JP7438223B2 - 少なくとも１つの物体の位置を決定するための検出器 - Google Patents

少なくとも１つの物体の位置を決定するための検出器 Download PDF

Info

Publication number
JP7438223B2
JP7438223B2 JP2021540099A JP2021540099A JP7438223B2 JP 7438223 B2 JP7438223 B2 JP 7438223B2 JP 2021540099 A JP2021540099 A JP 2021540099A JP 2021540099 A JP2021540099 A JP 2021540099A JP 7438223 B2 JP7438223 B2 JP 7438223B2
Authority
JP
Japan
Prior art keywords
detector
pattern
image
feature
light
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
JP2021540099A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022518391A5 (https=
JP2022518391A (ja
JPWO2020144218A5 (https=
Inventor
エバーシュパッハ，ミヒャエル
レンナルツ，クリスティアン
ゼント，ロベルト
シンドラー，パトリク
シレン，ペーター
ブルーダー，イングマル
Original Assignee
トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング
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 トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング filed Critical トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング
Publication of JP2022518391A publication Critical patent/JP2022518391A/ja
Publication of JP2022518391A5 publication Critical patent/JP2022518391A5/ja
Publication of JPWO2020144218A5 publication Critical patent/JPWO2020144218A5/ja
Application granted granted Critical
Publication of JP7438223B2 publication Critical patent/JP7438223B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • 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
    • G06T7/74—Determining position or orientation of objects or cameras using feature-based methods involving reference images or patches
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/50—Image enhancement or restoration using two or more images, e.g. averaging or subtraction
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/70—Denoising; Smoothing
    • 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
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/571—Depth or shape recovery from multiple images from focus
    • 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
    • G06T7/55—Depth or shape recovery from multiple images
    • G06T7/579—Depth or shape recovery from multiple images from motion
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/10—Image acquisition
    • G06V10/12—Details of acquisition arrangements; Constructional details thereof
    • G06V10/14—Optical characteristics of the device performing the acquisition or on the illumination arrangements
    • 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
    • G06V10/25—Determination of region of interest [ROI] or a volume of interest [VOI]
    • 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
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10024—Color image
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10032—Satellite or aerial image; Remote sensing
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10048—Infrared image
    • 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
    • G06T2207/10—Image acquisition modality
    • G06T2207/10052—Images from lightfield camera
    • 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
    • G06T2207/30181—Earth observation
    • G06T2207/30188—Vegetation; Agriculture
    • 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
    • G06T2207/30196—Human being; Person
    • 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
    • G06T2207/30196—Human being; Person
    • G06T2207/30201—Face
    • 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
    • G06T2207/30221—Sports video; Sports image
    • 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
    • G06T2207/30232—Surveillance
    • 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
    • G06T2207/30242—Counting objects in image
    • 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
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Optics & Photonics (AREA)
  • Software Systems (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Measurement Of Optical Distance (AREA)
JP2021540099A 2019-01-09 2020-01-08 少なくとも１つの物体の位置を決定するための検出器 Active JP7438223B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP19150944.7 2019-01-09
EP19150944 2019-01-09
PCT/EP2020/050287 WO2020144218A1 (en) 2019-01-09 2020-01-08 Detector for determining a position of at least one object

Publications (4)

Publication Number Publication Date
JP2022518391A JP2022518391A (ja) 2022-03-15
JP2022518391A5 JP2022518391A5 (https=) 2022-12-26
JPWO2020144218A5 JPWO2020144218A5 (https=) 2022-12-26
JP7438223B2 true JP7438223B2 (ja) 2024-02-26

Family

ID=65011888

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2021540099A Active JP7438223B2 (ja) 2019-01-09 2020-01-08 少なくとも１つの物体の位置を決定するための検出器

Country Status (6)

Country Link
US (2) US11908156B2 (https=)
EP (1) EP3909018A1 (https=)
JP (1) JP7438223B2 (https=)
KR (1) KR20210113637A (https=)
CN (1) CN113557549B (https=)
WO (1) WO2020144218A1 (https=)

