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1. 发明授权

US09208395B2 Position and orientation measurement apparatus, position and orientation measurement method, and storage medium 有权
标题翻译：位置和方向测量装置，位置和方向测量方法以及存储介质
公开(公告)号：US09208395B2
公开(公告)日：2015-12-08
申请号：US13811776
申请日：2011-08-12
申请人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
发明人： Masakazu Fujiki , Yusuke Nakazato , Shinji Uchiyama
IPC分类号： G06K9/32 , G01B11/00 , G06T7/00
CPC分类号： G06K9/3241 , G01B11/002 , G06T7/75 , G06T2207/10004
摘要： An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.
摘要翻译：一种装置包括：提取装置，用于提取在所获得的二维图像中遮挡被照射到目标物体上的照明被遮挡的遮挡区域; 投影装置，用于基于目标对象的位置/取向的近似值将构成三维模型的线段投影到二维图像上; 关联装置，用于将构成投影线段的点与构成二维图像中的边缘的点相关联; 确定装置，用于确定构成二维图像中的边缘的相关联点是否存在于封闭区域内; 以及测量装置，用于基于构成投影线段的点和构成边缘的点之间的二维图像上的距离来测量目标对象的位置/取向，该点与该对相关联，并且确定结果。

2. 发明授权

US09182221B2 Information processing apparatus and information processing method 有权
标题翻译：信息处理装置和信息处理方法
公开(公告)号：US09182221B2
公开(公告)日：2015-11-10
申请号：US13493344
申请日：2012-06-11
申请人： Yusuke Nakazato , Shinji Uchiyama
发明人： Yusuke Nakazato , Shinji Uchiyama
IPC分类号： G06F19/00 , G01B11/25
CPC分类号： G01B11/25
摘要： An information processing apparatus includes an acquisition unit configured to acquire a plurality of positions on a surface of a measurement target object using information of light reflected from the measurement target object on which structured light is projected, a position of a light source of the structured light, and a position of a light reception unit configured to receive the reflected light and acquire the information of the reflected light, a calculation unit configured to acquire at least one of a position and a direction on the surface of the measurement target object based on the plurality of the positions, and a correction unit configured to correct at least one of the plurality of the positions based on information about an error in measurement for acquiring the plurality of the positions and at least one of the position and the direction on the surface of the measurement target object.
摘要翻译：一种信息处理装置，包括获取单元，被配置为使用从其上投射有结构光的测量对象物体反射的光的信息获取测量对象物体的表面上的多个位置，结构化光的光源的位置以及被配置为接收所述反射光并获取所述反射光的信息的光接收单元的位置，所述计算单元被配置为基于所述测量对象物体的表面获取所述测量对象物体的表面上的位置和方向中的至少一个多个位置，以及校正单元，被配置为基于关于用于获取多个位置的测量误差的信息来校正多个位置中的至少一个，并且至少一个位置和方向在表面上测量目标对象。

3. 发明授权

US08483424B2 Information processing apparatus, processing method thereof, and computer-readable storage medium 有权
公开(公告)号：US08483424B2
公开(公告)日：2013-07-09
申请号：US12627279
申请日：2009-11-30
申请人： Daisuke Kotake , Shinji Uchiyama
发明人： Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T2207/30244
摘要： An information processing apparatus that calculates information on a position and an orientation of an image capture device relative to an object captured by the image capture device, holds three-dimensional information including a plurality of line segments that constitute the object, acquires an image of the object captured by the image capture device, detects an image feature indicating a line segment from the acquired image, calculates a position and orientation of the image capture device based on correspondence between the image feature indicating the detected line segment and the held line segment, and determines, for each of the held line segments, whether to use the line segment for the calculation of the position and orientation thereafter, based on at least one of a result of detection of the image feature, and information acquired in the calculation of the position and orientation.

4. 发明申请

US20130010070A1 INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD 有权
标题翻译：信息处理设备和信息处理方法
公开(公告)号：US20130010070A1
公开(公告)日：2013-01-10
申请号：US13538437
申请日：2012-06-29
申请人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06K9/00 , H04N13/02
CPC分类号： B25J9/1697 , G01B11/002 , G05B2219/37425 , G05B2219/40548 , G06T7/75 , G06T2207/10021 , G06T2207/30108
摘要： An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference amount.
摘要翻译：一种被配置为使用成像装置估计测量对象的位置和姿态的信息处理装置，包括近似位置和方向输入单元，被配置为输入成像装置和测量对象之间的相对近似位置和取向，第一位置和方向更新单元，被配置为通过将三维形状模型与拍摄图像相匹配来更新近似位置和取向;位置和方位差信息输入单元，被配置为计算并获取所述成像装置相对于所述测量的位置和方位差量已经在成像装置捕获了测量对象的图像之后或者在获取了最后位置和方位差异信息之后已经移动的对象，以及被配置为基于位置和方向来更新大致位置和取向的第二位置和方位更新单元，取向差值。

