JP4789745B2 - 画像処理装置および方法 - Google Patents
画像処理装置および方法 Download PDFInfo
- Publication number
- JP4789745B2 JP4789745B2 JP2006219846A JP2006219846A JP4789745B2 JP 4789745 B2 JP4789745 B2 JP 4789745B2 JP 2006219846 A JP2006219846 A JP 2006219846A JP 2006219846 A JP2006219846 A JP 2006219846A JP 4789745 B2 JP4789745 B2 JP 4789745B2
- Authority
- JP
- Japan
- Prior art keywords
- image
- orientation
- concealment
- region
- input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/24—Aligning, centring, orientation detection or correction of the image
- G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
- Image Analysis (AREA)
- Processing Or Creating Images (AREA)
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006219846A JP4789745B2 (ja) | 2006-08-11 | 2006-08-11 | 画像処理装置および方法 |
| US11/836,077 US8144238B2 (en) | 2006-08-11 | 2007-08-08 | Image processing apparatus and method |
| CN200710140886XA CN101162524B (zh) | 2006-08-11 | 2007-08-10 | 图像处理设备及方法 |
| EP07114209.5A EP1887523B1 (en) | 2006-08-11 | 2007-08-10 | Image-processing apparatus and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2006219846A JP4789745B2 (ja) | 2006-08-11 | 2006-08-11 | 画像処理装置および方法 |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2008046750A JP2008046750A (ja) | 2008-02-28 |
| JP2008046750A5 JP2008046750A5 (https=) | 2009-09-10 |
| JP4789745B2 true JP4789745B2 (ja) | 2011-10-12 |
Family
ID=38725336
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2006219846A Expired - Fee Related JP4789745B2 (ja) | 2006-08-11 | 2006-08-11 | 画像処理装置および方法 |
Country Status (4)
| Country | Link |
|---|---|
| US (1) | US8144238B2 (https=) |
| EP (1) | EP1887523B1 (https=) |
| JP (1) | JP4789745B2 (https=) |
| CN (1) | CN101162524B (https=) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11288869B2 (en) | 2017-08-09 | 2022-03-29 | Sony Corporation | Information processing device, and information processing method |
Families Citing this family (79)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9138636B2 (en) | 2007-05-16 | 2015-09-22 | Eyecue Vision Technologies Ltd. | System and method for calculating values in tile games |
| US8194156B2 (en) * | 2008-01-07 | 2012-06-05 | Sony Ericsson Mobile Communications Ab | EXIF object coordinates |
| KR100912264B1 (ko) * | 2008-02-12 | 2009-08-17 | 광주과학기술원 | 사용자 반응형 증강 영상 생성 방법 및 시스템 |
| JP5111210B2 (ja) * | 2008-04-09 | 2013-01-09 | キヤノン株式会社 | 画像処理装置、画像処理方法 |
| US8401276B1 (en) * | 2008-05-20 | 2013-03-19 | University Of Southern California | 3-D reconstruction and registration |
| EP2321795A4 (en) | 2008-08-22 | 2017-10-25 | Hewlett-Packard Development Company, L.P. | Image analysis method and system |
| JP5253066B2 (ja) * | 2008-09-24 | 2013-07-31 | キヤノン株式会社 | 位置姿勢計測装置及び方法 |
| JP4996585B2 (ja) * | 2008-11-20 | 2012-08-08 | 日本放送協会 | 画像校正評価装置及び画像校正評価プログラム |
| JP2010134649A (ja) * | 2008-12-03 | 2010-06-17 | Canon Inc | 情報処理装置、その処理方法及びプログラム |
| WO2010073929A1 (ja) * | 2008-12-22 | 2010-07-01 | 日本電気株式会社 | 人判定装置、方法およびプログラム |
| JP5290865B2 (ja) * | 2009-05-18 | 2013-09-18 | キヤノン株式会社 | 位置姿勢推定方法および装置 |
| JP5567908B2 (ja) * | 2009-06-24 | 2014-08-06 | キヤノン株式会社 | 3次元計測装置、その計測方法及びプログラム |
| JP5393318B2 (ja) * | 2009-07-28 | 2014-01-22 | キヤノン株式会社 | 位置姿勢計測方法及び装置 |
| EP2462537A1 (en) | 2009-08-04 | 2012-06-13 | Eyecue Vision Technologies Ltd. | System and method for object extraction |
