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1. 发明申请

US20070090189A1 Three-dimensional shape measuring apparatus, program, computer-readable recording medium, and three-dimensional shape measuring method 有权
标题翻译：三维形状测量装置，程序，计算机可读记录介质和三维形状测量方法
公开(公告)号：US20070090189A1
公开(公告)日：2007-04-26
申请号：US11584807
申请日：2006-10-20
申请人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K7/10
CPC分类号： G01B11/2522 , G06T7/521
摘要： A three-dimensional shape measuring apparatus of the invention is an apparatus which measures a three-dimensional shape of a target object by analyzing an optical pattern projected to the target object. The three-dimensional shape measuring apparatus includes a line sensor and an image analysis unit. The line sensor reads the target object, onto which the optical pattern is projected, as the image. The image analysis unit analyzes the optical pattern in the image read by the line sensor based on a spatial fringe analysis method, and the image analysis unit computes the three-dimensional shape information on the target object. An apparatus, method and program for measuring the three-dimensional shape of an object by analyzing an optical pattern projected onto the object. The phase of a pixel included in an image taken of the optical pattern is determined based on the brightness values of the pixel and at least one neighboring pixel in the image; thus the height information of the object can be determined. In addition, the height of the target object at a given position can be computed based on how much the phase of the optical pattern projected onto a certain position of the object is shifted from a reference phase.
摘要翻译：本发明的三维形状测量装置是通过分析投影到目标对象的光学图案来测量目标对象的三维形状的装置。三维形状测量装置包括线传感器和图像分析单元。线传感器读取投影光学图案的目标对象作为图像。图像分析单元基于空间条纹分析方法分析由线传感器读取的图像中的光学图案，并且图像分析单元计算目标对象上的三维形状信息。一种用于通过分析投射到物体上的光学图案来测量物体的三维形状的装置，方法和程序。基于像素的亮度值和图像中的至少一个相邻像素确定包含在光学图案的图像中的像素的相位; 因此可以确定对象的高度信息。此外，可以基于投射到物体的某个位置上的光学图案的相位从参考相位偏移多少来计算给定位置处的目标对象的高度。

2. 发明授权

US07684052B2 Three-dimensional shape measuring apparatus, program, computer-readable recording medium, and three-dimensional shape measuring method 有权
标题翻译：三维形状测量装置，程序，计算机可读记录介质和三维形状测量方法
公开(公告)号：US07684052B2
公开(公告)日：2010-03-23
申请号：US11584807
申请日：2006-10-20
申请人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Masaki Suwa , Yoshiro Ito , Daisuke Mitsumoto , Masanao Yoshino , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G01B11/24
CPC分类号： G01B11/2522 , G06T7/521
摘要： An apparatus, method, and program for measuring the three-dimensional shape of an object by analyzing an optical pattern projected onto the object includes a line sensor and an image analysis unit. The line sensor reads the target object, onto which the optical pattern is projected. The image analysis unit analyzes the optical pattern in the image read by the line sensor based on a spatial fringe analysis method, and the image analysis unit computes the three-dimensional shape information on the target object. The phase of a pixel included in an image taken of the optical pattern is determined based on the brightness values of the pixel and at least one neighboring pixel in the image; thus the height information of the object can be determined. In addition, the height of the target object at a given position can be computed based on how much the phase of the optical pattern projected onto a certain position of the object is shifted from a reference phase.
摘要翻译：通过分析投射到物体上的光学图案来测量物体的三维形状的装置，方法和程序包括线传感器和图像分析单元。线传感器读取投影光学图案的目标物体。图像分析单元基于空间条纹分析方法分析由线传感器读取的图像中的光学图案，并且图像分析单元计算目标对象上的三维形状信息。基于像素的亮度值和图像中的至少一个相邻像素确定包含在光学图案的图像中的像素的相位; 因此可以确定对象的高度信息。此外，可以基于投射到物体的某个位置上的光学图案的相位从参考相位偏移多少来计算给定位置处的目标对象的高度。

