公开(公告)号：US20110187746A1

公开(公告)日：2011-08-04

申请号：US12984847

申请日：2011-01-05

申请人： Yasuhiro SUTO ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo ,  Kouichi Matsuda

发明人： Yasuhiro SUTO ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo ,  Kouichi Matsuda

IPC分类号： G09G5/00

CPC分类号： G06T19/006 ,  G02B27/0172 ,  G02B2027/014 ,  G06T11/60 ,  G06T19/003 ,  G09G5/00

摘要： There is provided an image processing device including: a data storage unit storing feature data indicating a feature of appearance of one or more physical objects; an environment map building unit for building an environment map based on an input image obtained by imaging a real space and the feature data, the environment map representing a position of a physical object present in the real space; a control unit for acquiring procedure data for a set of procedures of operation to be performed in the real space, the procedure data defining a correspondence between a direction for each procedure and position information designating a position at which the direction is to be displayed; and a superimposing unit for generating an output image by superimposing the direction for each procedure at a position in the input image determined based on the environment map and the position information, using the procedure data.

摘要翻译： 提供了一种图像处理装置，包括：数据存储单元，存储指示一个或多个物理对象的外观特征的特征数据; 环境地图构建单元，用于基于通过对实际空间进行成像获得的输入图像和特征数据构建环境地图，所述环境地图表示存在于所述实际空间中的物理对象的位置; 控制单元，用于获取用于在实际空间中执行的一组操作程序的过程数据，所述过程数据定义每个过程的方向与指定要显示方向的位置的位置信息之间的对应关系; 以及叠加单元，用于通过使用过程数据在基于环境地图确定的输入图像中的位置和位置信息上叠加用于每个过程的方向来生成输出图像。

公开(公告)号：US08994752B2

公开(公告)日：2015-03-31

申请号：US13015566

申请日：2011-01-27

申请人： Yasuhiro Suto ,  Kouichi Matsuda ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo

发明人： Yasuhiro Suto ,  Kouichi Matsuda ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo

IPC分类号： G09G5/00 ,  G06T13/00

CPC分类号： G06T13/00

摘要： There is provided an image processing device including: a data storage unit having feature data stored therein, the feature data indicating a feature of appearance of one or more physical objects; an environment map building unit for building an environment map based on an input image obtained by imaging a real space using an imaging device and the feature data stored in the data storage unit, the environment map representing a position of a physical object present in the real space; an information generating unit for generating animation data for displaying a status of communication via a communication interface on a screen, using the environment map built by the environment map building unit; and an image superimposing unit for generating an output image by superimposing an animation according to the animation data generated by the information generating unit on the input image.

摘要翻译： 提供了一种图像处理装置，包括：具有存储在其中的特征数据的数据存储单元，所述特征数据指示一个或多个物理对象的外观特征; 环境地图构建单元，用于基于通过使用成像装置对存在的真实空间进行成像获得的输入图像和存储在数据存储单元中的特征数据来构建环境地图，所述环境地图表示存在于实际中的物理对象的位置 空间; 信息生成单元，使用由环境地图建立单元构成的环境地图，生成用于通过屏幕上的通信接口显示通信状态的动画数据; 以及图像叠加单元，用于通过根据由信息生成单元生成的动画数据将动画叠加在输入图像上来生成输出图像。

公开(公告)号：US08896628B2

公开(公告)日：2014-11-25

申请号：US12984847

申请日：2011-01-05

申请人： Yasuhiro Suto ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo ,  Kouichi Matsuda

发明人： Yasuhiro Suto ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo ,  Kouichi Matsuda

IPC分类号： G09G5/00

CPC分类号： G06T19/006 ,  G02B27/0172 ,  G02B2027/014 ,  G06T11/60 ,  G06T19/003 ,  G09G5/00

摘要： There is provided an image processing device including: a data storage unit storing feature data indicating a feature of appearance of one or more physical objects; an environment map building unit for building an environment map based on an input image obtained by imaging a real space and the feature data, the environment map representing a position of a physical object present in the real space; a control unit for acquiring procedure data for a set of procedures of operation to be performed in the real space, the procedure data defining a correspondence between a direction for each procedure and position information designating a position at which the direction is to be displayed; and a superimposing unit for generating an output image by superimposing the direction for each procedure at a position in the input image determined based on the environment map and the position information, using the procedure data.

