JP6847922B2 - 構造化照明のためのコード領域パワー制御 - Google Patents

構造化照明のためのコード領域パワー制御 Download PDF

Info

Publication number
JP6847922B2
JP6847922B2 JP2018509515A JP2018509515A JP6847922B2 JP 6847922 B2 JP6847922 B2 JP 6847922B2 JP 2018509515 A JP2018509515 A JP 2018509515A JP 2018509515 A JP2018509515 A JP 2018509515A JP 6847922 B2 JP6847922 B2 JP 6847922B2
Authority
JP
Japan
Prior art keywords
codeword
code
expected
depth map
processing circuit
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.)
Active
Application number
JP2018509515A
Other languages
English (en)
Japanese (ja)
Other versions
JP2018525636A (ja
JP2018525636A5 (enExample
Inventor
ジェームズ・ウィルソン・ナッシュ
カリン・ミトコフ・アタナッソフ
アルブレヒト・ヨハネス・リンドナー
Original Assignee
クアルコム，インコーポレイテッド
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 クアルコム，インコーポレイテッド filed Critical クアルコム，インコーポレイテッド
Publication of JP2018525636A publication Critical patent/JP2018525636A/ja
Publication of JP2018525636A5 publication Critical patent/JP2018525636A5/ja
Application granted granted Critical
Publication of JP6847922B2 publication Critical patent/JP6847922B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G01B11/2513—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 with several lines being projected in more than one direction, e.g. grids, patterns
    • 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
    • G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/22—Matching criteria, e.g. proximity measures
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F18/00—Pattern recognition
    • G06F18/20—Analysing
    • G06F18/24—Classification techniques
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/50—Depth or shape recovery
    • G06T7/521—Depth or shape recovery from laser ranging, e.g. using interferometry; from the projection of structured light
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/42—Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/40—Extraction of image or video features
    • G06V10/60—Extraction of image or video features relating to illumination properties, e.g. using a reflectance or lighting model
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00—Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/10—Character recognition
    • G06V30/22—Character recognition characterised by the type of writing
    • G06V30/224—Character recognition characterised by the type of writing of printed characters having additional code marks or containing code marks

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Data Mining & Analysis (AREA)
  • Bioinformatics & Cheminformatics (AREA)
  • Artificial Intelligence (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Bioinformatics & Computational Biology (AREA)
  • Evolutionary Biology (AREA)
  • Evolutionary Computation (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Software Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
JP2018509515A 2015-08-31 2016-08-16 構造化照明のためのコード領域パワー制御 Active JP6847922B2 (ja)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201562212507P 2015-08-31 2015-08-31
US62/212,507 2015-08-31
US15/060,028 US9846943B2 (en) 2015-08-31 2016-03-03 Code domain power control for structured light
US15/060,028 2016-03-03
PCT/US2016/047179 WO2017040028A1 (en) 2015-08-31 2016-08-16 Code domain power control for structured light

Related Child Applications (1)

Application Number Title Priority Date Filing Date
JP2020196824A Division JP2021051082A (ja) 2015-08-31 2020-11-27 構造化照明のためのコード領域パワー制御

Publications (3)

Publication Number Publication Date
JP2018525636A JP2018525636A (ja) 2018-09-06
JP2018525636A5 JP2018525636A5 (enExample) 2020-02-27
JP6847922B2 true JP6847922B2 (ja) 2021-03-24

Family

ID=58095794

Family Applications (2)

Application Number Title Priority Date Filing Date
JP2018509515A Active JP6847922B2 (ja) 2015-08-31 2016-08-16 構造化照明のためのコード領域パワー制御
JP2020196824A Pending JP2021051082A (ja) 2015-08-31 2020-11-27 構造化照明のためのコード領域パワー制御

Family Applications After (1)

Application Number Title Priority Date Filing Date
JP2020196824A Pending JP2021051082A (ja) 2015-08-31 2020-11-27 構造化照明のためのコード領域パワー制御

Country Status (10)