| US9595108B2 (en) | 2009-08-04 | 2017-03-14 | Eyecue Vision Technologies Ltd. | System and method for object extraction |
| DE102009049849B4 (de) | 2009-10-19 | 2020-09-24 | Apple Inc. | Verfahren zur Bestimmung der Pose einer Kamera, Verfahren zur Erkennung eines Objekts einer realen Umgebung und Verfahren zur Erstellung eines Datenmodells |
| US8817071B2 (en) * | 2009-11-17 | 2014-08-26 | Seiko Epson Corporation | Context constrained novel view interpolation |
| JP5617246B2 (ja) * | 2010-01-12 | 2014-11-05 | ソニー株式会社 | 画像処理装置、物体選択方法及びプログラム |
| US8792728B2 (en) | 2010-09-27 | 2014-07-29 | Hewlett-Packard Development Company, L.P. | Near-duplicate image detection |
| US9122053B2 (en) | 2010-10-15 | 2015-09-01 | Microsoft Technology Licensing, Llc | Realistic occlusion for a head mounted augmented reality display |
| US8884984B2 (en) * | 2010-10-15 | 2014-11-11 | Microsoft Corporation | Fusing virtual content into real content |
| CA2814839C (en) * | 2010-10-25 | 2018-12-04 | Christian H. Debrunner | Detecting structural changes to underwater structures |
| US20120099400A1 (en) * | 2010-10-25 | 2012-04-26 | Lockheed Martin Corporation | Estimating position and orientation of an underwater vehicle relative to underwater structures |
| US9348141B2 (en) * | 2010-10-27 | 2016-05-24 | Microsoft Technology Licensing, Llc | Low-latency fusing of virtual and real content |
| US9336452B2 (en) | 2011-01-16 | 2016-05-10 | Eyecue Vision Technologies Ltd. | System and method for identification of printed matter in an image |
| US10109065B2 (en) * | 2011-01-25 | 2018-10-23 | Qualcomm Incorporated | Using occlusions to detect and track three-dimensional objects |
| US8724853B2 (en) * | 2011-07-18 | 2014-05-13 | Google Inc. | Identifying a target object using optical occlusion |
| JP5822322B2 (ja) * | 2011-09-12 | 2015-11-24 | インテル・コーポレーション | ローカライズされ、セグメンテーションされた画像のネットワークキャプチャ及び3dディスプレイ |
| JP5713885B2 (ja) | 2011-12-26 | 2015-05-07 | キヤノン株式会社 | 画像処理装置及び画像処理方法、プログラム、並びに記憶媒体 |
| US9052804B1 (en) | 2012-01-06 | 2015-06-09 | Google Inc. | Object occlusion to initiate a visual search |
| US9230171B2 (en) | 2012-01-06 | 2016-01-05 | Google Inc. | Object outlining to initiate a visual search |
| KR101874895B1 (ko) * | 2012-01-12 | 2018-07-06 | 삼성전자 주식회사 | 증강 현실 제공 방법 및 이를 지원하는 단말기 |
| US9691241B1 (en) * | 2012-03-14 | 2017-06-27 | Google Inc. | Orientation of video based on the orientation of a display |
| CN103472909B (zh) * | 2012-04-10 | 2017-04-12 | 微软技术许可有限责任公司 | 用于头戴式、增强现实显示器的逼真遮挡 |
| GB2502591B (en) | 2012-05-31 | 2014-04-30 | Sony Comp Entertainment Europe | Apparatus and method for augmenting a video image |
| JP6092530B2 (ja) * | 2012-06-18 | 2017-03-08 | キヤノン株式会社 | 画像処理装置、画像処理方法 |
| JP5878634B2 (ja) | 2012-08-15 | 2016-03-08 | インターナショナル・ビジネス・マシーンズ・コーポレーションInternational Business Machines Corporation | 特徴抽出方法、プログラム及びシステム |
| GB201310373D0 (en) * | 2013-06-11 | 2013-07-24 | Sony Comp Entertainment Europe | Head-Mountable Apparatus and systems |
| CN104238726B (zh) * | 2013-06-17 | 2017-07-18 | 腾讯科技(深圳)有限公司 | 智能眼镜控制方法、装置及一种智能眼镜 |
| US9754507B1 (en) * | 2013-07-02 | 2017-09-05 | Rockwell Collins, Inc. | Virtual/live hybrid behavior to mitigate range and behavior constraints |
| JP5693691B2 (ja) * | 2013-10-21 | 2015-04-01 | キヤノン株式会社 | 情報処理装置、その処理方法及びプログラム |