3. 发明授权

US08019120B2 Image processing apparatus, image processing method, image processing program, recording medium recording the image processing program, and moving object detection system 有权
标题翻译：图像处理装置，图像处理方法，图像处理程序，记录图像处理程序的记录介质和移动物体检测系统
公开(公告)号：US08019120B2
公开(公告)日：2011-09-13
申请号：US11740058
申请日：2007-04-25
申请人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K9/00
CPC分类号： G06K9/6203 , G06K9/6857
摘要： It is intended to provide an image processing apparatus enabling an image processing for association of a standard image to a reference image using a reduced number of pixels without deteriorating accuracy for detecting a movement of a detection subject. A detection subject region setting unit obtains a picked-up image at a first time point as a standard image from time-series picked-up image data obtained by an image pickup unit and selects a plurality of correlation windows including an image region of the detection subject in the standard image with relative positions with respect to the standard point being identified. A movement detection unit obtains a picked-up image at a second time point that is different from the first time point as a reference image and detects a movement of the detection subject between the standard image and the reference image by calculating in the reference image a position of the standard point that minimizes a difference between a state of pixel values of the correlation windows of the standard image and a state of pixel values of correlation windows of the reference image.
摘要翻译：旨在提供一种能够进行图像处理的图像处理装置，其能够使用减少数量的像素将标准图像与参考图像相关联，而不会降低用于检测检测对象的移动的精度。检测对象区域设定单元从由摄像单元获取的时间序列拍摄图像数据中获取作为标准图像的第一时间点的拍摄图像，并且选择包括检测图像区域的多个相关窗口在标准图像中对相对于标识点的相对位置进行识别。移动检测单元在与第一时间点不同的第二时间点获取拍摄图像作为参考图像，并且通过在参考图像a中计算来检测标准图像和参考图像之间的检测对象的移动使标准图像的相关窗口的像素值的状态与参考图像的相关窗口的像素值的状态之间的差最小的标准点的位置。

4. 发明申请

US20070253596A1 IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD, IMAGE PROCESSING PROGRAM, RECORDING MEDIUM RECORDING THE IMAGE PROCESSING PROGRAM, AND MOVING OBJECT DETECTION SYSTEM 有权
标题翻译：图像处理装置，图像处理方法，图像处理程序，记录图像处理程序的记录介质和移动物体检测系统
公开(公告)号：US20070253596A1
公开(公告)日：2007-11-01
申请号：US11740058
申请日：2007-04-25
申请人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
发明人： Yoshiro Murata , Daisuke Mitsumoto , Hiroyoshi Koitabashi , Yoshinobu Asokawa
IPC分类号： G06K9/00 , G06K9/68
CPC分类号： G06K9/6203 , G06K9/6857
摘要： It is intended to provide an image processing apparatus enabling an image processing for association of a standard image to a reference image using a reduced number of pixels without deteriorating accuracy for detecting a movement of a detection subject. A detection subject region setting unit obtains a picked-up image at a first time point as a standard image from time-series picked-up image data obtained by an image pickup unit and selects a plurality of correlation windows including an image region of the detection subject in the standard image with relative positions with respect to the standard point being identified. A movement detection unit obtains a picked-up image at a second time point that is different from the first time point as a reference image and detects a movement of the detection subject between the standard image and the reference image by calculating in the reference image a position of the standard point that minimizes a difference between a state of pixel values of the correlation windows of the standard image and a state of pixel values of correlation windows of the reference image.
摘要翻译：旨在提供一种能够进行图像处理的图像处理装置，其能够使用减少数量的像素将标准图像与参考图像相关联，而不会降低用于检测检测对象的移动的精度。检测对象区域设定单元从由摄像单元获取的时间序列拍摄图像数据中获取作为标准图像的第一时间点的拍摄图像，并且选择包括检测图像区域的多个相关窗口在标准图像中对相对于标识点的相对位置进行识别。移动检测单元在与第一时间点不同的第二时间点获取拍摄图像作为参考图像，并且通过在参考图像a中计算来检测标准图像和参考图像之间的检测对象的移动使标准图像的相关窗口的像素值的状态与参考图像的相关窗口的像素值的状态之间的差最小的标准点的位置。

