JP5403861B2 - 情報処理装置、情報処理方法 - Google Patents

情報処理装置、情報処理方法 Download PDF

Info

Publication number
JP5403861B2
JP5403861B2 JP2006300981A JP2006300981A JP5403861B2 JP 5403861 B2 JP5403861 B2 JP 5403861B2 JP 2006300981 A JP2006300981 A JP 2006300981A JP 2006300981 A JP2006300981 A JP 2006300981A JP 5403861 B2 JP5403861 B2 JP 5403861B2
Authority
JP
Japan
Prior art keywords
reliability
orientation
indices
information processing
index
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
Application number
JP2006300981A
Other languages
English (en)
Japanese (ja)
Other versions
JP2008116373A5 (enExample
JP2008116373A (ja
Inventor
真一 荒谷
晋二 内山
清秀 佐藤
隆明 遠藤
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Priority to JP2006300981A priority Critical patent/JP5403861B2/ja
Priority to US11/934,354 priority patent/US7698094B2/en
Publication of JP2008116373A publication Critical patent/JP2008116373A/ja
Publication of JP2008116373A5 publication Critical patent/JP2008116373A5/ja
Application granted granted Critical
Publication of JP5403861B2 publication Critical patent/JP5403861B2/ja
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G01S5/163—Determination of attitude
    • 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
    • G06T2207/30204—Marker
    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Position Input By Displaying (AREA)
  • Image Analysis (AREA)
  • Image Processing (AREA)
JP2006300981A 2006-11-06 2006-11-06 情報処理装置、情報処理方法 Expired - Fee Related JP5403861B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2006300981A JP5403861B2 (ja) 2006-11-06 2006-11-06 情報処理装置、情報処理方法
US11/934,354 US7698094B2 (en) 2006-11-06 2007-11-02 Position and orientation measurement method and apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006300981A JP5403861B2 (ja) 2006-11-06 2006-11-06 情報処理装置、情報処理方法

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2012208878A Division JP5465299B2 (ja) 2012-09-21 2012-09-21 情報処理装置、情報処理方法

Publications (3)

Publication Number Publication Date
JP2008116373A JP2008116373A (ja) 2008-05-22
JP2008116373A5 JP2008116373A5 (enExample) 2009-12-24
JP5403861B2 true JP5403861B2 (ja) 2014-01-29

Family

ID=39360727

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2006300981A Expired - Fee Related JP5403861B2 (ja) 2006-11-06 2006-11-06 情報処理装置、情報処理方法

Country Status (2)

Country Link
US (1) US7698094B2 (enExample)
JP (1) JP5403861B2 (enExample)

