Patent application number | Description | Published |
20080228434 | INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND CALIBRATION JIG - When a calibration jig ( | 09-18-2008 |
20080266416 | INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD - A measurement line segment projection unit ( | 10-30-2008 |
20080267454 | MEASUREMENT APPARATUS AND CONTROL METHOD - A measurement apparatus ( | 10-30-2008 |
20080292180 | POSITION AND ORIENTATION MEASUREMENT APPARATUS AND CONTROL METHOD THEREOF - A position and orientation measurement apparatus for measuring the position and orientation of an image capturing apparatus, which captures an image of a measurement object, relative to the measurement object, extracts configuration planes of the measurement object based on three-dimensional model data of the measurement object, and extracts measurement line segments to be used in detection of edges of a captured image from line segments which form the configuration planes. The position and orientation measurement apparatus projects the extracted measurement line segments onto the captured image based on an estimated position and orientation of the image capturing apparatus, selects visible measurement line segments which are not hidden by the extracted configuration planes, and calculates the position and orientation of the image capturing apparatus relative to the measurement object based on the visible measurement line segments and corresponding edges of the captured image. | 11-27-2008 |
20090245681 | INFORMATION PROCESSING METHOD AND INFORMATION PROCESSING APPARATUS - Markers are laid out to express a predetermined code string by a plurality of continuous markers. The markers which form a marker string include at least two types of markers having different features which can be identified by image processing. Markers detected in the captured image are converted into numerical information, and are collated based on the numerical information and the predetermined code string. Using information associated with the markers, the coordinate information of each collated marker is calculated. The position and orientation of an image capturing device are calculated using the coordinate information. With a simple arrangement, the position and orientation of an image capturing device can be calculated. | 10-01-2009 |
20100322517 | IMAGE PROCESSING UNIT AND IMAGE PROCESSING METHOD - An image processing unit detects a region that corresponds with a subject from a captured image sequence in which a camera and the subject move, based on the three-dimensional shape and motion of the subject. Regions included in captured images are extracted, correspondence is established between the extracted regions, the shape of the corresponding region is estimated by using three-dimensional positions of feature points in the corresponding region, rigid motion of the corresponding region is estimated by calculating motion of each feature point, and region integration or separation is performed based on the estimated rigid motion, whereby the amount of image feature miscorrespondence can be reduced. | 12-23-2010 |
20110164114 | THREE-DIMENSIONAL MEASUREMENT APPARATUS AND CONTROL METHOD THEREFOR - A three-dimensional measurement apparatus generates patterns to be projected onto the measurement object, images the measurement object using an imaging unit after projecting a plurality of types of generated patterns onto the measurement object using a projection unit, and computes the coordinate values of patterns on a captured image acquired by the imaging unit, based on the projected patterns, a geometric model of the measurement object, and information indicating the coarse position and orientation of the measurement object. Captured patterns on the captured image are corresponded with the patterns projected by the projection unit using the computed coordinate values, and the distances between the imaging unit and the patterns projected onto the measurement object are derived. The position and orientation of the measurement object are estimated using the derived distances and the geometric model of the measurement object, and the information on the coarse position and orientation is updated. | 07-07-2011 |
20110206274 | POSITION AND ORIENTATION ESTIMATION APPARATUS AND POSITION AND ORIENTATION ESTIMATION METHOD - A position and orientation estimation apparatus inputs an image capturing an object, inputs a distance image including three-dimensional coordinate data representing the object, extracts an image feature from the captured image, determines whether the image feature represents a shape of the object based on three-dimensional coordinate data at a position on the distance image corresponding to the image feature, correlates the image feature representing the shape of the object with a part of a three-dimensional model representing the shape of the object, and estimates the position and orientation of the object based on a correlation result. | 08-25-2011 |
20120033071 | POSITION AND ORIENTATION MEASUREMENT APPARATUS, POSITION AND ORIENTATION MEASUREMENT METHOD, AND STORAGE MEDIUM - 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. | 02-09-2012 |
20120268567 | THREE-DIMENSIONAL MEASUREMENT APPARATUS, PROCESSING METHOD, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM - A three-dimensional measurement apparatus selects points corresponding to geometric features of a three-dimensional shape model of a target object, projects a plurality of selected points corresponding to the geometric features onto a range image based on approximate values indicating the position and orientation of the target object and imaging parameters at the time of imaging of the range image, searches regions of predetermined ranges respectively from the plurality of projected points for geometric features on the range image which correspond to the geometric features of the three-dimensional shape model, and associates these geometric features with each other. The apparatus then calculates the position and orientation of the target object using differences of distances on a three-dimensional space between the geometric features of the three-dimensional shape model and those on the range image, which are associated with each other. | 10-25-2012 |
20120294534 | GEOMETRIC FEATURE EXTRACTING DEVICE, GEOMETRIC FEATURE EXTRACTING METHOD, STORAGE MEDIUM, THREE-DIMENSIONAL MEASUREMENT APPARATUS, AND OBJECT RECOGNITION APPARATUS - A geometric feature extracting device comprising: first input means for inputting a three-dimensional shape model of a measurement object; generation means for generating two-dimensional parameter planes corresponding to curved surface patches that configure the three-dimensional shape model; first calculation means for calculating normal directions to points on the curved surface patches; holding means for holding the parameter planes and the normal directions in association with each other; second input means for inputting an observation direction used to observe the measurement object from an observation position; selection means for selecting regions in each of which the normal direction and the observation direction satisfy a predetermined angle condition from the parameter planes; and second calculation means for calculating geometric features on three-dimensional shape model corresponding to regions selected by the selection means as geometric features that configure geometric feature regions on the three-dimensional shape model, which are observable from the observation position. | 11-22-2012 |