摘要翻译： 提供了一种图像处理装置，包括：数据存储单元，存储指示一个或多个物理对象的外观特征的特征数据; 环境地图构建单元，用于基于通过对实际空间进行成像获得的输入图像和特征数据构建环境地图，所述环境地图表示存在于所述实际空间中的物理对象的位置; 控制单元，用于获取用于在实际空间中执行的一组操作程序的过程数据，所述过程数据定义每个过程的方向与指定要显示方向的位置的位置信息之间的对应关系; 以及叠加单元，用于通过使用过程数据在基于环境地图确定的输入图像中的位置和位置信息上叠加用于每个过程的方向来生成输出图像。

公开(公告)号：US08345925B2

公开(公告)日：2013-01-01

申请号：US12983424

申请日：2011-01-03

申请人： Masaki Fukuchi ,  Kouichi Matsuda ,  Yasuhiro Suto ,  Kenichiro Oi ,  Jingjing Guo

发明人： Masaki Fukuchi ,  Kouichi Matsuda ,  Yasuhiro Suto ,  Kenichiro Oi ,  Jingjing Guo

IPC分类号： G06K9/00 ,  G06F19/00

CPC分类号： G06F3/005 ,  G06K9/3241 ,  G08C2201/20 ,  H04N5/4403 ,  H04N21/4108 ,  H04N21/42204 ,  H04N21/42209 ,  H04N21/4222 ,  H04N21/42222 ,  H04N21/4223 ,  H04N21/43615 ,  H04N21/44008 ,  H04N2005/4408 ,  H04N2005/4428 ,  H04N2005/4435

摘要： There is provided an image processing device including: a data storage unit that stores object identification data for identifying an object operable by a user and feature data indicating a feature of appearance of each object; an environment map storage unit that stores an environment map representing a position of one or more objects existing in a real space and generated based on an input image obtained by imaging the real space using an imaging device and the feature data stored in the data storage unit; and a selecting unit that selects at least one object recognized as being operable based on the object identification data, out of the objects included in the environment map stored in the environment map storage unit, as a candidate object being a possible operation target by a user.

公开(公告)号：US20110187726A1

公开(公告)日：2011-08-04

申请号：US13015566

申请日：2011-01-27

申请人： YASUHIRO SUTO ,  Kouichi Matsuda ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo

发明人： YASUHIRO SUTO ,  Kouichi Matsuda ,  Masaki Fukuchi ,  Kenichiro Oi ,  Jingjing Guo

IPC分类号： G06T13/00

CPC分类号： G06T13/00

摘要： There is provided an image processing device including: a data storage unit having feature data stored therein, the feature data indicating a feature of appearance of one or more physical objects; an environment map building unit for building an environment map based on an input image obtained by imaging a real space using an imaging device and the feature data stored in the data storage unit, the environment map representing a position of a physical object present in the real space; an information generating unit for generating animation data for displaying a status of communication via a communication interface on a screen, using the environment map built by the environment map building unit; and an image superimposing unit for generating an output image by superimposing an animation according to the animation data generated by the information generating unit on the input image.