| US9747680B2 (en) | 2013-11-27 | 2017-08-29 | Industrial Technology Research Institute | Inspection apparatus, method, and computer program product for machine vision inspection |
| CN110120072B (zh) | 2013-12-19 | 2023-05-09 | 苹果公司 | 用于跟踪移动设备的方法和系统 |
| US9986225B2 (en) * | 2014-02-14 | 2018-05-29 | Autodesk, Inc. | Techniques for cut-away stereo content in a stereoscopic display |
| KR20150101612A (ko) * | 2014-02-27 | 2015-09-04 | 엘지전자 주식회사 | 폐쇄형 시야(Closed-view)를 제공하는 헤드 마운티드 디스플레이 및 그 제어 방법 |
| JP6402850B2 (ja) * | 2014-03-12 | 2018-10-10 | 一般社団法人リアリティメディア研究機構 | 画像呈示装置及びこれに用いるマスク生成装置 |
| US9311340B2 (en) | 2014-04-15 | 2016-04-12 | International Business Machines Corporation | Multiple partial-image compositional searching |
| US9904055B2 (en) | 2014-07-25 | 2018-02-27 | Microsoft Technology Licensing, Llc | Smart placement of virtual objects to stay in the field of view of a head mounted display |
| US9865089B2 (en) * | 2014-07-25 | 2018-01-09 | Microsoft Technology Licensing, Llc | Virtual reality environment with real world objects |
| US9858720B2 (en) | 2014-07-25 | 2018-01-02 | Microsoft Technology Licensing, Llc | Three-dimensional mixed-reality viewport |
| US10311638B2 (en) | 2014-07-25 | 2019-06-04 | Microsoft Technology Licensing, Llc | Anti-trip when immersed in a virtual reality environment |
| US10451875B2 (en) | 2014-07-25 | 2019-10-22 | Microsoft Technology Licensing, Llc | Smart transparency for virtual objects |
| US9766460B2 (en) | 2014-07-25 | 2017-09-19 | Microsoft Technology Licensing, Llc | Ground plane adjustment in a virtual reality environment |
| US10416760B2 (en) | 2014-07-25 | 2019-09-17 | Microsoft Technology Licensing, Llc | Gaze-based object placement within a virtual reality environment |
| JP6491517B2 (ja) * | 2015-03-31 | 2019-03-27 | Kddi株式会社 | 画像認識ar装置並びにその姿勢推定装置及び姿勢追跡装置 |
| CN105094327B (zh) * | 2015-07-22 | 2018-11-30 | 深圳多新哆技术有限责任公司 | 调整虚拟物件在虚拟空间中姿态角的方法及装置 |
| US10535193B2 (en) * | 2015-09-08 | 2020-01-14 | Canon Kabushiki Kaisha | Image processing apparatus, image synthesizing apparatus, image processing system, image processing method, and storage medium |
| US10338673B2 (en) * | 2015-09-16 | 2019-07-02 | Google Llc | Touchscreen hover detection in an augmented and/or virtual reality environment |
| US9805274B2 (en) * | 2016-02-03 | 2017-10-31 | Honda Motor Co., Ltd. | Partially occluded object detection using context and depth ordering |
| AU2017288933B2 (en) | 2016-06-27 | 2021-09-23 | Robert Bosch Gmbh | Systems and methods for dynamic occlusion handling |
| US10739142B2 (en) | 2016-09-02 | 2020-08-11 | Apple Inc. | System for determining position both indoor and outdoor |
| US10127886B2 (en) * | 2016-10-14 | 2018-11-13 | Microsoft Technology Licensing, Llc | Modifying hand occlusion of holograms based on contextual information |
| US10957068B2 (en) | 2017-01-06 | 2021-03-23 | Canon Kabushiki Kaisha | Information processing apparatus and method of controlling the same |
| JP6894707B2 (ja) * | 2017-01-06 | 2021-06-30 | キヤノン株式会社 | 情報処理装置およびその制御方法、プログラム |
| JP7081140B2 (ja) | 2017-12-25 | 2022-06-07 | 富士通株式会社 | 物体認識装置、物体認識方法及び物体認識プログラム |
| CN109345632B (zh) * | 2018-09-17 | 2023-04-07 | 深圳达闼科技控股有限公司 | 一种获取图像的方法、相关装置及可读存储介质 |
| CN113168732A (zh) | 2018-12-03 | 2021-07-23 | 麦克赛尔株式会社 | 增强现实显示装置和增强现实显示方法 |
| JP7053516B2 (ja) * | 2019-02-15 | 2022-04-12 | 株式会社日立製作所 | ウェアラブルユーザインタフェース制御システム、それを用いた情報処理システム、および、制御プログラム |
