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公开(公告)号：US10091469B2
公开(公告)日：2018-10-02
申请号：US14861998
申请日：2015-09-22
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tetsuri Sonoda
Abstract: An image processing apparatus can measure a three-dimensional shape of a subject with high accuracy when an image of a projection pattern is captured with a favorable contrast. The image processing apparatus includes a matching calculation unit that performs matching calculation between a projection pattern in an image being captured and an image of a projection pattern generated by a projection pattern generation unit. An image evaluation unit calculates a contrast as an evaluation standard in the captured image. A symbol position calculation unit highly accurately calculates a position of each of a group of points forming the projection pattern, for each area in the captured image determined to be a highly accurate shape measurable area based on the contrast, and thus obtains a peak luminance position. A three-dimensional shape calculation unit calculates the three-dimensional shape of the subject.
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公开(公告)号：US09689668B2
公开(公告)日：2017-06-27
申请号：US14593249
申请日：2015-01-09
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tetsuri Sonoda
CPC classification number: G01B11/2513 , G06T7/521
Abstract: A projection pattern as an image obtained by compositing the first two-dimensional pattern image and the second two-dimensional pattern image is projected onto an object, and the object onto which the projection pattern has been projected is captured. The three-dimensional shape information of the object is measured based on the projection pattern and the captured image. When a region formed from one or a plurality of pixels is set as the first unit area, and a region having a size larger than that of the first unit area is set as the second unit area, each first unit area of the first two-dimensional pattern image is assigned with one of a plurality of pixel values, and each second unit area of the second two-dimensional pattern image is assigned with one of the plurality of pixel values.
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公开(公告)号：US08841991B2
公开(公告)日：2014-09-23
申请号：US13749080
申请日：2013-01-24
Applicant: Canon Kabushiki Kaisha
Inventor： Mahoro Anabuki , Atsushi Nogami , Tetsuri Sonoda
IPC: H04B3/36 , G06F3/0354 , G09B21/00 , G06F3/01
CPC classification number: H04B3/36 , G06F3/016 , G06F3/03547 , G09B21/003
Abstract: Contact detection units are attached to an information transfer device in a predetermined arrangement pattern to detect contact with a human body. Presentation units are attached to the information transfer device in a predetermined arrangement pattern to present a tactile stimulus. A contact detection unit that has detected contact is specified. Based on the arrangement distribution of the specified contact detection unit and a type of information to be presented via a tactile stimulus, a presentation unit to be driven is specified. The specified presentation unit is driven and controlled.
Abstract translation: 接触检测单元以预定布置图案附接到信息传送装置，以检测与人体的接触。 呈现单元以预定的布置图案附接到信息传送装置以呈现触觉刺激。 指定检测到接触的接触检测单元。 基于指定的接触检测单元的布置分布和通过触觉刺激呈现的信息的类型，指定要驱动的呈现单元。 指定的演示单元被驱动和控制。
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公开(公告)号：US10695905B2
公开(公告)日：2020-06-30
申请号：US15298983
申请日：2016-10-20
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tetsuri Sonoda
Abstract: A robot control apparatus that controls operation of a robot that grips a target object includes an acquisition unit that obtains information about a position and orientation of the target object, a selection unit that selects one of a plurality of gripping modes based on a captured image of the target object, and a generation unit that generates, based on the obtained position and orientation and the selected gripping mode, gripping operation data that defines a gripping operation of the robot.
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公开(公告)号：US20170282363A1
公开(公告)日：2017-10-05
申请号：US15473197
申请日：2017-03-29
Applicant: CANON KABUSHIKI KAISHA
Inventor： Daisuke Yamada , Kazuhiko Kobayashi , Masahiro Suzuki , Tetsuri Sonoda
Abstract: A robot control apparatus for controlling a robot manipulating a target object includes a measurement unit configured to measure a change of a gripping unit configured to grip the target object when the gripping unit contacts the target object, a first acquisition unit configured to acquire the change of the gripping unit measured by the measurement unit, a second acquisition unit configured to acquire a gripping state, which is a state of gripping of the target object by the gripping unit, based on the change of the gripping unit acquired by the first acquisition unit, and a control unit configured to control an action of the robot based on the gripping state acquired by the second acquisition unit.
