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1.发明申请公开(公告)号：US20120099798A1
公开(公告)日：2012-04-26
申请号：US13379413
申请日：2010-06-21
申请人： Takayuki Saruta , Masato Aoba , Masakazu Matsugu
发明人： Takayuki Saruta , Masato Aoba , Masakazu Matsugu
CPC分类号： G01B11/002
摘要： An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object includes an acquisition unit configured to acquire a captured image of the measurement object, a calculation unit configured to calculate information indicating a surface shape of the measurement object based on the captured image, and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the surface shape.
摘要翻译： 一种用于将测量对象的位置和/或取向与测量对象的模型进行匹配的信息处理设备包括：获取单元，被配置为获取测量对象的拍摄图像;计算单元，被配置为计算指示表面的信息 基于捕获图像的测量对象的形状;以及限制单元，被配置为基于指示表面形状的信息来限制模型的位置和/或取向。
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2.发明授权公开(公告)号：US08917942B2
公开(公告)日：2014-12-23
申请号：US13379413
申请日：2010-06-21
申请人： Takayuki Saruta , Masato Aoba , Masakazu Matsugu
发明人： Takayuki Saruta , Masato Aoba , Masakazu Matsugu
CPC分类号： G01B11/002
摘要： An information processing apparatus for matching a position and/or orientation of a measurement object with that of a model of the measurement object includes an acquisition unit configured to acquire a captured image of the measurement object, a calculation unit configured to calculate information indicating a surface shape of the measurement object based on the captured image, and a limitation unit configured to limit a position and/or orientation of the model based on the information indicating the surface shape.
摘要翻译： 一种用于将测量对象的位置和/或取向与测量对象的模型进行匹配的信息处理设备包括：获取单元，被配置为获取测量对象的拍摄图像;计算单元，被配置为计算指示表面的信息 基于捕获图像的测量对象的形状;以及限制单元，被配置为基于指示表面形状的信息来限制模型的位置和/或取向。
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公开(公告)号：US20110206237A1
公开(公告)日：2011-08-25
申请号：US13030956
申请日：2011-02-18
申请人： Takayuki Saruta , Masakazu Matsugu , Masato Aoba
发明人： Takayuki Saruta , Masakazu Matsugu , Masato Aoba
IPC分类号： G06K9/00
CPC分类号： G06K9/4661 , G01B11/00
摘要： A recognition apparatus for recognizing a position and an orientation of a target object, inputs a captured image of the target object captured by an image capturing apparatus; detects a plurality of feature portions from the captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; inputs property information indicating respective physical properties in the plurality of feature portions on the target object; inputs illumination information indicating an illumination condition at the time of capturing the captured image; determines respective degrees of importance of the plurality of extracted feature amounts based on the respective physical properties indicated by the property information and the illumination condition indicated by the illumination information; and recognizes the position and the orientation of the target object based on the plurality of feature amounts and the respective degrees of importance thereof.
摘要翻译： 用于识别目标对象的位置和取向的识别装置输入由图像捕获装置捕获的目标对象的拍摄图像; 从捕获的图像中检测多个特征部分，并且提取指示多个特征部分中的每一个中的图像特征的多个特征量; 输入表示所述目标物体上的所述多个特征部中的各物理属性的属性信息; 输入指示拍摄图像时的照明条件的照明信息; 基于由所述属性信息和由所述照明信息指示的照明条件指示的各个物理属性来确定所述多个提取的特征量的各自的重要程度; 并且基于多个特征量及其各自的重要程度来识别目标对象的位置和取向。
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公开(公告)号：US20110103652A1
公开(公告)日：2011-05-05
申请号：US12910296
申请日：2010-10-22
申请人： Takayuki Saruta , Masato Aoba
发明人： Takayuki Saruta , Masato Aoba
CPC分类号： G06K9/4671 , G06K9/6212 , G06K9/6276
摘要： A feature amount cluster holding unit extracts respective feature amounts from N images sensed under N respective types of image sensing conditions, and manages the feature amounts extracted from each sensed image as a feature amount cluster in association with corresponding one of the image sensing conditions. A feature space distance calculation unit specifies the second feature amount cluster containing a feature amount similar to the feature amount of interest in the first feature amount cluster. An image sensing condition setting unit specifies sets of feature amounts associated with the N respective types of image sensing conditions from the first and second feature amount clusters. The image sensing condition setting unit specifies a set having a largest distance between feature amounts in the set among the specified sets. An image sensing condition associated with the specified set is output as an image sensing condition for discriminating the feature amount clusters.
