JP5036260B2 - 位置姿勢算出方法及び装置 - Google Patents

位置姿勢算出方法及び装置 Download PDF

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Publication number
JP5036260B2
JP5036260B2 JP2006249962A JP2006249962A JP5036260B2 JP 5036260 B2 JP5036260 B2 JP 5036260B2 JP 2006249962 A JP2006249962 A JP 2006249962A JP 2006249962 A JP2006249962 A JP 2006249962A JP 5036260 B2 JP5036260 B2 JP 5036260B2
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Japan
Prior art keywords
image
imaging device
orientation
coordinates
index
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Expired - Fee Related
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JP2006249962A
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English (en)
Japanese (ja)
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JP2008070267A5 (enExample
JP2008070267A (ja
Inventor
隆明 遠藤
清秀 佐藤
晋二 内山
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Canon Inc
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Canon Inc
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Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2006249962A priority Critical patent/JP5036260B2/ja
Priority to US11/854,121 priority patent/US8019114B2/en
Priority to EP07116329.9A priority patent/EP1901029B1/en
Publication of JP2008070267A publication Critical patent/JP2008070267A/ja
Publication of JP2008070267A5 publication Critical patent/JP2008070267A5/ja
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2504—Calibration devices
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
JP2006249962A 2006-09-14 2006-09-14 位置姿勢算出方法及び装置 Expired - Fee Related JP5036260B2 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2006249962A JP5036260B2 (ja) 2006-09-14 2006-09-14 位置姿勢算出方法及び装置
US11/854,121 US8019114B2 (en) 2006-09-14 2007-09-12 Position and orientation measurement method and apparatus
EP07116329.9A EP1901029B1 (en) 2006-09-14 2007-09-13 Position and orientation measurement method and apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006249962A JP5036260B2 (ja) 2006-09-14 2006-09-14 位置姿勢算出方法及び装置

Publications (3)

Publication Number Publication Date
JP2008070267A JP2008070267A (ja) 2008-03-27
JP2008070267A5 JP2008070267A5 (enExample) 2009-11-05
JP5036260B2 true JP5036260B2 (ja) 2012-09-26

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Family Applications (1)

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JP2006249962A Expired - Fee Related JP5036260B2 (ja) 2006-09-14 2006-09-14 位置姿勢算出方法及び装置

Country Status (3)

Country Link
US (1) US8019114B2 (enExample)
EP (1) EP1901029B1 (enExample)
JP (1) JP5036260B2 (enExample)

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JP5354767B2 (ja) * 2007-10-17 2013-11-27 株式会社日立国際電気 物体検知装置
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US8121389B2 (en) * 2008-06-11 2012-02-21 Sirona Dental Systems Gmbh System, apparatus, method and computer program product for optical position recognition
US9288449B2 (en) * 2008-08-05 2016-03-15 University Of Florida Research Foundation, Inc. Systems and methods for maintaining multiple objects within a camera field-of-view
US20110039573A1 (en) * 2009-08-13 2011-02-17 Qualcomm Incorporated Accessing positional information for a mobile station using a data code label
US8855929B2 (en) * 2010-01-18 2014-10-07 Qualcomm Incorporated Using object to align and calibrate inertial navigation system
US9229089B2 (en) 2010-06-10 2016-01-05 Qualcomm Incorporated Acquisition of navigation assistance information for a mobile station
US9625258B2 (en) * 2011-06-06 2017-04-18 3Shape A/S Dual-resolution 3D scanner
JP6201991B2 (ja) 2012-06-28 2017-09-27 日本電気株式会社 カメラ位置姿勢評価装置、カメラ位置姿勢評価方法およびカメラ位置姿勢評価プログラム
DE102012107153A1 (de) 2012-08-03 2014-02-27 Hendrik Fehlis Vorrichtung und Verfahren zur Bestimmung der Eigenlage einer bildaufnehmenden Kamera
JP5892060B2 (ja) * 2012-12-25 2016-03-23 カシオ計算機株式会社 表示制御装置、表示制御システム、表示制御方法及びプログラム
US20140240469A1 (en) * 2013-02-28 2014-08-28 Motorola Mobility Llc Electronic Device with Multiview Image Capture and Depth Sensing
DE102013206569B4 (de) 2013-04-12 2020-08-06 Siemens Healthcare Gmbh Gestensteuerung mit automatisierter Kalibrierung
KR101830249B1 (ko) * 2014-03-20 2018-03-29 한국전자통신연구원 이동체의 위치 인식 장치 및 방법
WO2016016955A1 (ja) * 2014-07-30 2016-02-04 株式会社日立製作所 自律移動装置及び自己位置推定方法
JP2016045874A (ja) * 2014-08-26 2016-04-04 ソニー株式会社 情報処理装置、情報処理方法、及びプログラム
JP6435750B2 (ja) 2014-09-26 2018-12-12 富士通株式会社 ３次元座標算出装置、３次元座標算出方法および３次元座標算出プログラム
KR102149276B1 (ko) * 2014-10-23 2020-08-28 한화테크윈 주식회사 영상 정합 방법
KR102225617B1 (ko) * 2014-11-03 2021-03-12 한화테크윈 주식회사 영상 정합 알고리즘을 설정하는 방법
JP6087963B2 (ja) * 2015-02-17 2017-03-01 レノボ・シンガポール・プライベート・リミテッド ステレオ・カメラによる物体の存在の判別方法、デバイス制御システム、およびコンピュータ・プログラム
JP6464938B2 (ja) 2015-06-16 2019-02-06 富士通株式会社 画像処理装置、画像処理方法および画像処理プログラム
US10192361B2 (en) * 2015-07-06 2019-01-29 Seiko Epson Corporation Head-mounted display device and computer program
WO2017043181A1 (ja) * 2015-09-09 2017-03-16 ソニー株式会社 センサ装置、センサシステム及び情報処理装置
JP6917701B2 (ja) * 2016-11-30 2021-08-11 キヤノン株式会社 情報処理装置、情報処理装置の制御方法及びプログラム
EP3624060A4 (en) * 2017-05-09 2020-03-25 Sony Corporation INFORMATION PROCESSING DEVICE, INFORMATION PROCESSING PROCESS AND PROGRAM
US20180374237A1 (en) * 2017-06-23 2018-12-27 Canon Kabushiki Kaisha Method, system and apparatus for determining a pose for an object
WO2019026390A1 (ja) * 2017-08-01 2019-02-07 ソニー株式会社 情報処理装置、情報処理方法、記録媒体、及び撮像装置
JP7056495B2 (ja) * 2017-11-07 2022-04-19 カシオ計算機株式会社 位置算出システム、位置算出装置、位置算出方法及びプログラム
CN109916300A (zh) * 2019-03-20 2019-06-21 天远三维（天津）科技有限公司 基于在线图像处理的面向三维扫描的标志点粘贴指示方法
CN111553947B (zh) * 2020-04-17 2025-01-07 腾讯科技（深圳）有限公司 目标对象的定位方法、装置
US20230367390A1 (en) * 2020-09-28 2023-11-16 Bae Systems Plc Large space tracking using a wearable optics device

