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1.发明授权公开(公告)号：US07301560B2
公开(公告)日：2007-11-27
申请号：US10853741
申请日：2004-05-26
申请人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
发明人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
IPC分类号： H04N17/00
摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.
摘要翻译： 具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准 用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内， 角区域110。
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2.发明申请公开(公告)号：US20050012844A1
公开(公告)日：2005-01-20
申请号：US10853741
申请日：2004-05-26
申请人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
发明人： Takayuki Noma , Tadayuki Ito , Hitoshi Otani , Mitsuharu Yamada , Nobuo Kochi
摘要： A three-dimensional field for calibration having a wide-angle area 110 and a zooming area 120 located within an area overlapped with the wide-angle area 110 comprises: a plurality of rough alignment reference marks 122 for zooming and a plurality of precise alignment reference marks 124 for zooming, and the rough alignment reference marks 122 and the precise alignment reference marks 124 for zooming being arranged within the zooming area 120; and a plurality of rough alignment reference marks 112 for wide-angle and a plurality of precise alignment reference marks 114 for wide-angle, the rough alignment reference marks 112 and the precise alignment reference 124 marks for wide-angle being arranged within the wide-angle area 110.
摘要翻译： 具有位于与广角区域110重叠的区域内的广角区域110和变焦区域120的用于校准的三维场包括：用于变焦的多个粗略对准参考标记122和多个精确对准基准 用于缩放的标记124和用于变焦的粗略对准参考标记122和精确对准参考标记124布置在变焦区域120内; 以及用于广角的多个粗略对准参考标记112和用于广角的多个精确对准参考标记114，用于广角的粗略对准参考标记112和精确对准参考标记124标记布置在广角范围内， 角区域110。
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3.发明申请Model forming apparatus, model forming method, photographing apparatus and photographing method 有权模型成型装置，模型形成方法，拍摄装置和拍摄方法公开(公告)号：US20060239539A1
公开(公告)日：2006-10-26
申请号：US11154959
申请日：2005-06-17
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。
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4.发明授权Model forming apparatus, model forming method, photographing apparatus and photographing method 有权模型成型装置，模型形成方法，拍摄装置和拍摄方法公开(公告)号：US08559702B2
公开(公告)日：2013-10-15
申请号：US13176362
申请日：2011-07-05
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。
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5.发明授权Model forming apparatus, model forming method, photographing apparatus and photographing method 有权模型成型装置，模型形成方法，拍摄装置和拍摄方法公开(公告)号：US07986825B2
公开(公告)日：2011-07-26
申请号：US11154959
申请日：2005-06-17
申请人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
发明人： Nobuo Kochi , Hiroyuki Aoki , Hitoshi Otani , Mitsuharu Yamada , Tadayuki Ito
CPC分类号： G01C11/02 , G06T7/593 , G06T17/00 , G06T2200/24 , G06T2207/10032 , G06T2207/30184
摘要： The present invention provides a model forming apparatus that can simply and efficiently form a three-dimensional model of an object using previously obtained three-dimensional model data of the object as a starting point. The apparatus comprises a photographing section 110 for photographing an object 10, an image data storage section 130 for storing three-dimensional model data of the object, a display section 140 for displaying a three-dimensional model based on the three-dimensional model data of the object 10, a recognition section 150 for recognizing an unmodeled part of the object 10 based on the three-dimensional model data stored in the image data storage section 130, and a photographing instruction information section 160 for obtaining photographing instruction information related to photographing the unmodeled part. The photographing section 110 photographs the object 10 in accordance with the photographing instruction information obtained by the photographing instruction information section 160.
摘要翻译： 本发明提供一种模型形成装置，其可以使用先前获得的对象的三维模型数据作为起点简单且有效地形成对象的三维模型。 该装置包括用于拍摄对象10的拍摄部分110，用于存储对象的三维模型数据的图像数据存储部分130，用于基于三维模型数据显示三维模型的显示部分140 对象10，用于基于存储在图像数据存储部分130中的三维模型数据识别对象10的未建模部分的识别部分150以及用于获得与拍摄图像数据相关的拍摄指令信息的拍摄指示信息部分160 未建模部分。 摄影部110根据摄影指示信息部160获取的摄影指示信息拍摄对象10。
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公开(公告)号：US07193626B2
公开(公告)日：2007-03-20
申请号：US10383260
申请日：2003-03-07
申请人： Hitoshi Otani , Nobuo Kochi , Hiroyuki Aoki , Mitsuharu Yamada , Hirokazu Sato
发明人： Hitoshi Otani , Nobuo Kochi , Hiroyuki Aoki , Mitsuharu Yamada , Hirokazu Sato
IPC分类号： G06T1/00
CPC分类号： G01C11/06 , G06T7/97 , G06T2207/10012 , H04N13/122 , H04N13/133 , H04N13/139 , H04N13/189 , H04N13/221 , H04N13/239 , H04N13/296 , H04N13/337 , H04N13/341 , H04N13/346 , H04N13/361 , H04N13/398 , H04N19/597 , H04N2013/0077 , H04N2013/0081 , H04N2013/0092
摘要： A stereo image displaying device comprising: a feature element specifying section 40 for specifying feature elements contained in a pair of stereo images taken with a stereo image taking section 10; an image controlling section 30 for controlling the stereo images based on the positions of the specified feature elements in the stereo images to provide finished stereo images; and a displaying section 60 for displaying the finished stereo images in stereovision.