摘要翻译： 提供了一种图像处理装置，包括：具有存储在其中的特征数据的数据存储单元，所述特征数据指示一个或多个物理对象的外观特征; 环境地图构建单元，用于基于通过使用成像装置对存在的真实空间进行成像获得的输入图像和存储在数据存储单元中的特征数据来构建环境地图，所述环境地图表示存在于实际中的物理对象的位置 空间; 信息生成单元，使用由环境地图建立单元构成的环境地图，生成用于通过屏幕上的通信接口显示通信状态的动画数据; 以及图像叠加单元，用于通过根据由信息生成单元生成的动画数据将动画叠加在输入图像上来生成输出图像。

公开(公告)号：US20110170742A1

公开(公告)日：2011-07-14

申请号：US12983424

申请日：2011-01-03

申请人： Masaki Fukuchi ,  Kouichi Matsuda ,  Yasuhiro Suto ,  Kenichiro Ol ,  Jingjing Guo

发明人： Masaki Fukuchi ,  Kouichi Matsuda ,  Yasuhiro Suto ,  Kenichiro Ol ,  Jingjing Guo

IPC分类号： G06K9/00

CPC分类号： G06F3/005 ,  G06K9/3241 ,  G08C2201/20 ,  H04N5/4403 ,  H04N21/4108 ,  H04N21/42204 ,  H04N21/42209 ,  H04N21/4222 ,  H04N21/42222 ,  H04N21/4223 ,  H04N21/43615 ,  H04N21/44008 ,  H04N2005/4408 ,  H04N2005/4428 ,  H04N2005/4435

摘要： There is provided an image processing device including: a data storage unit that stores object identification data for identifying an object operable by a user and feature data indicating a feature of appearance of each object; an environment map storage unit that stores an environment map representing a position of one or more objects existing in a real space and generated based on an input image obtained by imaging the real space using an imaging device and the feature data stored in the data storage unit; and a selecting unit that selects at least one object recognized as being operable based on the object identification data, out of the objects included in the environment map stored in the environment map storage unit, as a candidate object being a possible operation target by a user.

摘要翻译： 提供了一种图像处理装置，包括：数据存储单元，其存储用于识别用户可操作的对象的对象标识数据和指示每个对象的外观特征的特征数据; 环境地图存储单元，其存储表示存在于实际空间中并且基于通过使用成像装置对实际空间进行成像而获得的输入图像生成的一个或多个对象的位置的环境地图，以及存储在数据存储单元中的特征数据 ; 以及选择单元，其基于所述对象识别数据选择被识别为可操作的对象，所述对象包括在存储在所述环境地图存储单元中的环境地图中的对象中，作为由用户可能的操作对象的候选对象 。

公开(公告)号：US20110044504A1

公开(公告)日：2011-02-24

申请号：US12855075

申请日：2010-08-12

申请人： Kenichiro OI ,  Masaki Fukuchi

发明人： Kenichiro OI ,  Masaki Fukuchi

IPC分类号： G06K9/00

CPC分类号： G06T7/0042 ,  G06T7/73

摘要： An information processing device, including: a three-dimensional information generating section for obtaining position and attitude of a moving camera or three-dimensional positions of feature points by successively receiving captured images from different viewpoints, and updating status data using observation information which includes tracking information of the feature points, the status data including three-dimensional positions of the feature points within the images and position and attitude information of the camera; and a submap generating section for generating submaps by dividing an area for which the three-dimensional position is to be calculated. The three-dimensional information generating section obtains position and attitude of the camera or three-dimensional positions of the feature points by generating status data corresponding to the submaps not including information about feature points outside of a submap area for each of the generated submaps and updating the generated status data corresponding to the submaps.

摘要翻译： 一种信息处理设备，包括：三维信息产生部分，用于通过从不同视点连续接收捕获的图像来获得运动相机的位置和姿态或特征点的三维位置，以及使用包括跟踪的观察信息来更新状态数据 特征点的信息，包括图像内的特征点的三维位置的状态数据以及相机的位置和姿态信息; 以及子图生成部，其通过划分要计算三维位置的区域来生成子图。 三维信息生成部通过生成与不包含关于每个生成的子图下的子图区域以外的特征点的信息对应的状态数据，来获取相机的位置和姿态或特征点的三维位置，并且更新 生成的状态数据对应于子地图。

公开(公告)号：US07873447B2

公开(公告)日：2011-01-18

申请号：US11745947

申请日：2007-05-08

申请人： Kenichiro Oi ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

发明人： Kenichiro Oi ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

IPC分类号： G06F17/00

CPC分类号： G01C21/12 ,  G01C22/02

摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.