5. 发明申请

US20120275654A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND PROGRAM 有权
标题翻译：位置和方向测量装置，位置和方位测量方法和程序
公开(公告)号：US20120275654A1
公开(公告)日：2012-11-01
申请号：US13517164
申请日：2011-02-23
申请人： Masakazu Fujiki , Shinji Uchiyama
发明人： Masakazu Fujiki , Shinji Uchiyama
IPC分类号： G06K9/36
CPC分类号： G06T7/75 , G05B2219/37205 , G05B2219/40564 , G06T17/00 , G06T2207/10028 , G06T2207/30164
摘要： A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.
摘要翻译：一种用于测量目标对象的位置和方向的位置和方向测量装置，包括：第一搜索单元，其在几何模型中搜索与范围图像中的丢失图像区域相对应的丢失模型区域;确定单元，其确定是否对应于目标对象的范围图像上的像素的几何模型上的点落在丢失的模型区域内;校正单元，其校正范围图像上的像素的组合和被确定为落入丢失模型区域内的对应点以及计算单元，其基于所述范围图像上的像素的校正组合和所述几何模型上的点来计算所述目标对象的位置和取向。

6. 发明申请

US20120033071A1 POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM 有权
标题翻译：位置和方位测量装置，位置和方位测量方法和存储介质
公开(公告)号：US20120033071A1
公开(公告)日：2012-02-09
申请号：US13195478
申请日：2011-08-01
申请人： Kazuhiko Kobayashi , Shinji Uchiyama
发明人： Kazuhiko Kobayashi , Shinji Uchiyama
IPC分类号： H04N7/18
CPC分类号： G01B11/002 , G01B11/25 , G01S5/163
摘要： A position and orientation measurement apparatus comprises: a distance information obtaining unit adapted to obtain distance information of a target object captured by a capturing unit; a grayscale image obtaining unit adapted to obtain a grayscale image of the target object; a first position and orientation estimation unit adapted to estimate a position and orientation of the target object based on the information of a three-dimensional shape model and the distance information; a second position and orientation estimation unit adapted to estimate a position and orientation of the target object based on a geometric feature of the grayscale image and projection information obtained by projecting, on the grayscale image, the information of the three-dimensional shape model; and a determination unit adapted to determine whether a parameter of the capturing unit is needed to be calibrated or not, based on both a first and second estimated values.
摘要翻译：位置和姿势测量装置包括：距离信息获取单元，用于获取由拍摄单元拍摄的目标对象的距离信息; 灰度图像获取单元，其适于获得所述目标对象的灰度图像; 第一位置和姿态估计单元，其适于基于三维形状模型和距离信息的信息来估计目标对象的位置和姿态; 第二位置和姿势估计单元，其适于基于灰度图像的几何特征和通过在灰度图像上投影三维形状模型的信息获得的投影信息来估计目标对象的位置和取向; 以及确定单元，其适于基于第一和第二估计值来确定捕获单元的参数是否需要被校准。

7. 发明授权

US07974462B2 Image capture environment calibration method and information processing apparatus 有权
标题翻译：图像捕获环境校准方法和信息处理设备
公开(公告)号：US07974462B2
公开(公告)日：2011-07-05
申请号：US11835735
申请日：2007-08-08
申请人： Kazuki Takemoto , Shinji Uchiyama , Takaaki Endo
发明人： Kazuki Takemoto , Shinji Uchiyama , Takaaki Endo
IPC分类号： G06K9/00 , G06T15/00
CPC分类号： H04N13/246 , G06T7/80 , G06T2207/30208
摘要： In a method of calibrating an image capture environment based on a captured image obtained by capturing an image of a physical space by an image capturing unit that captures the image of the physical space, an image of the physical space is captured using the image capturing unit, an index serving as a reference for calibration is detected from the captured image of the physical space, the position and orientation of the image capturing unit are calculated from the detected index, and image capturing unit unique information, geometric information associated with the physical space, or the relationship between the image capturing unit and the physical space is calibrated using the obtained data.
摘要翻译：在基于通过捕获物理空间的图像的图像捕获单元捕获物理空间的图像获得的拍摄图像来校准图像捕获环境的方法中，使用图像捕获单元捕获物理空间的图像从所捕获的物理空间的图像中检测出用于校准的基准的索引，根据检测到的索引计算图像拍摄单元的位置和方向，并且，图像捕获单元的唯一信息，与物理空间相关联的几何信息，或者使用获得的数据校正图像捕获单元和物理空间之间的关系。