Country Link
US (2) US9846943B2 (enExample)
EP (1) EP3344949B1 (enExample)
JP (2) JP6847922B2 (enExample)
KR (1) KR102168257B1 (enExample)
CN (1) CN108419440B (enExample)
BR (1) BR112018003954B1 (enExample)
CA (1) CA2992598A1 (enExample)
ES (1) ES2775512T3 (enExample)
HU (1) HUE046551T2 (enExample)
WO (1) WO2017040028A1 (enExample)

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9948920B2 (en) 2015-02-27 2018-04-17 Qualcomm Incorporated Systems and methods for error correction in structured light
US10068338B2 (en) 2015-03-12 2018-09-04 Qualcomm Incorporated Active sensing spatial resolution improvement through multiple receivers and code reuse
US9846943B2 (en) 2015-08-31 2017-12-19 Qualcomm Incorporated Code domain power control for structured light
US10192311B2 (en) * 2016-08-05 2019-01-29 Qualcomm Incorporated Methods and apparatus for codeword boundary detection for generating depth maps
PL3548128T3 (pl) * 2016-11-29 2022-12-19 Philip Morris Products S.A. Układ wytwarzania aerozolu z regulowanym natężeniem przepływu pompy
US10620316B2 (en) * 2017-05-05 2020-04-14 Qualcomm Incorporated Systems and methods for generating a structured light depth map with a non-uniform codeword pattern
TWI647661B (zh) * 2017-08-10 2019-01-11 緯創資通股份有限公司 影像深度感測方法與影像深度感測裝置
CN109405749B (zh) * 2018-11-19 2024-03-26 清华大学深圳研究生院 一种激光成像测距方法及系统
CN111174702B (zh) * 2020-01-22 2022-03-15 无锡微视传感科技有限公司 一种自适应结构光投射模组及测量方法
JP6779426B1 (ja) * 2020-04-15 2020-11-04 三菱電機株式会社 パラメータ調整装置、学習装置、測定システム、パラメータ調整方法及びプログラム