Families Citing this family (72)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5036260B2 (ja) * 2006-09-14 2012-09-26 キヤノン株式会社 位置姿勢算出方法及び装置
JP5132138B2 (ja) * 2006-11-28 2013-01-30 キヤノン株式会社 位置姿勢計測方法、位置姿勢計測装置
JP4960754B2 (ja) * 2007-04-25 2012-06-27 キヤノン株式会社 情報処理装置、情報処理方法
JP4956456B2 (ja) * 2008-02-05 2012-06-20 キヤノン株式会社 画像処理装置、画像処理方法
WO2009146359A1 (en) 2008-05-28 2009-12-03 Illinois Tool Works Inc. Welding training system
US8548742B2 (en) * 2008-10-21 2013-10-01 National Oilwell Varco L.P. Non-contact measurement systems for wireline and coiled tubing
JP5247590B2 (ja) * 2009-05-21 2013-07-24 キヤノン株式会社 情報処理装置及びキャリブレーション処理方法
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
EP2502025A4 (en) * 2009-11-20 2013-05-01 Saab Ab METHOD FOR ESTIMATING THE ABSOLUTE ORIENTATION OF A VEHICLE
JP5434608B2 (ja) * 2010-01-08 2014-03-05 トヨタ自動車株式会社 測位装置及び測位方法
JP5746477B2 (ja) * 2010-02-26 2015-07-08 キヤノン株式会社 モデル生成装置、３次元計測装置、それらの制御方法及びプログラム
JP5306313B2 (ja) * 2010-12-20 2013-10-02 株式会社東芝 ロボット制御装置
US8817046B2 (en) * 2011-04-21 2014-08-26 Microsoft Corporation Color channels and optical markers
US8810640B2 (en) * 2011-05-16 2014-08-19 Ut-Battelle, Llc Intrinsic feature-based pose measurement for imaging motion compensation
US9101994B2 (en) 2011-08-10 2015-08-11 Illinois Tool Works Inc. System and device for welding training
US9305361B2 (en) 2011-09-12 2016-04-05 Qualcomm Incorporated Resolving homography decomposition ambiguity based on orientation sensors
US9573215B2 (en) 2012-02-10 2017-02-21 Illinois Tool Works Inc. Sound-based weld travel speed sensing system and method
US8965057B2 (en) 2012-03-02 2015-02-24 Qualcomm Incorporated Scene structure-based self-pose estimation
US9210384B2 (en) 2012-09-20 2015-12-08 NAE Systems Information and Electronic Systems Integration Inc. System and method for real time registration of images
EP2728375A1 (de) 2012-10-31 2014-05-07 Leica Geosystems AG Verfahren und Vorrichtung zur Bestimmung einer Orientierung eines Objekts
US9583014B2 (en) 2012-11-09 2017-02-28 Illinois Tool Works Inc. System and device for welding training
US9368045B2 (en) 2012-11-09 2016-06-14 Illinois Tool Works Inc. System and device for welding training
US9713852B2 (en) 2013-03-15 2017-07-25 Illinois Tool Works Inc. Welding training systems and devices
US9672757B2 (en) 2013-03-15 2017-06-06 Illinois Tool Works Inc. Multi-mode software and method for a welding training system
US9728103B2 (en) 2013-03-15 2017-08-08 Illinois Tool Works Inc. Data storage and analysis for a welding training system
US9583023B2 (en) 2013-03-15 2017-02-28 Illinois Tool Works Inc. Welding torch for a welding training system
US9666100B2 (en) 2013-03-15 2017-05-30 Illinois Tool Works Inc. Calibration devices for a welding training system
US11090753B2 (en) 2013-06-21 2021-08-17 Illinois Tool Works Inc. System and method for determining weld travel speed
CN103487692B (zh) * 2013-09-25 2016-08-17 成都吉锐触摸技术股份有限公司 一种触摸屏的质量检测方法
US9747680B2 (en) 2013-11-27 2017-08-29 Industrial Technology Research Institute Inspection apparatus, method, and computer program product for machine vision inspection
US10056010B2 (en) 2013-12-03 2018-08-21 Illinois Tool Works Inc. Systems and methods for a weld training system
US9724788B2 (en) 2014-01-07 2017-08-08 Illinois Tool Works Inc. Electrical assemblies for a welding system
US9751149B2 (en) 2014-01-07 2017-09-05 Illinois Tool Works Inc. Welding stand for a welding system
US9757819B2 (en) 2014-01-07 2017-09-12 Illinois Tool Works Inc. Calibration tool and method for a welding system
US9589481B2 (en) 2014-01-07 2017-03-07 Illinois Tool Works Inc. Welding software for detection and control of devices and for analysis of data
US10170019B2 (en) 2014-01-07 2019-01-01 Illinois Tool Works Inc. Feedback from a welding torch of a welding system
US10105782B2 (en) 2014-01-07 2018-10-23 Illinois Tool Works Inc. Feedback from a welding torch of a welding system
