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1. 发明授权

US10713810B2 Information processing apparatus, method of controlling information processing apparatus, and storage medium 有权
公开(公告)号：US10713810B2
公开(公告)日：2020-07-14
申请号：US15623615
申请日：2017-06-15
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Masahiro Suzuki
IPC分类号： G06K9/00 , G06T7/70 , G06T7/521 , G06K9/20 , H04N13/239 , H04N13/271 , H04N13/254 , G06K9/62 , H04N5/247 , H04N13/00
摘要： An information processing apparatus, comprising: a control unit configured to control a pattern that a projection apparatus projects onto an object; an obtainment unit configured to obtain a plurality of images respectively captured at a plurality of times by a plurality of image capturing apparatuses that capture the object onto which the pattern has been projected; and a measurement unit configured to measure range information of the object by performing matching, between images respectively captured by the plurality of image capturing apparatuses, using information of temporal change of pixel values of the images.

2. 发明申请

US20190066333A1 INFORMATION PROCESSING APPARATUS, METHOD FOR CONTROLLING INFORMATION PROCESSING APPARATUS, AND STORAGE MEDIUM 审中-公开
公开(公告)号：US20190066333A1
公开(公告)日：2019-02-28
申请号：US16112991
申请日：2018-08-27
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Kazuhiko Kobayashi
IPC分类号： G06T7/77 , G06K9/00
摘要： An information processing apparatus comprising: at least one processor programmed to cause the apparatus to: hold label information regarding presence of a target object, the label information being set for the target object in an image; obtain a reliability of the label information; cause a display apparatus to display the label information and an image corresponding to the label information in the image, based on the reliability; accept an operation made by a user; and modify the label information based on the operation.

3. 发明申请

US20130245828A1 MODEL GENERATION APPARATUS, INFORMATION PROCESSING APPARATUS, MODEL GENERATION METHOD, AND INFORMATION PROCESSING METHOD 审中-公开
标题翻译：模型生成装置，信息处理装置，模型生成方法和信息处理方法
公开(公告)号：US20130245828A1
公开(公告)日：2013-09-19
申请号：US13788237
申请日：2013-03-07
申请人： CANON KABUSHIKI KAISHA
发明人： Keisuke Tateno , Hisayoshi Furihata , Shinji Uchiyama
IPC分类号： B25J9/16 , G06T17/00
CPC分类号： B25J9/1697 , G06K9/00214 , G06T7/75 , G06T17/00 , G06T2207/10004 , G06T2207/10012 , G06T2207/10028
摘要： A three-dimensional shape model of a target object is input. A position and orientation of at least one image sensing device used to capture an image of the target object is set so as to virtually set a relative position and orientation between the target object and the image sensing device for the three-dimensional shape model of the target object. At least one position and orientation of the image sensing device is selected. Geometric features are grouped based on a relationship between an image to be obtained at the selected position and orientation of the image sensing device and the geometric features of the three-dimensional shape model.
摘要翻译：输入目标对象的三维形状模型。设置用于捕获目标对象的图像的至少一个图像感测装置的位置和取向，以便虚拟地设置目标对象和图像感测装置之间的相对位置和取向，用于三维形状模型目标对象。选择图像感测装置的至少一个位置和取向。基于在所选择的位置获得的图像和图像感测装置的取向与三维形状模型的几何特征之间的关系来分组几何特征。

4. 发明授权

US10949988B2 Information processing apparatus, information processing method, and program 有权
公开(公告)号：US10949988B2
公开(公告)日：2021-03-16
申请号：US16096620
申请日：2017-04-07
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Masahiro Suzuki , Akihiro Katayama , Masakazu Fujiki
IPC分类号： G06T7/593 , G06K9/62
摘要： An information processing apparatus includes an acquiring unit configured to acquire first data and second data, a deriving unit configured to derive gradient data describing a gradient of correspondence data on the basis of the correspondence data describing a correspondence between partial data of the first data and partial data of the second data, and a propagating unit configured to propagate the correspondence data on the basis of the gradient data.

5. 发明申请

US20190156503A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND PROGRAM 审中-公开
公开(公告)号：US20190156503A1
公开(公告)日：2019-05-23
申请号：US16096620
申请日：2017-04-07
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Masahiro Suzuki , Akihiro Katayama , Masakazu Fujiki
IPC分类号： G06T7/593 , G06K9/62
摘要： An information processing apparatus includes an acquiring unit configured to acquire first data and second data, a deriving unit configured to derive gradient data describing a gradient of correspondence data on the basis of the correspondence data describing a correspondence between partial data of the first data and partial data of the second data, and a propagating unit configured to propagate the correspondence data on the basis of the gradient data.