Family Cites Families (81)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4653104A (en) 1984-09-24 1987-03-24 Westinghouse Electric Corp. Optical three-dimensional digital data acquisition system
US5226084A (en) 1990-12-05 1993-07-06 Digital Voice Systems, Inc. Methods for speech quantization and error correction
US6229913B1 (en) 1995-06-07 2001-05-08 The Trustees Of Columbia University In The City Of New York Apparatus and methods for determining the three-dimensional shape of an object using active illumination and relative blurring in two-images due to defocus
JPH1145782A (ja) * 1997-07-28 1999-02-16 Matsushita Electric Works Ltd 調光監視制御システム
CA2306515A1 (en) 2000-04-25 2001-10-25 Inspeck Inc. Internet stereo vision, 3d digitizing, and motion capture camera
FI109633B (fi) 2001-01-24 2002-09-13 Gamecluster Ltd Oy Menetelmä videokuvan pakkauksen nopeuttamiseksi ja/tai sen laadun parantamiseksi
US7440590B1 (en) * 2002-05-21 2008-10-21 University Of Kentucky Research Foundation System and technique for retrieving depth information about a surface by projecting a composite image of modulated light patterns
WO2004001332A1 (en) 2002-06-19 2003-12-31 Canesta, Inc. System and method for determining 3-d coordinates of a surface using a coded array
JP3660328B2 (ja) * 2002-06-21 2005-06-15 ファナック株式会社 レーザ加工機
DE10232690A1 (de) 2002-07-18 2004-02-12 Siemens Ag Verfahren und Vorrichtung zur dreidimensionalen Erfassung von Objekten sowie Verwendung der Vorrichtung und des Verfahrens
US7146036B2 (en) 2003-02-03 2006-12-05 Hewlett-Packard Development Company, L.P. Multiframe correspondence estimation
CA2435935A1 (en) 2003-07-24 2005-01-24 Guylain Lemelin Optical 3d digitizer with enlarged non-ambiguity zone
US7231578B2 (en) 2004-04-02 2007-06-12 Hitachi Global Storage Technologies Netherlands B.V. Techniques for detecting and correcting errors using multiple interleave erasure pointers
CN100394141C (zh) * 2004-12-28 2008-06-11 陈胜勇 基于领域唯一性的高效结构光的实现方法及其装置
US7916932B2 (en) 2005-02-16 2011-03-29 In-G Co., Ltd. Method and system of structural light-based 3D depth imaging using signal separation coding and error correction thereof
JP2007271530A (ja) * 2006-03-31 2007-10-18 Brother Ind Ltd ３次元形状検出装置及び３次元形状検出方法
JP4856605B2 (ja) 2006-08-31 2012-01-18 パナソニック株式会社 符号化方法、符号化装置、及び送信装置
DE102006048234A1 (de) 2006-10-11 2008-04-17 Steinbichler Optotechnik Gmbh Verfahren und Vorrichtung zur Bestimmung der 3D-Koordinaten eines Objekts
SG176440A1 (en) 2006-11-21 2011-12-29 Mantisvision Ltd 3d geometric modeling and 3d video content creation
US7950581B2 (en) 2006-12-01 2011-05-31 Intermec Ip Corp. System and method of acquiring a machine-readable symbol
US8326020B2 (en) 2007-02-28 2012-12-04 Sungkyunkwan University Foundation Structural light based depth imaging method and system using signal separation coding, and error correction thereof
US20090322859A1 (en) 2008-03-20 2009-12-31 Shelton Damion M Method and System for 3D Imaging Using a Spacetime Coded Laser Projection System
TWI420401B (zh) 2008-06-11 2013-12-21 Vatics Inc 一種回授式物件偵測演算法
JP4715944B2 (ja) 2009-04-03 2011-07-06 オムロン株式会社 三次元形状計測装置、三次元形状計測方法、および三次元形状計測プログラム
CN101608906B (zh) * 2009-07-21 2012-01-04 西安交通大学 一种时间编码的光学三维轮廓测量方法
US8537200B2 (en) 2009-10-23 2013-09-17 Qualcomm Incorporated Depth map generation techniques for conversion of 2D video data to 3D video data
US9030469B2 (en) 2009-11-18 2015-05-12 Industrial Technology Research Institute Method for generating depth maps from monocular images and systems using the same
CN102656421A (zh) * 2009-12-23 2012-09-05 Imra美国公司 利用结构化光学元件和聚焦光束的激光刻图
WO2011139734A2 (en) 2010-04-27 2011-11-10 Sanjay Nichani Method for moving object detection using an image sensor and structured light
US8933927B2 (en) 2010-09-02 2015-01-13 Samsung Electronics Co., Ltd. Display system with image conversion mechanism and method of operation thereof
WO2012033109A1 (en) * 2010-09-08 2012-03-15 Canon Kabushiki Kaisha Method and apparatus for 3d-measurement by detecting a predetermined pattern
US20120056982A1 (en) 2010-09-08 2012-03-08 Microsoft Corporation Depth camera based on structured light and stereo vision
US9013634B2 (en) 2010-09-14 2015-04-21 Adobe Systems Incorporated Methods and apparatus for video completion
CN102598683B (zh) 2010-09-17 2015-06-17 松下电器产业株式会社 立体影像制作装置以及立体影像制作方法
US20120086803A1 (en) 2010-10-11 2012-04-12 Malzbender Thomas G Method and system for distance estimation using projected symbol sequences
US8429495B2 (en) 2010-10-19 2013-04-23 Mosaid Technologies Incorporated Error detection and correction codes for channels and memories with incomplete error characteristics
US8531535B2 (en) 2010-10-28 2013-09-10 Google Inc. Methods and systems for processing a video for stabilization and retargeting
JP2012141252A (ja) 2011-01-06 2012-07-26 Nikon Corp 三次元形状測定装置
US20140002610A1 (en) * 2011-03-15 2014-01-02 Board Of Trustees Of Michigan State University Real-time 3d shape measurement system
US20120242795A1 (en) 2011-03-24 2012-09-27 Paul James Kane Digital 3d camera using periodic illumination