GB2524983B (en) 2014-04-08 2016-03-16 I2O3D Holdings Ltd Method of estimating imaging device parameters
US9862049B2 (en) 2014-06-27 2018-01-09 Illinois Tool Works Inc. System and method of welding system operator identification
US9937578B2 (en) 2014-06-27 2018-04-10 Illinois Tool Works Inc. System and method for remote welding training
US10307853B2 (en) 2014-06-27 2019-06-04 Illinois Tool Works Inc. System and method for managing welding data
US10665128B2 (en) 2014-06-27 2020-05-26 Illinois Tool Works Inc. System and method of monitoring welding information
US11014183B2 (en) 2014-08-07 2021-05-25 Illinois Tool Works Inc. System and method of marking a welding workpiece
US9724787B2 (en) 2014-08-07 2017-08-08 Illinois Tool Works Inc. System and method of monitoring a welding environment
US9875665B2 (en) 2014-08-18 2018-01-23 Illinois Tool Works Inc. Weld training system and method
US11247289B2 (en) 2014-10-16 2022-02-15 Illinois Tool Works Inc. Remote power supply parameter adjustment
US10239147B2 (en) 2014-10-16 2019-03-26 Illinois Tool Works Inc. Sensor-based power controls for a welding system
US10373304B2 (en) 2014-11-05 2019-08-06 Illinois Tool Works Inc. System and method of arranging welding device markers
US10417934B2 (en) 2014-11-05 2019-09-17 Illinois Tool Works Inc. System and method of reviewing weld data
US10210773B2 (en) 2014-11-05 2019-02-19 Illinois Tool Works Inc. System and method for welding torch display
US10204406B2 (en) 2014-11-05 2019-02-12 Illinois Tool Works Inc. System and method of controlling welding system camera exposure and marker illumination
US10490098B2 (en) 2014-11-05 2019-11-26 Illinois Tool Works Inc. System and method of recording multi-run data
US10402959B2 (en) 2014-11-05 2019-09-03 Illinois Tool Works Inc. System and method of active torch marker control
CN104537235A (zh) * 2014-12-25 2015-04-22 电子科技大学 基于齐次坐标方法的微动台动态可靠性分析方法
US10427239B2 (en) 2015-04-02 2019-10-01 Illinois Tool Works Inc. Systems and methods for tracking weld training arc parameters
US10593230B2 (en) 2015-08-12 2020-03-17 Illinois Tool Works Inc. Stick welding electrode holder systems and methods
US10438505B2 (en) 2015-08-12 2019-10-08 Illinois Tool Works Welding training system interface
US10657839B2 (en) 2015-08-12 2020-05-19 Illinois Tool Works Inc. Stick welding electrode holders with real-time feedback features
US10373517B2 (en) 2015-08-12 2019-08-06 Illinois Tool Works Inc. Simulation stick welding electrode holder systems and methods
CN105043392B (zh) * 2015-08-17 2018-03-02 中国人民解放军63920部队 一种飞行器位姿确定方法及装置
US10739142B2 (en) 2016-09-02 2020-08-11 Apple Inc. System for determining position both indoor and outdoor
US10922836B2 (en) 2016-11-15 2021-02-16 Carl Zeiss Industrielle Messtechnik Gmbh Method and system for determining a 3D position of an object in space
US9934592B1 (en) * 2016-11-15 2018-04-03 Carl Zeiss Industrielle Messtechnik Gmbh Method and system for determining a 6-DOF-pose of an object in space
JP6702234B2 (ja) * 2017-03-10 2020-05-27 オムロン株式会社 ３次元測定装置、３次元測定方法、およびプログラム
EP3827302B1 (en) 2018-07-24 2024-09-25 Magic Leap, Inc. Methods and apparatuses for determining and/or evaluating localizing maps of image display devices
CN110956660B (zh) * 2018-09-26 2023-10-10 深圳市优必选科技有限公司 定位方法、机器人以及计算机存储介质
JP7198149B2 (ja) * 2019-04-24 2022-12-28 株式会社ソニー・インタラクティブエンタテインメント 情報処理装置およびデバイス情報導出方法
US12125288B2 (en) * 2019-05-21 2024-10-22 Nippon Telegraph And Telephone Corporation Position measuring method, driving control method, driving control system, and marker
US11288978B2 (en) 2019-07-22 2022-03-29 Illinois Tool Works Inc. Gas tungsten arc welding training systems
US11776423B2 (en) 2019-07-22 2023-10-03 Illinois Tool Works Inc. Connection boxes for gas tungsten arc welding training systems
CN110553586B (zh) * 2019-09-11 2020-12-25 吉林大学 基于机器视觉检测物体表面数据点集的方法
CN116721366B (zh) * 2023-06-07 2025-03-04 北京爱科农科技有限公司 基于深度学习的玉米出苗率的评估方法、系统及设备