摘要翻译： 本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。 位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测 错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或 基于正确位置预测的移动物体的姿态。

公开(公告)号：US20070265741A1

公开(公告)日：2007-11-15

申请号：US11745947

申请日：2007-05-08

申请人： Kenichiro OI ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

发明人： Kenichiro OI ,  Masahiro Fujita ,  Takayuki Yoshigahara ,  Steffen Gutmann ,  Masaki Fukuchi

IPC分类号： G06F17/10

CPC分类号： G01C21/12 ,  G01C22/02

摘要： The present invention provides a position estimation apparatus capable of determining whether an estimated value deviates from an actual value and trying a process to correct the estimated value if the estimated value is determined to be incorrect. The position estimation apparatus employs a position prediction unit configured to produce a prediction of the position of a mobile object having an odometry sensor mounted thereon, an environment observation unit configured to keep track of each feature point in the environment of the mobile object, a prediction-error check unit configured to determine whether the position prediction produced by the position prediction unit is correct or incorrect, a position-prediction correction unit configured to correct a wrong position prediction and a position/posture updating unit configured to update the position and/or posture of the mobile object on the basis of a correct position prediction.

摘要翻译： 本发明提供一种位置估计装置，其能够确定估计值是否偏离实际值，并且如果估计值被确定为不正确则尝试过程来校正估计值。 位置估计装置使用位置预测单元，其被配置为产生安装有测距传感器的移动体的位置的预测，环境观测单元，被配置为跟踪移动体的环境中的每个特征点，预测 错误检查单元，被配置为确定位置预测单元产生的位置预测是正确还是不正确;位置预测校正单元，被配置为校正错误的位置预测;以及位置/姿势更新单元，被配置为更新位置和/或 基于正确位置预测的移动物体的姿态。

公开(公告)号：US08861785B2

公开(公告)日：2014-10-14

申请号：US12855075

申请日：2010-08-12

申请人： Kenichiro Oi ,  Masaki Fukuchi

发明人： Kenichiro Oi ,  Masaki Fukuchi

IPC分类号： G06K9/00 ,  G06T7/00

CPC分类号： G06T7/0042 ,  G06T7/73

摘要： An information processing device, including: a three-dimensional information generating section for obtaining position and attitude of a moving camera or three-dimensional positions of feature points by successively receiving captured images from different viewpoints, and updating status data using observation information which includes tracking information of the feature points, the status data including three-dimensional positions of the feature points within the images and position and attitude information of the camera; and a submap generating section for generating submaps by dividing an area for which the three-dimensional position is to be calculated. The three-dimensional information generating section obtains position and attitude of the camera or three-dimensional positions of the feature points by generating status data corresponding to the submaps not including information about feature points outside of a submap area for each of the generated submaps and updating the generated status data corresponding to the submaps.

摘要翻译： 一种信息处理设备，包括：三维信息产生部分，用于通过从不同视点连续接收捕获的图像来获得运动相机的位置和姿态或特征点的三维位置，以及使用包括跟踪的观察信息来更新状态数据 特征点的信息，包括图像内的特征点的三维位置的状态数据以及相机的位置和姿态信息; 以及子图生成部，其通过划分要计算三维位置的区域来生成子图。 三维信息生成部通过生成与不包含关于每个生成的子图下的子图区域以外的特征点的信息对应的状态数据，来获取相机的位置和姿态或特征点的三维位置，并且更新 生成的状态数据对应于子地图。