5. 发明授权

US07940981B2 Method and apparatus for generating projecting pattern 有权
标题翻译：用于产生投影图案的方法和装置
公开(公告)号：US07940981B2
公开(公告)日：2011-05-10
申请号：US11482499
申请日：2006-07-07
申请人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
发明人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
IPC分类号： G06K9/00 , G06K9/36 , H04N7/18 , G06T15/00
CPC分类号： G01B11/2545 , G06T7/521
摘要： A pattern generating apparatus includes a sequence generating unit and an image data generating unit. The sequence generating unit generates a sequence formed by terms having M-value numeric values. The image data generating unit generates the image data by converting each numeric value of the sequence into a gray-level value according to each numeric value, and the sequence is generated by the sequence generating unit. The sequence generating unit generates the sequence such that vectors expressed by sub-sequences have different directions for the sub-sequence constituting the generated sequence.
摘要翻译：图案生成装置包括顺序生成单元和图像数据生成单元。序列生成单元生成由具有M值数值的项形成的序列。图像数据生成单元通过根据每个数值将序列的每个数值转换为灰度值来生成图像数据，并且序列由序列生成单元生成。序列生成单元生成序列，使得由子序列表示的矢量对于构成生成序列的子序列具有不同的方向。

6. 发明授权

US08103089B2 Method and apparatus for generating projecting pattern 有权
标题翻译：用于产生投影图案的方法和装置
公开(公告)号：US08103089B2
公开(公告)日：2012-01-24
申请号：US12914393
申请日：2010-10-28
申请人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
发明人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
IPC分类号： G06K9/00 , G06K9/36 , H04N7/18 , G06T15/00
CPC分类号： G01B11/2545 , G06T7/521
摘要： A pattern generating apparatus includes a sequence generating unit and an image data generating unit. The sequence generating unit generates a sequence formed by terms having M-value numeric values. The image data generating unit generates the image data by converting each numeric value of the sequence into a gray-level value according to each numeric value, and the sequence is generated by the sequence generating unit. The sequence generating unit generates the sequence such that vectors expressed by sub-sequences have different directions for the sub-sequence constituting the generated sequence.
摘要翻译：图案生成装置包括顺序生成单元和图像数据生成单元。序列生成单元生成由具有M值数值的项形成的序列。图像数据生成单元通过根据每个数值将序列的每个数值转换为灰度值来生成图像数据，并且序列由序列生成单元生成。序列生成单元生成序列，使得由子序列表示的矢量对于构成生成序列的子序列具有不同的方向。

7. 发明申请

US20110096982A1 METHOD AND APPARATUS FOR GENERATING PROJECTING PATTERN 有权
标题翻译：用于生成投影图案的方法和装置
公开(公告)号：US20110096982A1
公开(公告)日：2011-04-28
申请号：US12914393
申请日：2010-10-28
申请人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
发明人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
IPC分类号： G06K9/00
CPC分类号： G01B11/2545 , G06T7/521
摘要： A pattern generating apparatus includes a sequence generating unit and an image data generating unit. The sequence generating unit generates a sequence formed by terms having M-value numeric values. The image data generating unit generates the image data by converting each numeric value of the sequence into a gray-level value according to each numeric value, and the sequence is generated by the sequence generating unit. The sequence generating unit generates the sequence such that vectors expressed by sub-sequences have different directions for the sub-sequence constituting the generated sequence.
摘要翻译：图案生成装置包括顺序生成单元和图像数据生成单元。序列生成单元生成由具有M值数值的项形成的序列。图像数据生成单元通过根据每个数值将序列的每个数值转换为灰度值来生成图像数据，并且序列由序列生成单元生成。序列生成单元生成序列，使得由子序列表示的矢量对于构成生成序列的子序列具有不同的方向。

8. 发明申请

US20070009150A1 Method and apparatus for generating projecting pattern 有权
标题翻译：用于产生投影图案的方法和装置
公开(公告)号：US20070009150A1
公开(公告)日：2007-01-11
申请号：US11482499
申请日：2006-07-07
申请人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
发明人： Masaki Suwa , Daisuke Mitsumoto , Yoshinobu Asokawa
IPC分类号： G06K9/00
CPC分类号： G01B11/2545 , G06T7/521
摘要： A pattern generating apparatus includes a sequence generating unit and an image data generating unit. The sequence generating unit generates a sequence formed by terms having M-value numeric values. The image data generating unit generates the image data by converting each numeric value of the sequence into a gray-level value according to each numeric value, and the sequence is generated by the sequence generating unit. The sequence generating unit generates the sequence such that vectors expressed by sub-sequences have different directions for the sub-sequence constituting the generated sequence.
摘要翻译：图案生成装置包括顺序生成单元和图像数据生成单元。序列生成单元生成由具有M值数值的项形成的序列。图像数据生成单元通过根据每个数值将序列的每个数值转换为灰度值来生成图像数据，并且序列由序列生成单元生成。序列生成单元生成序列，使得由子序列表示的矢量对于构成生成序列的子序列具有不同的方向。