Family Cites Families (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5856844A (en) * 1995-09-21 1999-01-05 Omniplanar, Inc. Method and apparatus for determining position and orientation
JP3525896B2 (ja) * 1999-03-19 2004-05-10 松下電工株式会社 ３次元物体認識方法および同方法を使用したビンピッキングシステム
JP3377465B2 (ja) * 1999-04-08 2003-02-17 ファナック株式会社 画像処理装置
JP3300682B2 (ja) * 1999-04-08 2002-07-08 ファナック株式会社 画像処理機能を持つロボット装置
AU1763801A (en) * 1999-11-12 2001-06-06 Brian S. Armstrong Methods and appparatus for measuring orientation and distance
JP4282216B2 (ja) * 2000-09-19 2009-06-17 オリンパス株式会社 ３次元位置姿勢センシング装置
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
JP3631151B2 (ja) * 2000-11-30 2005-03-23 キヤノン株式会社 情報処理装置、複合現実感提示装置及びその方法並びに記憶媒体
US6728582B1 (en) * 2000-12-15 2004-04-27 Cognex Corporation System and method for determining the position of an object in three dimensions using a machine vision system with two cameras
JP3486613B2 (ja) * 2001-03-06 2004-01-13 キヤノン株式会社 画像処理装置およびその方法並びにプログラム、記憶媒体
JP3796449B2 (ja) * 2002-01-31 2006-07-12 キヤノン株式会社 位置姿勢決定方法および装置並びにコンピュータプログラム
JP2003254716A (ja) * 2002-03-04 2003-09-10 Sony Corp ３次元位置・姿勢計測装置及び方法、記憶媒体、並びにコンピュータ・プログラム
JP4136859B2 (ja) * 2003-01-10 2008-08-20 キヤノン株式会社 位置姿勢計測方法
JP4532856B2 (ja) 2003-07-08 2010-08-25 キヤノン株式会社 位置姿勢計測方法及び装置
JP4502361B2 (ja) * 2003-09-30 2010-07-14 キヤノン株式会社 指標姿勢検出方法および装置
JP2005107247A (ja) * 2003-09-30 2005-04-21 Canon Inc 位置姿勢推定方法および装置
JP2005147894A (ja) * 2003-11-17 2005-06-09 Canon Inc 計測方法、計測装置
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
US7467061B2 (en) * 2004-05-14 2008-12-16 Canon Kabushiki Kaisha Information processing method and apparatus for finding position and orientation of targeted object
US7613361B2 (en) * 2004-05-14 2009-11-03 Canon Kabushiki Kaisha Information processing method and device
JP4593968B2 (ja) * 2004-05-14 2010-12-08 キヤノン株式会社 位置姿勢計測方法および装置
JP2005326275A (ja) * 2004-05-14 2005-11-24 Canon Inc 情報処理方法および装置
JP4914038B2 (ja) * 2004-11-04 2012-04-11 キヤノン株式会社 情報処理方法および装置
JP4859205B2 (ja) * 2005-02-04 2012-01-25 キヤノン株式会社 情報処理装置、情報処理方法、及びプログラム
JP4914019B2 (ja) * 2005-04-06 2012-04-11 キヤノン株式会社 位置姿勢計測方法及び装置
JP4785416B2 (ja) * 2005-05-11 2011-10-05 キヤノン株式会社 位置姿勢計測方法及び装置
JP4916167B2 (ja) * 2005-12-15 2012-04-11 キヤノン株式会社 指標識別方法及び指標識別装置
JP5063023B2 (ja) * 2006-03-31 2012-10-31 キヤノン株式会社 位置姿勢補正装置、位置姿勢補正方法
JP5517397B2 (ja) * 2006-08-11 2014-06-11 キヤノン株式会社 画像処理方法、画像処理装置
JP5036260B2 (ja) * 2006-09-14 2012-09-26 キヤノン株式会社 位置姿勢算出方法及び装置
JP4800163B2 (ja) * 2006-09-29 2011-10-26 株式会社トプコン 位置測定装置及びその方法
JP5132138B2 (ja) * 2006-11-28 2013-01-30 キヤノン株式会社 位置姿勢計測方法、位置姿勢計測装置
JP5230114B2 (ja) * 2007-03-13 2013-07-10 キヤノン株式会社 情報処理装置、情報処理方法
JP5013961B2 (ja) * 2007-05-21 2012-08-29 キヤノン株式会社 位置姿勢計測装置及びその制御方法
JP4956375B2 (ja) * 2007-10-30 2012-06-20 キヤノン株式会社 画像処理装置、画像処理方法