US8724854B2 (en) 2011-04-08 2014-05-13 Adobe Systems Incorporated Methods and apparatus for robust video stabilization
US9482529B2 (en) 2011-04-15 2016-11-01 Faro Technologies, Inc. Three-dimensional coordinate scanner and method of operation
US9536312B2 (en) 2011-05-16 2017-01-03 Microsoft Corporation Depth reconstruction using plural depth capture units
KR101927967B1 (ko) 2011-08-09 2018-12-12 삼성전자주식회사 다시점 비디오 데이터의 깊이맵 부호화 방법 및 장치, 복호화 방법 및 장치
US9491441B2 (en) 2011-08-30 2016-11-08 Microsoft Technology Licensing, Llc Method to extend laser depth map range
EP2777273B1 (en) 2011-11-11 2019-09-04 GE Video Compression, LLC Efficient multi-view coding using depth-map estimate for a dependent view
US8270465B1 (en) 2011-11-15 2012-09-18 Xw Llc Timing and time information extraction from a phase modulated signal in a radio controlled clock receiver
JP5918984B2 (ja) 2011-12-06 2016-05-18 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、およびプログラム
US20150117514A1 (en) 2012-04-23 2015-04-30 Samsung Electronics Co., Ltd. Three-dimensional video encoding method using slice header and method therefor, and three-dimensional video decoding method and device therefor
KR101913321B1 (ko) 2012-05-10 2018-10-30 삼성전자주식회사 깊이 센서 기반 반사 객체의 형상 취득 방법 및 장치
US9207070B2 (en) * 2012-05-24 2015-12-08 Qualcomm Incorporated Transmission of affine-invariant spatial mask for active depth sensing
US9111135B2 (en) 2012-06-25 2015-08-18 Aquifi, Inc. Systems and methods for tracking human hands using parts based template matching using corresponding pixels in bounded regions of a sequence of frames that are a specified distance interval from a reference camera
CN102831582B (zh) 2012-07-27 2015-08-12 湖南大学 一种微软体感装置深度图像增强方法
ES2696198T3 (es) 2012-07-30 2019-01-14 Aist Sistema de procesamiento de imágenes y método de procesamiento de imágenes
US9325966B2 (en) * 2012-07-30 2016-04-26 Canon Kabushiki Kaisha Depth measurement using multispectral binary coded projection and multispectral image capture
CN104813669B (zh) 2012-09-21 2018-05-22 诺基亚技术有限公司 用于视频编码的方法和装置
JP6061616B2 (ja) 2012-10-29 2017-01-18 キヤノン株式会社 測定装置及びその制御方法、プログラム
US10368053B2 (en) * 2012-11-14 2019-07-30 Qualcomm Incorporated Structured light active depth sensing systems combining multiple images to compensate for differences in reflectivity and/or absorption
US9071756B2 (en) 2012-12-11 2015-06-30 Facebook, Inc. Systems and methods for digital video stabilization via constraint-based rotation smoothing
KR101995340B1 (ko) 2013-01-02 2019-07-02 엘지이노텍 주식회사 적외선 광원 제어방법
KR20140099098A (ko) 2013-02-01 2014-08-11 한국전자통신연구원 능동 스테레오 매칭 방법 및 그 장치
JP5794240B2 (ja) 2013-02-05 2015-10-14 ソニー株式会社 誤り検出訂正装置、誤り検出訂正方法、情報処理装置、および、プログラム
US10140765B2 (en) 2013-02-25 2018-11-27 Google Llc Staged camera traversal for three dimensional environment
US9142019B2 (en) 2013-02-28 2015-09-22 Google Technology Holdings LLC System for 2D/3D spatial feature processing
WO2014209268A1 (en) 2013-06-24 2014-12-31 Intel Corporation Error detecting and correcting structured light patterns
JP6248533B2 (ja) 2013-10-22 2017-12-20 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
WO2015065386A1 (en) 2013-10-30 2015-05-07 Intel Corporation Image capture feedback
US9542749B2 (en) 2014-01-06 2017-01-10 Microsoft Technology Licensing, Llc Fast general multipath correction in time-of-flight imaging
CN103796004B (zh) 2014-02-13 2015-09-30 西安交通大学 一种主动结构光的双目深度感知方法
US10349037B2 (en) 2014-04-03 2019-07-09 Ams Sensors Singapore Pte. Ltd. Structured-stereo imaging assembly including separate imagers for different wavelengths
US9589359B2 (en) 2014-04-24 2017-03-07 Intel Corporation Structured stereo
US20150381972A1 (en) 2014-06-30 2015-12-31 Microsoft Corporation Depth estimation using multi-view stereo and a calibrated projector
US20160050372A1 (en) 2014-08-15 2016-02-18 Qualcomm Incorporated Systems and methods for depth enhanced and content aware video stabilization
US9507995B2 (en) 2014-08-29 2016-11-29 X Development Llc Combination of stereo and structured-light processing
US9638801B2 (en) 2014-11-24 2017-05-02 Mitsubishi Electric Research Laboratories, Inc Depth sensing using optical pulses and fixed coded aperature
US9500475B2 (en) 2015-01-08 2016-11-22 GM Global Technology Operations LLC Method and apparatus for inspecting an object employing machine vision
US9948920B2 (en) 2015-02-27 2018-04-17 Qualcomm Incorporated Systems and methods for error correction in structured light
US10068338B2 (en) 2015-03-12 2018-09-04 Qualcomm Incorporated Active sensing spatial resolution improvement through multiple receivers and code reuse
US9530215B2 (en) 2015-03-20 2016-12-27 Qualcomm Incorporated Systems and methods for enhanced depth map retrieval for moving objects using active sensing technology
US9635339B2 (en) 2015-08-14 2017-04-25 Qualcomm Incorporated Memory-efficient coded light error correction
US9846943B2 (en) 2015-08-31 2017-12-19 Qualcomm Incorporated Code domain power control for structured light