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JPH04152255A (ja) * 1990-10-16 1992-05-26 Ricoh Co Ltd 表面検査装置
JPH1184307A (ja) 1997-09-01 1999-03-26 M R Syst Kenkyusho:Kk 頭部装着型の光学装置
JP3651239B2 (ja) * 1998-03-16 2005-05-25 株式会社島津製作所 ビデオ式非接触伸び計
JP3976900B2 (ja) 1998-07-23 2007-09-19 キヤノン株式会社 視点位置姿勢の決定方法及びカメラ装置
JP2001141425A (ja) * 1999-11-12 2001-05-25 Laboratories Of Image Information Science & Technology ３次元形状計測装置
JP3467017B2 (ja) * 2000-11-30 2003-11-17 キヤノン株式会社 位置姿勢の決定方法及び装置並びに記憶媒体
US6915008B2 (en) * 2001-03-08 2005-07-05 Point Grey Research Inc. Method and apparatus for multi-nodal, three-dimensional imaging
JP2003134375A (ja) * 2001-10-26 2003-05-09 Matsushita Electric Works Ltd 画像撮影システム
JP2004205711A (ja) * 2002-12-24 2004-07-22 Canon Inc 表示装置
JP4136859B2 (ja) * 2003-01-10 2008-08-20 キヤノン株式会社 位置姿勢計測方法
JP4241250B2 (ja) * 2003-07-23 2009-03-18 富士ゼロックス株式会社 ３次元形状測定装置および方法
JP4121433B2 (ja) * 2003-09-03 2008-07-23 積水樹脂株式会社 自発光式矢羽根及びこれを用いた積雪深モニタリング装置並びに積雪深測定装置
JP4497880B2 (ja) * 2003-09-30 2010-07-07 キヤノン株式会社 指標識別方法および装置
JP4566786B2 (ja) * 2004-05-14 2010-10-20 キヤノン株式会社 位置姿勢計測方法および情報処理装置
JP4554316B2 (ja) * 2004-09-24 2010-09-29 富士重工業株式会社 ステレオ画像処理装置
JP4543821B2 (ja) * 2004-08-20 2010-09-15 富士ゼロックス株式会社 ３次元形状測定装置および方法
JP5403861B2 (ja) * 2006-11-06 2014-01-29 キヤノン株式会社 情報処理装置、情報処理方法

Also Published As

Publication number Publication date
US20080069405A1 (en) 2008-03-20
EP1901029A2 (en) 2008-03-19
EP1901029B1 (en) 2018-04-11
EP1901029A3 (en) 2016-01-27
US8019114B2 (en) 2011-09-13
JP2008070267A (ja) 2008-03-27

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