摘要翻译： 特征量簇保持单元从在N个各种类型的图像感测条件下感测的N个图像提取相应的特征量，并且将与每个感测图像相关联的每个感测图像中提取的特征量作为特征量簇进行管理。 特征空间距离计算单元指定包含与第一特征量群集中的兴趣特征量相似的特征量的第二特征量群集。 图像感测条件设置单元从第一和第二特征量簇指定与N个相应类型的图像感测条件相关联的特征量集合。 图像感测条件设定单元指定在指定集合中的集合中的特征量之间具有最大距离的集合。 输出与指定集相关联的图像感测条件作为用于区分特征量簇的图像感测条件。
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公开(公告)号：US09087265B2
公开(公告)日：2015-07-21
申请号：US13030956
申请日：2011-02-18
申请人： Takayuki Saruta , Masakazu Matsugu , Masato Aoba
发明人： Takayuki Saruta , Masakazu Matsugu , Masato Aoba
CPC分类号： G06K9/4661 , G01B11/00
摘要： A recognition apparatus for recognizing a position and an orientation of a target object, inputs a captured image of the target object captured by an image capturing apparatus; detects a plurality of feature portions from the captured image, and to extract a plurality of feature amounts indicating image characteristics in each of the plurality of feature portions; inputs property information indicating respective physical properties in the plurality of feature portions on the target object; inputs illumination information indicating an illumination condition at the time of capturing the captured image; determines respective degrees of importance of the plurality of extracted feature amounts based on the respective physical properties indicated by the property information and the illumination condition indicated by the illumination information; and recognizes the position and the orientation of the target object based on the plurality of feature amounts and the respective degrees of importance thereof.
摘要翻译： 用于识别目标对象的位置和取向的识别装置输入由图像捕获装置捕获的目标对象的拍摄图像; 从捕获的图像中检测多个特征部分，并且提取指示多个特征部分中的每一个中的图像特征的多个特征量; 输入表示所述目标物体上的所述多个特征部中的各物理属性的属性信息; 输入指示拍摄图像时的照明条件的照明信息; 基于由所述属性信息和由所述照明信息指示的照明条件指示的各个物理属性来确定所述多个提取的特征量的各自的重要程度; 并且基于多个特征量及其各自的重要程度来识别目标对象的位置和取向。
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公开(公告)号：US08526679B2
公开(公告)日：2013-09-03
申请号：US12910296
申请日：2010-10-22
申请人： Takayuki Saruta , Masato Aoba
发明人： Takayuki Saruta , Masato Aoba
CPC分类号： G06K9/4671 , G06K9/6212 , G06K9/6276
摘要： A feature amount cluster holding unit extracts respective feature amounts from N images sensed under N respective types of image sensing conditions, and manages the feature amounts extracted from each sensed image as a feature amount cluster in association with corresponding one of the image sensing conditions. A feature space distance calculation unit specifies the second feature amount cluster containing a feature amount similar to the feature amount of interest in the first feature amount cluster. An image sensing condition setting unit specifies sets of feature amounts associated with the N respective types of image sensing conditions from the first and second feature amount clusters. The image sensing condition setting unit specifies a set having a largest distance between feature amounts in the set among the specified sets. An image sensing condition associated with the specified set is output as an image sensing condition for discriminating the feature amount clusters.
摘要翻译： 特征量簇保持单元从在N个各种类型的图像感测条件下感测的N个图像提取相应的特征量，并且将与每个感测图像相关联的每个感测图像中提取的特征量作为特征量簇进行管理。 特征空间距离计算单元指定包含与第一特征量群集中的兴趣特征量相似的特征量的第二特征量群集。 图像感测条件设置单元从第一和第二特征量簇指定与N个相应类型的图像感测条件相关联的特征量集合。 图像感测条件设定单元指定在指定集合中的集合中的特征量之间具有最大距离的集合。 输出与指定集相关联的图像感测条件作为用于区分特征量簇的图像感测条件。
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公开(公告)号：US20120269392A1
公开(公告)日：2012-10-25
申请号：US13454442
申请日：2012-04-24
申请人： Takayuki Saruta , Yusuke Mitarai
发明人： Takayuki Saruta , Yusuke Mitarai
CPC分类号： G06K9/4604 , G06K9/6228 , G06K2009/366
摘要： A plurality of images obtained by capturing a recognition target object from different viewpoint positions is acquired, and a portion set on the recognition target object in the image is received as a set portion for each of the images. A plurality of feature points is set in each of the images so as to set a larger number of feature points at the set portion than at an unset portion other than the set portion. The recognition target object is learned using image feature amounts at the feature points.
摘要翻译： 获取通过从不同视点位置捕获识别目标对象而获得的多个图像，并且接收设置在图像中的识别目标对象上的部分作为每个图像的设置部分。 在每个图像中设置多个特征点，以便在设定部分设置比在设定部分以外的未设定部分更大数量的特征点。 使用特征点上的图像特征量来学习识别目标对象。
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公开(公告)号：US09245199B2
公开(公告)日：2016-01-26
申请号：US13454442
申请日：2012-04-24
申请人： Takayuki Saruta , Yusuke Mitarai
发明人： Takayuki Saruta , Yusuke Mitarai
CPC分类号： G06K9/4604 , G06K9/6228 , G06K2009/366
摘要： A plurality of images obtained by capturing a recognition target object from different viewpoint positions is acquired, and a portion set on the recognition target object in the image is received as a set portion for each of the images. A plurality of feature points is set in each of the images so as to set a larger number of feature points at the set portion than at an unset portion other than the set portion. The recognition target object is learned using image feature amounts at the feature points.
摘要翻译： 获取通过从不同视点位置捕获识别目标对象而获得的多个图像，并且接收设置在图像中的识别目标对象上的部分作为每个图像的设置部分。 在每个图像中设置多个特征点，以便在设定部分设置比在设定部分以外的未设定部分更大数量的特征点。 使用特征点上的图像特征量来学习识别目标对象。
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