| US10846899B2 (en) | 2019-04-17 | 2020-11-24 | Honeywell International Inc. | Methods and systems for augmented reality safe visualization during performance of tasks |
| CN110221690B (zh) * | 2019-05-13 | 2022-01-04 | Oppo广东移动通信有限公司 | 基于ar场景的手势交互方法及装置、存储介质、通信终端 |
| WO2020235539A1 (ja) * | 2019-05-17 | 2020-11-26 | 株式会社エスイーフォー | オブジェクトの位置及び姿勢を特定する方法及び装置 |
| US11710310B2 (en) * | 2019-06-19 | 2023-07-25 | Apple Inc. | Virtual content positioned based on detected object |
| JP2019192299A (ja) * | 2019-07-26 | 2019-10-31 | 日本電信電話株式会社 | カメラ情報修正装置、カメラ情報修正方法、及びカメラ情報修正プログラム |
| US20230127539A1 (en) * | 2020-04-21 | 2023-04-27 | Sony Group Corporation | Information processing apparatus, information processing method, and information processing program |
| KR20220003376A (ko) * | 2020-07-01 | 2022-01-10 | 삼성전자주식회사 | 이미지 처리 방법 및 장치 |
| WO2022235795A2 (en) * | 2021-05-04 | 2022-11-10 | Red Six Aerospace Inc. | Methods, systems, apparatuses, and devices for facilitating provisioning of a virtual experience |
| CN113240692B (zh) * | 2021-06-30 | 2024-01-02 | 北京市商汤科技开发有限公司 | 一种图像处理方法、装置、设备以及存储介质 |
| JP2023115541A (ja) * | 2022-02-08 | 2023-08-21 | キヤノン株式会社 | 制御装置 |
| WO2025057379A1 (ja) * | 2023-09-14 | 2025-03-20 | 株式会社ソニー・インタラクティブエンタテインメント | 姿勢推定システム、姿勢推定方法及びプログラム |
Family Cites Families (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH11507797A (ja) * | 1995-06-16 | 1999-07-06 | プリンストン ビデオ イメージ,インコーポレイテッド | 合成基準画像を用いる適応形オクルージョンを用いた映像内へのリアルタイム挿入システムおよび方法 |
| US7230653B1 (en) * | 1999-11-08 | 2007-06-12 | Vistas Unlimited | Method and apparatus for real time insertion of images into video |
| US6788809B1 (en) * | 2000-06-30 | 2004-09-07 | Intel Corporation | System and method for gesture recognition in three dimensions using stereo imaging and color vision |
| US7227526B2 (en) * | 2000-07-24 | 2007-06-05 | Gesturetek, Inc. | Video-based image control system |
| US7058204B2 (en) * | 2000-10-03 | 2006-06-06 | Gesturetek, Inc. | Multiple camera control system |
| JP2002157606A (ja) * | 2000-11-17 | 2002-05-31 | Canon Inc | 画像表示制御装置、複合現実感提示システム、画像表示制御方法、及び処理プログラムを提供する媒体 |
| US20040104935A1 (en) * | 2001-01-26 | 2004-06-03 | Todd Williamson | Virtual reality immersion system |
| CA2354301A1 (en) * | 2001-07-27 | 2003-01-27 | Djamel Yahia Meddah | Geometric hashing for model-based recognition of an object |
| JP2003281504A (ja) * | 2002-03-22 | 2003-10-03 | Canon Inc | 撮像部位置姿勢推定装置及びその制御方法並びに複合現実感提示システム |
| JP4136420B2 (ja) * | 2002-03-29 | 2008-08-20 | キヤノン株式会社 | 情報処理方法および装置 |
| US20040032906A1 (en) * | 2002-08-19 | 2004-02-19 | Lillig Thomas M. | Foreground segmentation for digital video |
| JP4298407B2 (ja) * | 2002-09-30 | 2009-07-22 | キヤノン株式会社 | 映像合成装置及び映像合成方法 |
| JP4355341B2 (ja) * | 2003-05-29 | 2009-10-28 | 本田技研工業株式会社 | 深度データを用いたビジュアルトラッキング |
| US7586655B1 (en) * | 2003-06-30 | 2009-09-08 | Google Inc. | Acquiring and using three-dimensional information in a document scanning system |
| JP4418225B2 (ja) * | 2003-12-18 | 2010-02-17 | オリンパス株式会社 | 情報呈示システム |
| JP4565445B2 (ja) * | 2004-03-18 | 2010-10-20 | 国立大学法人 奈良先端科学技術大学院大学 | 顔情報計測システム |
| JP4537104B2 (ja) * | 2004-03-31 | 2010-09-01 | キヤノン株式会社 | マーカ検出方法、マーカ検出装置、位置姿勢推定方法、及び複合現実空間提示方法 |
| JP4217661B2 (ja) * | 2004-06-03 | 2009-02-04 | キヤノン株式会社 | 画像処理方法、画像処理装置 |
| JP2005063463A (ja) * | 2004-11-08 | 2005-03-10 | Toshiba Corp | 動画像処理装置 |
-
2006
- 2006-08-11 JP JP2006219846A patent/JP4789745B2/ja not_active Expired - Fee Related