Also Published As

Publication number Publication date
US20180068456A1 (en) 2018-03-08
US10223801B2 (en) 2019-03-05
JP2018525636A (ja) 2018-09-06
BR112018003954A2 (pt) 2018-09-25
US20170061634A1 (en) 2017-03-02
KR20180044415A (ko) 2018-05-02
KR102168257B1 (ko) 2020-10-21
CA2992598A1 (en) 2017-03-09
BR112018003954B1 (pt) 2022-09-13
EP3344949B1 (en) 2019-11-27
JP2021051082A (ja) 2021-04-01
US9846943B2 (en) 2017-12-19
CN108419440B (zh) 2020-05-26
WO2017040028A1 (en) 2017-03-09
CN108419440A (zh) 2018-08-17
ES2775512T3 (es) 2020-07-27
EP3344949A1 (en) 2018-07-11
HUE046551T2 (hu) 2020-03-30

Similar Documents

Publication Publication Date Title
JP6847922B2 (ja) 構造化照明のためのコード領域パワー制御
US11509880B2 (en) Dynamic adjustment of light source power in structured light active depth sensing systems
CN107851310B (zh) 节省存储器的经译码光错误校正
US9948920B2 (en) Systems and methods for error correction in structured light
KR101950658B1 (ko) 구조형 광 깊이 맵들의 아웃라이어 검출 및 정정을 위한 방법들 및 장치들
EP3555855B1 (en) Systems and methods for improved depth sensing
CN109416837B (zh) 使用移位阴影轮廓的视差图中的对象重构
CN114902066B (zh) 用于主动深度感测的交替光分布

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20190801

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20190801

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200116

A871 Explanation of circumstances concerning accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A871

Effective date: 20200116

A975 Report on accelerated examination

Free format text: JAPANESE INTERMEDIATE CODE: A971005

Effective date: 20200205

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20200225

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20200525

A02 Decision of refusal

Free format text: JAPANESE INTERMEDIATE CODE: A02

Effective date: 20200727

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20201127

C60 Trial request (containing other claim documents, opposition documents)

Free format text: JAPANESE INTERMEDIATE CODE: C60

Effective date: 20201127

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

Free format text: JAPANESE INTERMEDIATE CODE: A911

Effective date: 20201207

C21 Notice of transfer of a case for reconsideration by examiners before appeal proceedings

Free format text: JAPANESE INTERMEDIATE CODE: C21

Effective date: 20201214

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: 20210201

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20210303

R150 Certificate of patent or registration of utility model

Ref document number: 6847922

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250

R250 Receipt of annual fees

Free format text: JAPANESE INTERMEDIATE CODE: R250