6. 发明申请

US20160069669A1 INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM 有权
标题翻译：信息处理设备，信息处理方法和存储介质
公开(公告)号：US20160069669A1
公开(公告)日：2016-03-10
申请号：US14849422
申请日：2015-09-09
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Kazuhiko Kobayashi , Nozomu Kasuya
IPC分类号： G01B11/25 , G06K9/00
CPC分类号： G01B11/2536 , G06K9/00201 , G06T7/521
摘要： To measure a three-dimensional shape of a measurement target object at high speed, an information processing method includes acquiring a captured image captured by an imaging apparatus in a state where a pattern is projected onto the measurement target object, the pattern including a plurality of lines, identification information arranged on or between the lines to identify the lines, and a feature arranged between a plurality of the lines, identifying each line included in the captured image by acquiring a correspondence between each line included in the projected pattern and each line included in the captured image, determining a second region in the pattern corresponding to a first region between the lines in the captured image, and deriving a distance of the measurement target object by acquiring a correspondence between the first region and the determined second region.
摘要翻译：为了以高速度测量目标物体的三维形状，信息处理方法包括在图案投射到测量对象物体上的状态下获取由成像装置拍摄的拍摄图像，该图案包括多个排列在线之间或之间的标识信息，以及布置在多条线之间的特征，通过获取包括在投影图案中的每条线与包括的每条线之间的对应关系来识别捕获图像中包括的每条线在拍摄图像中，确定与拍摄图像中的线之间的第一区域对应的图案中的第二区域，并且通过获取第一区域和确定的第二区域之间的对应度来导出测量对象物体的距离。

7. 发明申请

US20150292863A1 INFORMATION PROCESSING APPARATUS, METHOD THEREFOR, AND MEASUREMENT APPARATUS 有权
标题翻译：信息处理装置，方法及测量装置
公开(公告)号：US20150292863A1
公开(公告)日：2015-10-15
申请号：US14682143
申请日：2015-04-09
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Masakazu Fujiki , Kazuhiko Kobayashi , Masahiro Suzuki
IPC分类号： G01B11/00 , G06T7/60 , H04N5/232 , G06T7/00 , G01B11/25 , G01J9/00
CPC分类号： H04N5/23216 , G01B11/2522 , G01J9/00 , G06T7/521 , G06T7/593 , G06T7/62 , G06T2207/20076
摘要： A spread degree of a geometric feature in a surface of an object to be measured is estimated. The geometric feature is included in a geometric pattern, and will be observed in an image obtained by capturing the object on which the geometric pattern is projected. A parameter is set based on the estimated spread degree. Based on the parameter, a point on the geometric pattern is set in a captured image obtained by capturing the object to be measured on which the geometric pattern is projected. A three-dimensional position on the surface of the object corresponding to the set point is calculated.
摘要翻译：估计被测量物体的表面中的几何特征的展开度。几何特征被包含在几何图案中，并且将在通过捕获其上投影几何图案的对象而获得的图像中观察。基于估计的扩展度设置参数。基于参数，将几何图案上的点设置在通过捕获其上投影几何图案的待测量对象而获得的捕获图像中。计算与设定点对应的物体表面上的三维位置。

8. 发明授权

US10203197B2 Range measurement apparatus and range measurement method 有权
公开(公告)号：US10203197B2
公开(公告)日：2019-02-12
申请号：US13914890
申请日：2013-06-11
申请人： CANON KABUSHIKI KAISHA
发明人： Yuichiro Hirota , Hisayoshi Furihata , Yusuke Nakazato
IPC分类号： G01B11/14 , G01B11/25
摘要： A region projected with pattern light in an image sensed by an image sensing unit which senses an image of a target object projected with pattern light is specified. Geometric features of the target object are searched for from a region other than the region projected with the pattern light in the sensed image based on the specified region. A position and orientation of the target object are derived based on the searched geometric features of the target object and geometric features of a model of the target object.

9. 发明授权

US10006762B2 Information processing apparatus, information processing method, and storage medium 有权
公开(公告)号：US10006762B2
公开(公告)日：2018-06-26
申请号：US15220030
申请日：2016-07-26
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata
IPC分类号： G06K9/00 , G01B11/25 , G06T7/521 , G06K9/20
CPC分类号： G01B11/254 , G06K9/00208 , G06K9/2036 , G06K2209/401 , G06T7/521
摘要： To measure a three-dimensional shape of a measurement target object at high speeds, an information processing apparatus is configured to acquire an image captured while a pattern including first features and a second feature is projected onto the measurement target object; identify the first features in the captured image, and acquire an initial value of shape information on the measurement target object in an area including the first features; set a candidate for the shape information in a first area based on an initial value of shape information in an area surrounding the first area; decide an area in the pattern corresponding to the first area as a second area, and evaluate a correlation between the second area and the first area based on the second feature in the first area and the second feature in the second area; and derive the shape information in the first area.

10. 发明申请

US20180005405A1 INFORMATION PROCESSING APPARATUS, METHOD OF CONTROLLING INFORMATION PROCESSING APPARATUS, AND STORAGE MEDIUM 审中-公开
公开(公告)号：US20180005405A1
公开(公告)日：2018-01-04
申请号：US15623615
申请日：2017-06-15
申请人： CANON KABUSHIKI KAISHA
发明人： Hisayoshi Furihata , Masahiro Suzuki
IPC分类号： G06T7/70 , H04N5/247 , G06K9/62
CPC分类号： G06T7/70 , G06K9/2036 , G06K9/6201 , G06K2009/6213 , G06T7/521 , H04N5/247 , H04N13/239 , H04N13/254 , H04N13/271 , H04N2013/0081
摘要： An information processing apparatus, comprising: a control unit configured to control a pattern that a projection apparatus projects onto an object; an obtainment unit configured to obtain a plurality of images respectively captured at a plurality of times by a plurality of image capturing apparatuses that capture the object onto which the pattern has been projected; and a measurement unit configured to measure range information of the object by performing matching, between images respectively captured by the plurality of image capturing apparatuses, using information of temporal change of pixel values of the images.

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