(公告)日：2005-10-27
申请号：US11169098
申请日：2005-06-28
申请人： Akio Kosaka , Takashi Miyoshi , Hidekazu Iwaki , Kazuhiko Arai
发明人： Akio Kosaka , Takashi Miyoshi , Hidekazu Iwaki , Kazuhiko Arai
CPC分类号： G06K9/00791 , G01B11/00 , G01C11/02 , G06K9/209 , G06T7/85
摘要： A stereo camera supporting apparatus of the present invention comprises a joining member constituted in such a manner as to support a stereo camera on a vehicle, and a control device which controls posture or position of the stereo camera supported on the vehicle by the joining member. The control device controls the posture or position of the stereo camera with respect to video obtained by the stereo camera in such a manner that a contour portion present in the highest level position in a contour of a noted subject in the video is positioned in a frame upper end of the video or its vicinity irrespective of a change of the posture or position of the vehicle.
摘要翻译： 本发明的立体摄影机支援装置包括以支撑立体摄像机的方式构成的接合构件，以及控制装置，其通过接合构件控制支撑在车辆上的立体摄像机的姿势或位置。 控制装置控制立体摄像机相对于由立体摄像机获得的视频的姿态或位置，使得存在于视频中的被指定对象的轮廓中的最高级别位置中的轮廓部分位于帧 视频或其附近的上端，而不管车辆的姿势或位置的变化。
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公开(公告)号：US20060082879A1
公开(公告)日：2006-04-20
申请号：US11286281
申请日：2005-11-23
申请人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
发明人： Takashi Miyoshi , Akio Kosaka , Hidekazu Iwaki , Kazuhiko Arai
IPC分类号： G02B26/08
CPC分类号： H04N13/218
摘要： In this stereo optical module, a constituent member is arranged in at least one of a circuit arrangement space which exists substantially behind a front lens unit and above a primary deflecting mirror and a secondary deflecting mirror and a circuit arrangement space which exists substantially behind a front lens unit and below a primary deflecting mirror and a secondary deflecting mirror.
摘要翻译： 在这种立体光学模块中，构成部件被布置在电路布置空间中的至少一个中，电路布置空间基本上位于前透镜单元的后面，并且位于主偏转镜和次偏转镜之上，并且电路布置空间基本上在前面 透镜单元并且在主偏转镜和次偏转镜之下。
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