-
2007
- 2007-08-08 US US11/836,077 patent/US8144238B2/en not_active Expired - Fee Related
- 2007-08-10 EP EP07114209.5A patent/EP1887523B1/en not_active Not-in-force
- 2007-08-10 CN CN200710140886XA patent/CN101162524B/zh not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11288869B2 (en) | 2017-08-09 | 2022-03-29 | Sony Corporation | Information processing device, and information processing method |
Also Published As
| Publication number | Publication date |
|---|---|
| EP1887523A2 (en) | 2008-02-13 |
| EP1887523A3 (en) | 2017-01-18 |
| US8144238B2 (en) | 2012-03-27 |
| CN101162524B (zh) | 2011-05-25 |
| US20080284864A1 (en) | 2008-11-20 |
| JP2008046750A (ja) | 2008-02-28 |
| EP1887523B1 (en) | 2018-05-30 |
| CN101162524A (zh) | 2008-04-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4789745B2 (ja) | 画像処理装置および方法 | |
| JP5111210B2 (ja) | 画像処理装置、画像処理方法 | |
| JP7427188B2 (ja) | 3dポーズ取得方法及び装置 | |
| State et al. | Superior augmented reality registration by integrating landmark tracking and magnetic tracking | |
| JP4926817B2 (ja) | 指標配置情報計測装置および方法 | |
| EP1521482B1 (en) | Image display apparatus and method | |
| EP3067861B1 (en) | Determination of a coordinate conversion parameter | |
| US8970690B2 (en) | Methods and systems for determining the pose of a camera with respect to at least one object of a real environment | |
| JP5905540B2 (ja) | 画像の少なくとも1つの特徴として記述子を提供する方法及び特徴をマッチングする方法 | |
| JP6201476B2 (ja) | 自由視点画像撮像装置およびその方法 | |
| JP4898464B2 (ja) | 情報処理装置および方法 | |
| US10380758B2 (en) | Method for tracking subject head position from monocular-source image sequence | |
| JP7379065B2 (ja) | 情報処理装置、情報処理方法、およびプログラム | |
| JP5460499B2 (ja) | 画像処理装置およびコンピュータプログラム | |
| JP2010134649A (ja) | 情報処理装置、その処理方法及びプログラム | |
| KR20200064947A (ko) | 광학식 위치 트래킹 시스템 기반의 위치 추적 장치 및 그 방법 | |
| JP2017187861A (ja) | 情報処理装置およびその制御方法 | |
| JP6086491B2 (ja) | 画像処理装置およびそのデータベース構築装置 | |
| Fejes et al. | Detection of independent motion using directional motion estimation | |
| JP2014026670A (ja) | 情報処理装置、その処理方法及びプログラム | |
| CN120014714B (zh) | 一种手部姿态识别方法、头戴式显示设备和存储介质 | |
| McIlroy et al. | Kinectrack: Agile 6-dof tracking using a projected dot pattern | |
| Medien | Implementation of a low cost marker based infrared optical tracking system | |
| KR100447778B1 (ko) | 포즈추정을 이용한 스테레오/다시점 실감 혼합현실 구현장치 및 그 방법 | |
| US20250086819A1 (en) | Method and system for tracking marker in augmented reality |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20090724 |
|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20090724 |
|
| RD04 | Notification of resignation of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7424 Effective date: 20100201 |
|
| RD01 | Notification of change of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7421 Effective date: 20100630 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110426 |
|
| A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110624 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20110712 |
|
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20110719 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20140729 Year of fee payment: 3 |
|
| R151 | Written notification of patent or utility model registration |
Ref document number: 4789745 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R151 |
|
| LAPS | Cancellation because of no payment of annual fees |