Also Published As

Publication number Publication date
US20080109184A1 (en) 2008-05-08
JP2008116373A (ja) 2008-05-22
US7698094B2 (en) 2010-04-13

Similar Documents

Publication Publication Date Title
JP5403861B2 (ja) 情報処理装置、情報処理方法
US9208395B2 (en) Position and orientation measurement apparatus, position and orientation measurement method, and storage medium
JP5746477B2 (ja) モデル生成装置、３次元計測装置、それらの制御方法及びプログラム
US8731243B2 (en) Position and orientation measurement method and position and orientation measurement apparatus
US8223146B2 (en) Image processing apparatus and image processing method
US9495750B2 (en) Image processing apparatus, image processing method, and storage medium for position and orientation measurement of a measurement target object
JP5036260B2 (ja) 位置姿勢算出方法及び装置
JP5548482B2 (ja) 位置姿勢計測装置、位置姿勢計測方法、プログラム及び記憶媒体
JP5058686B2 (ja) 情報処理方法及び情報処理装置
US8995710B2 (en) Information processing apparatus, processing method thereof, and computer-readable storage medium
JP5618569B2 (ja) 位置姿勢推定装置及びその方法
US9542745B2 (en) Apparatus and method for estimating orientation of camera
US8073201B2 (en) Position/orientation measurement method and apparatus
US10930008B2 (en) Information processing apparatus, information processing method, and program for deriving a position orientation of an image pickup apparatus using features detected from an image
KR20160003776A (ko) 자세 추정 방법 및 로봇
JPWO2015045834A1 (ja) マーカ画像処理システム
JP2005326282A (ja) 位置姿勢計測方法および装置
JP2013186816A (ja) 動画処理装置、動画処理方法および動画処理用のプログラム
JP2018136896A (ja) 情報処理装置、システム、情報処理方法、および物品の製造方法
JP5465299B2 (ja) 情報処理装置、情報処理方法
JP5976089B2 (ja) 位置姿勢計測装置、位置姿勢計測方法、およびプログラム
JP2008309595A (ja) オブジェクト認識装置及びそれに用いられるプログラム
CN111179347A (zh) 基于区域性特征的定位方法、定位设备及存储介质
JP2011059009A (ja) 位置計測対象物、位置計測システム、位置計測用演算装置およびプログラム
JP2016065830A (ja) 画像処理装置、画像処理方法

Legal Events

Date Code Title Description
A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20091106

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20091106

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20110808

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20110815

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20111007

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20120723

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20120921

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20130614

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20130910

A911 Transfer to examiner for re-examination before appeal (zenchi)

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20130918

A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20131011

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20131029

LAPS Cancellation because of no payment of annual fees