摘要翻译： 一种立体图像显示装置，包括：特征元素确定部分40，用于指定包含在用立体图像拍摄部分10拍摄的一对立体图像中的特征元素; 图像控制部分30，用于基于立体图像中的指定特征元素的位置来控制立体图像，以提供完整的立体图像; 以及用于在立体视觉中显示完成的立体图像的显示部分60。
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7.发明申请THREE-DIMENSIONAL MEASUREMENT SYSTEM AND METHOD OF THE SAME, AND COLOR-CODED MARK 审中-公开三维测量系统及其相关方法和彩色标记公开(公告)号：US20100322482A1
公开(公告)日：2010-12-23
申请号：US12871057
申请日：2010-08-30
IPC分类号： G06K9/00
CPC分类号： G01C15/02 , G01C11/06 , G06K9/3216 , G06K2009/3225
摘要： This invention provides a three-dimensional measurement system that improves the efficiency of and enables the automation of non-contact three-dimensional measurement over a wide range using a coded target. A measuring object 1 is photographed in stereo such that the resulting images include four coded marks CT each having a position detection pattern P1 and a code pattern P3. A series of images are photographed in stereo such that adjacent images share two coded marks CT. The position detection pattern P1 and the code pattern P3 are extracted from a pair of photographed images. A point corresponding to a reference point is searched for using the identification codes of the coded marks CT. A stereo matching area is determined. All the processes including photographing, extraction, orientation and three-dimensional measurement can be fully automated.
摘要翻译： 本发明提供了一种三维测量系统，其使用编码目标提高了在宽范围内的非接触三维测量的效率并使其能够自动化。 测量对象1以立体声拍摄，使得所得到的图像包括四个具有位置检测图案P1和代码图案P3的编码标记CT。 以立体声拍摄一系列图像，使得相邻图像共享两个编码标记CT。 从一对拍摄图像中提取位置检测图案P1和码图案P3。 使用编码标记CT的识别码来搜索与参考点相对应的点。 确定立体匹配区域。 包括拍摄，提取，取向和三维测量在内的所有过程都可以完全自动化。
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公开(公告)号：US07860302B2
公开(公告)日：2010-12-28
申请号：US12339780
申请日：2008-12-19
申请人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
发明人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
摘要： An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.
摘要翻译： 一种图像处理装置包括：输入部分，用于输入通过相对于拍摄对象逐渐移动的摄影部分拍摄的多个连续图像; 提取部分，用于从由所述输入部分输入的图像中提取特征点; 跟踪部分，用于跟踪对应于多个连续图像中的特征点的点; 一个嵌入部分，用于将包括由提取部分和跟踪部分提取的跟踪点的数据的跟踪数据嵌入到每个图像中; 以及输出部分，用于输出由嵌入部分嵌入跟踪数据的顺序的多个连续图像。
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公开(公告)号：US20090161946A1
公开(公告)日：2009-06-25
申请号：US12339780
申请日：2008-12-19
申请人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
发明人： Hirokazu Sato , Nobuyuki Fukaya , Mitsuharu Yamada , Tetsuji Anai , Nobuo Kochi
CPC分类号： G06T7/74 , G06T7/97 , G06T2207/10012 , G06T2207/30244
摘要： An image processing apparatus comprises an inputting section for inputting a plurality of continuous images which were photographed by a photographing section progressively moving relative to a photographed object; an extracting section for extracting characteristic points from images input by the inputting section; a tracking section for tracking the points corresponding to the characteristic points in the plurality of continuous images; an embedding section for embedding tracking data, which includes data of extracted and tracked points by the extracting section and the tracking section, into each image; and an outputting section for outputting the plurality of continuous images sequentially in which the tracking data was embedded by the embedding section.
摘要翻译： 一种图像处理装置包括：输入部分，用于输入通过相对于拍摄对象逐渐移动的拍摄部分拍摄的多个连续图像; 提取部分，用于从由所述输入部分输入的图像中提取特征点; 跟踪部分，用于跟踪对应于多个连续图像中的特征点的点; 一个嵌入部分，用于将包括由提取部分和跟踪部分提取的跟踪点的数据的跟踪数据嵌入到每个图像中; 以及输出部分，用于输出由嵌入部分嵌入跟踪数据的顺序的多个连续图像。
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10.发明申请Three-dimensional measurement system and method of the same, and color-coded mark 审中-公开三维测量系统及方法相同，并具有彩色标记公开(公告)号：US20070065004A1
公开(公告)日：2007-03-22
申请号：US11495884
申请日：2006-07-31
IPC分类号： G06K9/00
CPC分类号： G01C15/02 , G01C11/06 , G06K9/3216 , G06K2009/3225
摘要： This invention provides a three-dimensional measurement system that improves the efficiency of and enables the automation of non-contact three-dimensional measurement over a wide range using a coded target. A measuring object 1 is photographed in stereo such that the resulting images include four coded marks CT each having a position detection pattern P1 and a code pattern P3. A series of images are photographed in stereo such that adjacent images share two coded marks CT. The position detection pattern P1 and the code pattern P3 are extracted from a pair of photographed images. A point corresponding to a reference point is searched for using the identification codes of the coded marks CT. A stereo matching area is determined. All the processes including photographing, extraction, orientation and three-dimensional measurement can be fully automated.
摘要翻译： 本发明提供了一种三维测量系统，其使用编码目标提高了在宽范围内的非接触三维测量的效率并使其能够自动化。 测量对象1以立体声拍摄，使得所得到的图像包括四个具有位置检测模式P 1和代码模式P 3的编码标记CT。 以立体声拍摄一系列图像，使得相邻图像共享两个编码标记CT。 从一对拍摄图像中提取位置检测图案P 1和码图案P 3。 使用编码标记CT的识别码来搜索与参考点相对应的点。 确定立体匹配区域。 包括拍摄，提取，取向和三维测量在内的所有过程都可以完全自动化。
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