Families Citing this family (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210113637A (ko) * 2019-01-09 2021-09-16 트리나미엑스 게엠베하 적어도 하나의 대상체의 위치를 결정하기 위한 검출기
JP7242431B2 (ja) * 2019-05-31 2023-03-20 公益財団法人かずさＤｎａ研究所 三次元計測装置、三次元計測方法および三次元計測用プログラム
US20210025738A1 (en) * 2019-07-24 2021-01-28 EMC IP Holding Company LLC System and method for device operation monitoring
US11487080B2 (en) * 2019-10-18 2022-11-01 Htc Corporation Head-mounted display device and adjustment method
CN115461643A (zh) * 2020-04-22 2022-12-09 特里纳米克斯股份有限公司 用于对象深度测量的照射图案
US11691756B1 (en) * 2020-05-21 2023-07-04 Amazon Technologies, Inc. Enhancing airborne visibility of ground markers by vertical variation
CN112498050A (zh) * 2020-12-09 2021-03-16 广东积微科技有限公司 一种房车空调器及其控制方法
CN113063375B (zh) * 2021-03-16 2022-04-08 成都理工大学 一种直线型耕作田埂的无人机遥感提取方法
CN113124820B (zh) * 2021-06-17 2021-09-10 中国空气动力研究与发展中心低速空气动力研究所 一种基于曲面镜的单目测距方法
KR20240157027A (ko) * 2022-02-28 2024-10-31 에이에스엠엘 네델란즈 비.브이. 높이 측정 센서
CN114963025B (zh) * 2022-04-19 2024-03-26 深圳市城市公共安全技术研究院有限公司 泄漏点定位方法、装置、电子设备及可读存储介质
CN114912663A (zh) * 2022-04-22 2022-08-16 黑龙江省气象局 一种基于人影云模式的人工增雨作业用弹量预估方法、装置和计算机设备
CN114580211B (zh) * 2022-04-24 2022-07-15 天津航大天元航空技术有限公司 一种光伏发电设备的视觉影响评估方法及装置
US20230359217A1 (en) * 2022-05-05 2023-11-09 Pixart Imaging Inc. Optical navigation device which can detect and record abnormal region
US12499688B2 (en) * 2022-05-13 2025-12-16 Vantor Inc. Velocity estimation in remotely sensed imagery
US12270521B2 (en) * 2022-11-17 2025-04-08 Honeywell International Inc. Landing marker area light system and aerial vehicle including the same
US12581050B2 (en) * 2022-11-23 2026-03-17 10X Genomics, Inc. Optical assemblies for machine vision calibration
CN115808129B (zh) * 2023-01-17 2023-05-26 长江勘测规划设计研究有限责任公司 一种机器视觉识别发电机母线位移和形变的方法
EP4427573A1 (en) * 2023-03-07 2024-09-11 CNH Industrial Belgium N.V. Crop container monitoring
JP2024157591A (ja) * 2023-04-26 2024-11-08 東芝テック株式会社 物品登録装置と、物品登録装置を搭載するカートｐｏｓシステム
CN117058233A (zh) * 2023-07-31 2023-11-14 宁波江丰生物信息技术有限公司 基于三维反投影的取材指导方法、存储介质及系统
CN116945195B (zh) * 2023-09-19 2024-01-12 成都飞机工业（集团）有限责任公司 全向测量设备系统装置、配准方法、电子设备和存储介质
CN120064320B (zh) * 2025-04-29 2025-07-22 南昌航空大学 一种航空发动机热障涂层高温oct监测方法及系统
US12594676B1 (en) 2025-06-04 2026-04-07 ENGtegrity, Inc Automated systems and methods for installing fasteners through construction connectors

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013210254A (ja) 2012-03-30 2013-10-10 Canon Inc 三次元計測装置、三次元計測方法及び三次元計測プログラム
WO2015059346A1 (en) 2013-10-25 2015-04-30 Nokia Technologies Oy An apparatus and a method for producing a depth-map
JP2016024052A (ja) 2014-07-18 2016-02-08 国立大学法人 鹿児島大学 ３次元計測システム、３次元計測方法及びプログラム
JP2018513980A (ja) 2015-01-30 2018-05-31 トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング 少なくとも１個の物体を光学的に検出する検出器

