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1. 发明申请

US20120044327A1 DEVICE FOR ACQUIRING STEREO IMAGE 审中-公开
标题翻译：用于获取立体图像的装置
公开(公告)号：US20120044327A1
公开(公告)日：2012-02-23
申请号：US13318672
申请日：2010-04-28
申请人： Shinichi Horita , Hironori Sumitomo , Hiroshi Yamato
发明人： Shinichi Horita , Hironori Sumitomo , Hiroshi Yamato
IPC分类号： H04N13/02
CPC分类号： G01C11/06 , H04N5/772 , H04N9/8042 , H04N13/189 , H04N13/296 , H04N2013/0081
摘要： Disclosed is an inexpensive device for acquiring a stereo image, in which base data is generated and recorded from an image captured by a base camera according to a first frame rate, and reference data is generated and recorded from an image captured by a reference camera according to a second frame rate which is the same as the first frame rate or lower than the first frame rate, the second frame rate dynamically determined depending on the status of a vehicle or the periphery thereof during the image-capturing, and thereby the device can record a stereo image with high image quality and acquire highly accurate distance information, and can also eliminate the need for an expensive storage medium or an expensive electronic circuit.
摘要翻译：公开了一种用于获取立体图像的廉价装置，其中根据第一帧速率从基本相机拍摄的图像生成和记录基本数据，并且从由参考摄像机拍摄的图像生成和记录参考数据，到与第一帧速率相同或低于第一帧速率的第二帧速率，第二帧速率根据车辆的状态或图像捕获期间的周边动态地确定，从而设备可以记录具有高图像质量的立体图像，并获得高精度的距离信息，并且还可以消除对昂贵的存储介质或昂贵的电子电路的需要。

2. 发明申请

US20070078624A1 Method and system for three-dimensional measurement and method and device for controlling manipulator 失效
标题翻译：用于三维测量的方法和系统以及用于控制机械手的方法和装置
公开(公告)号：US20070078624A1
公开(公告)日：2007-04-05
申请号：US11527283
申请日：2006-09-26
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G06F15/00
CPC分类号： G01B11/25 , G01B11/002
摘要： A method and system are provided which can easily determine relative positions and postures of a three-dimensional measurement device and an object when the measurement device is used to measure the object using a manipulator. The method includes fixing one of the measurement device and the object, supporting the other at a support point with the manipulator so that a position and support posture of the other can be changed, conducting first measurement with the support point being set to first position and posture, changing the support point to second position and posture so that the second position is a position where the posture is changed, about a reference position within a measurable area of the measurement device in the first measurement, to an opposite side by a degree equal to a portion corresponding to a change from the first posture to the second posture, and conducting second measurement.
摘要翻译：提供了一种方法和系统，其可以容易地确定当使用测量装置使用操纵器测量物体时三维测量装置和物体的相对位置和姿势。所述方法包括固定所述测量装置和所述物体中的一个，在所述操纵器的支撑点处支撑另一个，使得可以改变所述另一个的位置和支撑姿势，在所述支撑点被设置为第一位置的情况下进行第一测量，以及将支撑点改变为第二位置和姿势，使得第二位置是在第一测量中围绕测量装置的可测量区域内的参考位置改变姿势的位置，相对于等于到对应于从第一姿势到第二姿势的变化的部分，并进行第二测量。

3. 发明授权

US07880899B2 Three-dimensional measurement system, inspection method, three-dimensional measurement method and program 有权
标题翻译：三维测量系统，检测方法，三维测量方法和程序
公开(公告)号：US07880899B2
公开(公告)日：2011-02-01
申请号：US11338557
申请日：2006-01-24
申请人： Shinichi Horita , Osamu Toyama , Koichi Fujiwara
发明人： Shinichi Horita , Osamu Toyama , Koichi Fujiwara
IPC分类号： G01B11/14 , G01B11/24
CPC分类号： G01B11/2522
摘要： A three-dimensional measurement system comprises: a three-dimensional measuring device for obtaining measurement data related to the three-dimensional shape of a target object for measurement; a specification part for specifying a primitive of the target object based on annotation information contained in CAD data; and a controller for controlling the three-dimensional measuring device based on the primitive specified by the specification part.
摘要翻译：三维测量系统包括：三维测量装置，用于获得与目标物体的三维形状有关的测量数据; 用于基于包含在CAD数据中的注释信息来指定目标对象的原语的规范部分; 以及用于基于由说明书部分指定的原语来控制三维测量装置的控制器。