20130077854 | MEASUREMENT APPARATUS AND CONTROL METHOD - A measurement apparatus which measures the relative position and orientation of an image-capturing apparatus capturing images of one or more measurement objects with respect to the measurement object, acquires a captured image using the image-capturing apparatus. The respective geometric features present in a 3D model of the measurement object are projected onto the captured image based on the position and orientation of the image-capturing apparatus, thereby obtaining projection geometric features. Projection geometric features are selected from the resultant projection geometric features based on distances between the projection geometric features in the captured image. The relative position and orientation of the image-capturing apparatus with respect to the measurement object is then calculated using the selected projection geometric features and image geometric features corresponding thereto detected in the captured image. | 03-28-2013 |
20130103275 | COASTING CONTROL DEVICE - A coasting control device for reducing uneasiness experienced by a driver when pressing a clutch pedal during coasting control. The device includes a clutch control unit that, when the clutch pedal is pressed during coasting control, controls an actuator to cause an amount of hydraulic oil that depends on the amount of depression of the clutch pedal to be ejected from a clutch-free operating cylinder. | 04-25-2013 |
20130116899 | COASTING CONTROL DEVICE - A coasting control device for avoiding dangerous modes such as tire lock up upon the end of coasting control. The device, which performs coasting control to disengage the clutch and to reduce the engine revolutions per minute (RPM), also prevents a gearshift operation during coasting control. | 05-09-2013 |
20130127998 | MEASUREMENT APPARATUS, INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD, AND STORAGE MEDIUM - A measurement apparatus includes a projection unit configured to project pattern light onto an object to be measured, an imaging unit configured to capture an image of the object to be measured on which the pattern light is projected to acquire a captured image of the object to be measured, a measurement unit configured to measure a position and/or orientation of the object to be measured on the basis of the captured image, a position and orientation of the projection unit, and a position and orientation of the imaging unit, a setting unit configured to set identification resolution of the pattern light using a range of variation in the position and/or orientation of the object to be measured; and a change unit configured to change a pattern shape of the pattern light in accordance with the identification resolution. | 05-23-2013 |
20130131943 | COASTING CONTROL DEVICE - A coasting control device that prevents failures due to deterioration of a release bearing. The device includes an cumulative disengagement time measuring unit cumulatively measuring a duration of time that a clutch is being disengaged during coasting control, and an overtime restricting unit prohibiting coasting control when the measured cumulative clutch disengagement time has exceeded a predetermined time giving an indication of fatigue of a member of the clutch, and/or an overtime alarm unit providing an alarm when the measured cumulative clutch disengagement time has exceeded a predetermined time giving an indication of fatigue of the member of the clutch. | 05-23-2013 |
20130131948 | COASTING CONTROL DEVICE - A coasting control device capable of avoiding coasting control during turning is provided. A turning recognition unit that recognizes that a vehicle is turning and a unit for prohibiting coasting control during turning that prohibits coasting control when the turning recognition unit recognizes that the vehicle is turning are provided. | 05-23-2013 |
20130138313 | COASTING CONTROL DEVICE - A coasting control device capable of avoiding coasting control during running on road having a small coefficient of friction between a tire and a road surface (“low μ roads”) includes a low μ road running recognition unit which recognizes that a vehicle is running on a low μ road and a unit for prohibiting coasting control during low μ road running when the low μ road running recognition unit recognizes that the vehicle is running on a low μ road. | 05-30-2013 |
20130238124 | INFORMATION PROCESSING APPARATUS AND INFORMATION PROCESSING METHOD - The positions and orientations of one or more target objects are obtained from the result of measuring a set of target objects by using a first sensor. A robot including a grip unit is controlled to grip one target object as a gripping target object among the target objects by the grip unit. Whether the grip unit has succeeded in gripping the gripping target object is determined from the result of measurement performed by a second sensor for measuring the target object gripped by the grip unit. When the grip unit has been determined to fail in gripping the gripping target object, one target object interacting with the gripping target object is selected among the target objects. The robot is controlled to grip the selected target object by the grip unit. | 09-12-2013 |
20140067126 | INFORMATION PROCESSING APPARATUS, INFORMATION PROCESSING METHOD AND STORAGE MEDIUM - There is provided with an information processing apparatus. An image including a target object is acquired. A coarse position and orientation of the target object is acquired. Information of a plurality of models which indicate a shape of the target object with different accuracy is held. A geometrical feature of the target object in the acquired image is associated with a geometrical feature indicated by at least one of the plurality of models placed at the coarse position and orientation. A position and orientation of the target object is estimated based on the result of association. | 03-06-2014 |
20140067317 | INFORMATION PROCESSING SYSTEM, METHOD, AND PROGRAM - An apparatus is provided with a first sensor unit that obtains two-dimensional information or three-dimensional information about a target object with a first position and orientation, a second sensor unit that obtains the two-dimensional information about the target object, a three-dimensional position and orientation measurement unit that measures three-dimensional position and orientation of the target object based on the information obtained by the first sensor unit, a second sensor position and orientation determination unit that calculates second position and orientation based on a measurement result with the three-dimensional position and orientation measurement unit and model information about the target object, and a three-dimensional position and orientation measurement unit that measures the three-dimensional position and orientation of the target object based on the information obtained by the second sensor unit with the second position and orientation and the model information about the target object. | 03-06-2014 |