Family Cites Families (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996041304A1 (en) * 1995-06-07 1996-12-19 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
EP1971820B1 (de) 2006-01-08 2012-10-17 Hermann Tropf Erstellung eines abstandsbildes
US8090194B2 (en) 2006-11-21 2012-01-03 Mantis Vision Ltd. 3D geometric modeling and motion capture using both single and dual imaging
TWI433052B (zh) 2007-04-02 2014-04-01 Primesense Ltd 使用投影圖案之深度製圖
US8150142B2 (en) 2007-04-02 2012-04-03 Prime Sense Ltd. Depth mapping using projected patterns
US8867790B2 (en) * 2010-08-03 2014-10-21 Panasonic Corporation Object detection device, object detection method, and program
EP3029485B1 (en) 2011-02-15 2019-12-11 Basf Se Detector for optically detecting at least one object
US9389315B2 (en) 2012-12-19 2016-07-12 Basf Se Detector comprising a transversal optical sensor for detecting a transversal position of a light beam from an object and a longitudinal optical sensor sensing a beam cross-section of the light beam in a sensor region
EP3008485A1 (en) 2013-06-13 2016-04-20 Basf Se Detector for optically detecting at least one object
CN106662636B (zh) * 2014-07-08 2020-12-25 巴斯夫欧洲公司 用于确定至少一个对象的位置的检测器
KR20170094197A (ko) 2014-12-09 2017-08-17 바스프 에스이 광 검출기
EP3325917B1 (en) * 2015-07-17 2020-02-26 trinamiX GmbH Detector for optically detecting at least one object
EP3182156B1 (en) * 2015-12-18 2021-01-27 STMicroelectronics (Research & Development) Limited Ranging apparatus
CN109964144B (zh) * 2016-11-17 2023-07-18 特里纳米克斯股份有限公司 用于光学探测至少一个对象的检测器
KR102382865B1 (ko) * 2017-06-28 2022-04-05 삼성전자주식회사 카메라 모듈, 카메라 모듈을 포함하는 전자 장치
GB2572755B (en) * 2018-04-05 2020-06-10 Imagination Tech Ltd Matching local image feature descriptors
KR20210113637A (ko) * 2019-01-09 2021-09-16 트리나미엑스 게엠베하 적어도 하나의 대상체의 위치를 결정하기 위한 검출기

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013210254A (ja) 2012-03-30 2013-10-10 Canon Inc 三次元計測装置、三次元計測方法及び三次元計測プログラム
WO2015059346A1 (en) 2013-10-25 2015-04-30 Nokia Technologies Oy An apparatus and a method for producing a depth-map
JP2016024052A (ja) 2014-07-18 2016-02-08 国立大学法人 鹿児島大学 ３次元計測システム、３次元計測方法及びプログラム
JP2018513980A (ja) 2015-01-30 2018-05-31 トリナミクス ゲゼルシャフト ミット ベシュレンクテル ハフツング 少なくとも１個の物体を光学的に検出する検出器

Also Published As

Publication number Publication date
US11908156B2 (en) 2024-02-20
EP3909018A1 (en) 2021-11-17
CN113557549B (zh) 2025-11-11
US12488495B2 (en) 2025-12-02
JP2022518391A (ja) 2022-03-15
WO2020144218A1 (en) 2020-07-16
US20220101551A1 (en) 2022-03-31
CN113557549A (zh) 2021-10-26
KR20210113637A (ko) 2021-09-16
US20240119624A1 (en) 2024-04-11

Similar Documents

Publication Publication Date Title
JP7438223B2 (ja) 少なくとも１つの物体の位置を決定するための検出器
JP7179051B2 (ja) 少なくとも１つの物体の位置を決定するための検出器
CN111587384B (zh) 用于确定至少一个对象的位置的检测器
JP7502305B2 (ja) 少なくとも１つの物体の位置を決定するための検出器
JP7512291B2 (ja) 少なくとも１つの物体の位置を決定するための検出器
WO2019215211A1 (en) Detector for optically detecting at least one object

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221213

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20221213

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20230912

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20230926

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20231226

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: 20240116

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20240213

R150 Certificate of patent or registration of utility model

Ref document number: 7438223

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150