4. 发明授权

US07148904B2 Method and apparatus for merging meshes, and computer readable medium 有权
标题翻译：用于合并网格的方法和装置，以及计算机可读介质
公开(公告)号：US07148904B2
公开(公告)日：2006-12-12
申请号：US10716496
申请日：2003-11-20
申请人： Shinichi Horita , Koichi Fujiwara , Eiro Fujii , Koji Fujiwara , Osamu Toyama
发明人： Shinichi Horita , Koichi Fujiwara , Eiro Fujii , Koji Fujiwara , Osamu Toyama
IPC分类号： G09G5/00
CPC分类号： G06T17/20
摘要： A method and an apparatus are provided for merging two meshes whose density differs from each other so as to avoid unnatural appearance. A first mesh and a second mesh that differ from each other in density are merged by the following procedure. Edge length of a portion that becomes a boundary between the first and second meshes is determined, size of a first group of polygons including the edge of the portion is determined based on the determined length and size of a second group of polygons is adjusted so that an adjustment ratio is smaller as a distance between a position of each of the second group of polygons and the portion is greater, the first and second group of polygons being part of polygons structuring the first and second meshes, and the first and second meshes in each of which the polygons are adjusted are merged.
摘要翻译：提供了一种用于合并密度彼此不同的两个网格的方法和装置，以避免不自然的外观。通过以下步骤合并第一网格和密度彼此不同的第二网格。确定成为第一和第二网格之间的边界的部分的边缘长度，基于确定的第二组多边形的长度和大小来确定包括该部分的边缘的第一组多边形的大小，使得第二组多边形的位置与部分之间的距离越大，第一和第二组多边形是构成第一和第二网格的多边形的一部分，并且第一和第二网格在其中的每一个被调整的多边形被合并。

5. 发明授权

US07724380B2 Method and system for three-dimensional measurement 有权
标题翻译：三维测量方法和系统
公开(公告)号：US07724380B2
公开(公告)日：2010-05-25
申请号：US11434310
申请日：2006-05-15
申请人： Shinichi Horita , Yoshihisa Abe
发明人： Shinichi Horita , Yoshihisa Abe
IPC分类号： G06K5/00
CPC分类号： G06T7/579 , G06T2200/08
摘要： A three-dimensional measurement method is provided for measuring an object shape in a non-contact manner by using a non-contact sensor and a sensor moving mechanism that changes a position and a posture of the sensor and can operate by numerical control, moving the non-contact sensor in accordance with measurement path information indicating plural positions and postures of the sensor at the respective positions. The measurement path information is set in advance by teaching. The method includes performing preliminary three-dimensional measurement of the object in accordance with preliminary measurement path information, using shape data obtained by the preliminary three-dimensional measurement and shape data of an imaginary object as a measurement target in the teaching to detect positioning error between the object and the imaginary object, modifying the measurement path information depending on the detected positioning error, and performing three-dimensional measurement of the object in accordance with the modified measurement path information.
摘要翻译：提供一种三维测量方法，用于通过使用改变传感器的位置和姿势并且可以通过数字控制操作的非接触传感器和传感器移动机构以非接触的方式测量物体形状，根据测量路径信息指示传感器在各个位置处的多个位置和姿势的非接触式传感器。通过教学预先设定测量路径信息。该方法包括根据初步测量路径信息，使用通过初步三维测量获得的形状数据和虚拟对象的形状数据作为测量对象来执行对象的初步三维测量，以检测教学中的定位误差物体和虚拟物体，根据检测出的定位误差来修正测量路径信息，并根据修改的测量路径信息进行物体的三维测量。