8. 发明授权

US07860345B2 Position and orientation measurement method and position and orientation measurement apparatus 有权
标题翻译：位置和方向测量方法以及位置和方向测量装置
公开(公告)号：US07860345B2
公开(公告)日：2010-12-28
申请号：US11690914
申请日：2007-03-26
申请人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
发明人： Kiyohide Satoh , Shinichi Aratani , Shinji Uchiyama , Kenji Morita , Rika Takemoto
IPC分类号： G06K9/36 , G06K7/00 , H04N5/225
CPC分类号： G06T7/246 , G06T7/73 , G06T2207/10016 , G06T2207/30241 , G06T2207/30244
摘要： The first values of position and orientation of an image sensing device are obtained by using positions of all indices in a frame image. Indices having the same inherent information between a first index group (FIG) in the frame image and a second index group (SIG) in a preceding frame image are detected as a common index. If the information of the SIG contains information different from that of the FIG, second values of the position and orientation are obtained by using the positions of the common indices in the preceding frame image. If the information of the FIG contains information different from that of the SIG, third values of the position and orientation are obtained by using the positions of the common indices in the frame image. The first values are corrected by using correction values based on the obtained first to third values.
摘要翻译：通过使用帧图像中的所有索引的位置来获得图像感测装置的位置和取向的第一值。在帧图像中的第一索引组（FIG）与前一帧图像中的第二索引组（SIG）之间具有相同固有信息的索引被检测为公共索引。如果SIG的信息包含与图的信息不同的信息，则通过使用前一帧图像中的公共索引的位置来获得位置和方位的第二值。如果FIG的信息包含与SIG的信息不同的信息，则通过使用帧图像中的公共索引的位置来获得位置和取向的第三值。通过使用基于获得的第一至第三值的校正值来校正第一值。

9. 发明授权

US07847844B2 Information processing apparatus and method for determining whether a detected index is an index included in sensed image data 有权
标题翻译：用于确定检测到的索引是否包括在感测图像数据中的信息的信息处理装置和方法
公开(公告)号：US07847844B2
公开(公告)日：2010-12-07
申请号：US11610797
申请日：2006-12-14
申请人： Kazuki Takemoto , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
发明人： Kazuki Takemoto , Kiyohide Satoh , Shinji Uchiyama , Masahiro Suzuki
IPC分类号： H04N9/077 , G06K9/00
CPC分类号： G06F3/0325
摘要： A sensed image of the physical space is acquired by an image sensing apparatus. One or more indices are detected from the sensed image. The reliability of each of the detected results is determined by calculating a first reliability value based on the sensed image and a second reliability value based on orientation information of the image sensing apparatus. Each of the detected indices is then identified based on its first and second reliability values.
摘要翻译：物理空间的感测图像由图像感测装置获取。从感测图像中检测一个或多个索引。通过基于感测图像计算第一可靠性值和基于图像感测装置的取向信息的第二可靠性值来确定每个检测结果的可靠性。然后基于其第一和第二可靠性值来识别检测到的每个索引。

10. 发明申请

US20100289797A1 POSITION AND ORIENTATION ESTIMATION APPARATUS AND METHOD 审中-公开
标题翻译：位置和方位估计装置和方法
公开(公告)号：US20100289797A1
公开(公告)日：2010-11-18
申请号：US12778385
申请日：2010-05-12
申请人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
发明人： Keisuke Tateno , Daisuke Kotake , Shinji Uchiyama
IPC分类号： G06T15/00
CPC分类号： G06T17/00 , G06T7/13 , G06T7/75 , G06T2207/30164
摘要： A position and orientation estimation apparatus detects correspondence between a real image obtained by an imaging apparatus by imaging a target object to be observed and a rendered image. The rendered image is generated by projecting a three dimensional model onto an image plane based on three dimensional model data expressing the shape and surface information of the target object, and position and orientation information of the imaging apparatus. The position and orientation estimation apparatus then calculates a relative position and orientation of the imaging apparatus and the target object to be observed based on the correspondence. Then, the surface information of the three dimensional model data is updated by associating image information of the target object to be observed in the real image with the surface information of the three dimensional model data, based on the calculated positions and orientations.
摘要翻译：位置和姿态估计装置通过对要观察的目标对象进行成像和渲染图像来检测由成像装置获得的实际图像之间的对应关系。基于表示目标对象的形状和表面信息的三维模型数据以及成像装置的位置和取向信息，将三维模型投影到图像平面上来生成渲染图像。然后，位置和姿势估计装置基于对应来计算成像装置和要观察的目标对象的相对位置和取向。然后，基于计算出的位置和方向，通过将实际图像中要观察的目标对象的图像信息与三维模型数据的表面信息相关联来更新三维模型数据的表面信息。

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