9. 发明授权

US08705049B2 Three-dimensional shape measuring apparatus, three-dimensional shape measuring method, and three-dimensional shape measuring program 失效
标题翻译：三维形状测量装置，三维形状测量方法和三维形状测量程序
公开(公告)号：US08705049B2
公开(公告)日：2014-04-22
申请号：US13256965
申请日：2010-03-26
申请人： Yuki Honma , Daisuke Mitsumoto , Sunao Takemura
发明人： Yuki Honma , Daisuke Mitsumoto , Sunao Takemura
IPC分类号： G01B11/30 , G01B11/24
CPC分类号： G01B11/2522 , G01B11/2527
摘要： A three-dimensional shape measuring apparatus measures by analyzing an optical pattern projected to the measurement target, and luminance of the optical pattern. The apparatus includes a mounting stage having a reference plane of a height of the measurement target, a measurement head that projects the optical pattern, to the measurement target and reference plane, to capture images of the optical patterns, and a displacement portion displaces the measurement head in a height direction. A phase computing portion computes a phase of the optical pattern in a certain pixel included in the captured image. A height computing portion computes a height of the measurement target based on the phase, and a feed amount computing portion computes a displacement amount based on the height. The height computing portion computes the height based on the phase and corrects the height based on the displacement amount, thereby computing the height of the measurement target.
摘要翻译：三维形状测量装置通过分析投射到测量对象的光学图案和光学图案的亮度来测量。该装置包括具有测量对象的高度的参考平面的安装台，将光学图案投影到测量对象和参考平面的测量头，以捕获光学图案的图像，并且位移部分使测量头在高度方向。相位计算部分计算包括在捕获图像中的特定像素中的光学图案的相位。高度计算部根据该相位来计算测量对象的高度，进给量计算部根据高度来计算位移量。高度计算部分基于相位计算高度，并基于位移量校正高度，由此计算测量对象的高度。

10. 发明授权

US08334985B2 Shape measuring apparatus and shape measuring method 有权
标题翻译：形状测量仪和形状测量方法
公开(公告)号：US08334985B2
公开(公告)日：2012-12-18
申请号：US12901123
申请日：2010-10-08
申请人： To Sho , Takashi Sakai , Daisuke Mitsumoto , Yasuhiro Ohnishi , Takeshi Kojima , Yasumoto Mori , Shree Nayar
发明人： To Sho , Takashi Sakai , Daisuke Mitsumoto , Yasuhiro Ohnishi , Takeshi Kojima , Yasumoto Mori , Shree Nayar
IPC分类号： G01B11/24 , G06K9/36
CPC分类号： G01B11/2509 , G01B11/2513 , G06T7/521 , G06T2207/10024 , G06T2207/30152
摘要： A shape measuring apparatus that measures a three-dimensional shape of a measuring target has a lighting device that irradiates the measuring target placed on a stage with light, an imaging device that takes an image of the measuring target, a shape calculating device that calculates orientations of normals at a plurality of points on a surface of the measuring target from an image, the image being obtained by performing imaging with the imaging device while the lighting device irradiates the measuring target with the light, the shape calculating device calculating the three-dimensional shape of the surface of the measuring target from the calculation result of the orientations of the normals, a ranging device that measures a distance from a predetermined reference position with respect to at least one point on the surface of the measuring target, and a determination device that determines a spatial position of the three-dimensional shape of the surface of the measuring target, the three-dimensional shape being obtained by the shape calculating device using information on the distance obtained by the ranging device.
摘要翻译：测量测量对象的三维形状的形状测量装置具有照射装备在台架上的测量对象的照明装置，拍摄测量对象的图像的成像装置，计算取向的形状计算装置所述图像是通过在所述照明装置用所述光照射所述测量对象物的同时利用所述摄像装置进行成像而获得的图像，所述形状计算装置计算所述三维图像根据法线方向的计算结果计算出测量目标表面的形状;测距装置，其测量与测量目标的表面上的至少一个点相对于预定基准位置的距离;以及确定装置其决定了测量对象的表面的三维形状的空间位置通过使用关于由测距装置获得的距离的信息的形状计算装置获得的ee尺寸形状。

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