6. 发明授权

US07715020B2 Three-dimensional shape measuring system 有权
标题翻译：三维形状测量系统
公开(公告)号：US07715020B2
公开(公告)日：2010-05-11
申请号：US11811781
申请日：2007-06-12
申请人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
发明人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24 , G01B11/30
CPC分类号： G01B11/2518
摘要： A three-dimensional shape measuring system is provided with a measuring unit having a three-dimensional measurement range and adapted to measure the three-dimensional shape of a measurement object in a noncontact manner, a measurement range shifting unit for shifting the position of the measurement range of the measuring unit, a shape calculating unit for calculating the overall three-dimensional shape of the measurement object from a plurality of measurement data obtained by shifting the measurement range relative to the measurement object, and a judging unit for setting judgment areas in specified peripheral areas within the measurement range and judging the presence or absence of any unmeasured area of the measurement object outside the measurement range based on measurement data corresponding to the judgment areas. The measurement range shifting unit shifts the position of the measurement range in a direction toward the unmeasured area when the presence of the unmeasured area is judged by the judging unit.
摘要翻译：三维形状测量系统具有测量单元，该测量单元具有三维测量范围并适于以非接触方式测量测量对象的三维形状;测量范围移动单元，用于移动测量位置测量单元的范围，形状计算单元，用于根据通过相对于测量对象移动测量范围而获得的多个测量数据来计算测量对象的整体三维形状;以及判断单元，用于设置指定的测量对象的测量范围在测量范围内的外围区域，并且基于与判断区域相对应的测量数据，判断测量范围之外的测量对象的任何未测量区域的存在或不存在。当判断单元判断存在未测量区域时，测量范围移动单元将测量范围的位置朝向未测量区域的方向移动。

7. 发明申请

US20070291281A1 Three-dimensional shape measuring system 有权
标题翻译：三维形状测量系统
公开(公告)号：US20070291281A1
公开(公告)日：2007-12-20
申请号：US11811781
申请日：2007-06-12
申请人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
发明人： Wataru Yamaguchi , Shinichi Horita , Yoshihisa Abe
IPC分类号： G01B11/24
CPC分类号： G01B11/2518
摘要： A three-dimensional shape measuring system is provided with a measuring unit having a three-dimensional measurement range and adapted to measure the three-dimensional shape of a measurement object in a noncontact manner, a measurement range shifting unit for shifting the position of the measurement range of the measuring unit, a shape calculating unit for calculating the overall three-dimensional shape of the measurement object from a plurality of measurement data obtained by shifting the measurement range relative to the measurement object, and a judging unit for setting judgment areas in specified peripheral areas within the measurement range and judging the presence or absence of any unmeasured area of the measurement object outside the measurement range based on measurement data corresponding to the judgment areas. The measurement range shifting unit shifts the position of the measurement range in a direction toward the unmeasured area when the presence of the unmeasured area is judged by the judging unit.
摘要翻译：三维形状测量系统具有测量单元，该测量单元具有三维测量范围并适于以非接触方式测量测量对象的三维形状;测量范围移动单元，用于移动测量位置测量单元的范围，形状计算单元，用于根据通过相对于测量对象移动测量范围而获得的多个测量数据来计算测量对象的整体三维形状;以及判断单元，用于设置指定的测量对象的测量范围在测量范围内的外围区域，并且基于与判断区域相对应的测量数据，判断测量范围之外的测量对象的任何未测量区域的存在或不存在。当判断单元判断存在未测量区域时，测量范围移动单元将测量范围的位置朝向未测量区域的方向移动。

8. 发明申请

US20060291724A1 Region extraction system, region extraction method and program 有权
标题翻译：区域提取系统，区域提取方法和程序
公开(公告)号：US20060291724A1
公开(公告)日：2006-12-28
申请号：US11471778
申请日：2006-06-21
申请人： Koichi Fujiwara , Osamu Toyama , Shinichi Horita
发明人： Koichi Fujiwara , Osamu Toyama , Shinichi Horita
IPC分类号： G06K9/00
CPC分类号： G06K9/6207 , G06K9/342 , G06K9/4638 , G06K2209/05 , G06T7/12 , G06T7/149 , G06T7/187 , G06T7/66 , G06T2207/10072 , G06T2207/20116 , G06T2207/30004
摘要： A region extraction system includes a temporary region extractor for temporarily extracting a to-be-extracted region from measured data with a region growing technique, an initial position determiner for determining an initial position of a standard model for the to-be-extracted region using the to-be-extracted region temporarily extracted, and a to-be-extracted region extractor for extracting the to-be-extracted region from the measured data with a model fitting technique using the standard model.
摘要翻译：一种区域提取系统包括一个临时区域提取器，用于利用区域生长技术临时提取来自测量数据的提取区域;初始位置确定器，用于确定待提取区域的标准模型的初始位置，使用临时提取的被提取区域和用于使用标准模型的模拟拟合技术从测量数据中提取待提取区域的提取区域提取器。

9. 发明授权

US06992665B2 Method and device for fitting surface to point group, modeling device, and computer program 有权
公开(公告)号：US06992665B2
公开(公告)日：2006-01-31
申请号：US09816405
申请日：2001-03-26
申请人： Osamu Toyama , Shinichi Horita , Eiro Fujii
发明人： Osamu Toyama , Shinichi Horita , Eiro Fujii
IPC分类号： G06T15/00
CPC分类号： G06F17/175
摘要： The present invention provides a method for fitting a surface to a point group using computer. The method enables to prevent an improper modification or an erroneous modification even when the point group includes a point having a low reliability, thus to achieve proper modification. The method comprises a first step for judging reliability of each of points composing the point group and a second step for changing the method for fitting the surface to the point group based on the result of judgment of the first step. In the second step, the method for fitting is changed by varying weights of the points based on the reliabilities.

10. 发明申请

US20050017987A1 Method and apparatus for merging meshes, and computer readable medium 有权
标题翻译：用于合并网格的方法和装置，以及计算机可读介质
公开(公告)号：US20050017987A1
公开(公告)日：2005-01-27
申请号：US10716496
申请日：2003-11-20
申请人： Shinichi Horita , Koichi Fujiwara , Eiro Fujii , Koji Fujiwara , Osamu Toyama
发明人： Shinichi Horita , Koichi Fujiwara , Eiro Fujii , Koji Fujiwara , Osamu Toyama
IPC分类号： G06F17/50 , G06T17/20 , G09G5/00
CPC分类号： G06T17/20
摘要： A method and an apparatus are provided for merging two meshes whose density differs from each other so as to avoid unnatural appearance. A first mesh and a second mesh that differ from each other in density are merged by the following procedure. Edge length of a portion that becomes a boundary between the first and second meshes is determined, size of a first group of polygons including the edge of the portion is determined based on the determined length and size of a second group of polygons is adjusted so that an adjustment ratio is smaller as a distance between a position of each of the second group of polygons and the portion is greater, the first and second group of polygons being part of polygons structuring the first and second meshes, and the first and second meshes in each of which the polygons are adjusted are merged.
摘要翻译：提供了一种用于合并密度彼此不同的两个网格的方法和装置，以避免不自然的外观。通过以下步骤合并第一网格和密度彼此不同的第二网格。确定成为第一和第二网格之间的边界的部分的边缘长度，基于确定的第二组多边形的长度和尺寸来确定包括该部分的边缘的第一组多边形的大小，使得第二组多边形的位置与部分之间的距离越大，第一和第二组多边形是构成第一和第二网格的多边形的一部分，并且第一和第二网格在其中的每一个被调整的多边形被合并。

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