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Patent Agency Ranking
公开(公告)号：US09733072B2
公开(公告)日：2017-08-15
申请号：US13648161
申请日：2012-10-09
Applicant: CANON KABUSHIKI KAISHA
Inventor： Nobuaki Kuwabara , Tetsuri Sonoda
CPC classification number: G01B11/2513 , G01B11/25 , G01B11/2509 , G06T7/521
Abstract: A three dimensional measurement apparatus comprising: a projection unit configured to project a pattern including a measurement pattern and a feature pattern onto an object; an image capturing unit configured to capture an image of the object onto which the pattern is projected; a grouping unit configured to divide the captured image into a plurality of regions using the measurement pattern in the pattern and a plurality of epipolar lines determined based on a positional relationship between the projection unit and the image capturing unit, thereby grouping predetermined regions among the plurality of divided regions; a feature recognition unit configured to recognize the feature pattern based on a difference in the feature pattern between the predetermined regions; and a three-dimensional shape calculation unit configured to calculate a three-dimensional shape of the object based on the feature pattern.
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公开(公告)号：US09074879B2
公开(公告)日：2015-07-07
申请号：US13774168
申请日：2013-02-22
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tatsuya Suzuki , Tetsuri Sonoda
CPC classification number: G01B11/25 , G01B11/026
Abstract: A projection pattern that includes a measurement pattern for measuring a distance to a target object, and a code pattern for identifying the measurement pattern is projected onto the target object. The target object onto which the projection pattern was projected is sensed. On the basis of a relationship between the measurement pattern and the code pattern in the sensed image, the projection pattern that is to be projected onto the target object after the projection pattern are changed, the code pattern is read out in the sensed image of the target object onto which the changed projection pattern was projected, and the measurement pattern is associated with it. Using the associated measurement pattern, a distance from the projection unit or the sensing unit to the target object is acquired.
Abstract translation: 包括用于测量与目标对象的距离的测量图案和用于识别测量图案的代码图案的投影图案被投影到目标对象上。 感测投影图案投影到其上的目标物体。 基于感测图像中的测量图案与代码图案之间的关系，在投影图案之后投影到目标物体上的投影图案被改变，在图像的感测图像中读出代码图案 其上投影有改变的投影图案的目标对象，并且测量图案与其相关联。 使用相关联的测量图案，获取距离投影单元或感测单元到目标对象的距离。
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8.发明申请公开(公告)号：US20140267246A1
公开(公告)日：2014-09-18
申请号：US14351730
申请日：2012-11-07
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tatsuya Suzuki , Tetsuri Sonoda
IPC: G01B11/25
CPC classification number: G01B11/25 , G01B11/2513 , G06T7/521 , G06T2207/10028
Abstract: An information processing apparatus for generating a projection pattern used in three-dimensional measurement of a target object, comprising: determination means for determining a projection code string for generating the projection pattern based on distance information of the target object which is obtained in advance; and generation means for generating a pattern image of the projection pattern based on a projection code string determined by the determination means.
Abstract translation: 一种信息处理装置，用于生成用于目标对象的三维测量中的投影图案，包括：确定装置，用于基于预先获得的目标对象的距离信息确定用于生成投影图案的投影代码串; 以及生成装置，用于基于由确定装置确定的投影代码串来生成投影图案的图案图像。
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9.发明申请THREE-DIMENSIONAL SHAPE MEASURING APPARATUS, THREE-DIMENSIONAL SHAPE MEASURING METHOD, PROGRAM, AND STORAGE MEDIUM 有权三维形状测量装置，三维形状测量方法，程序和存储介质公开(公告)号：US20140063192A1
公开(公告)日：2014-03-06
申请号：US14017075
申请日：2013-09-03
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tetsuri Sonoda , Kenji Saitoh
IPC: G01B11/22
CPC classification number: G01B11/22 , G01B11/2513
Abstract: An information processing apparatus includes a projection unit configured to project a projection pattern onto an object, an imaging unit configured to capture an image of the object on which the projection pattern is projected, and a derivation unit configured to derive a three-dimensional shape of the object based on the image captured by the imaging unit. The projection pattern projected on the object by the projection unit includes a first pattern including a continuous luminance variation repetitively arranged at certain distances in a predetermined direction, and a second pattern having information for identifying the position of the measurement pattern in the captured image in an area between peaks in the measurement pattern.
Abstract translation: 一种信息处理设备，包括：投影单元，被配置为将投影图案投影到物体上;成像单元，被配置为捕获其上投射有投影图案的物体的图像;以及导出单元，被配置为导出投影图案的三维形状 基于由成像单元捕获的图像的对象。 通过投影单元投射在物体上的投影图案包括：第一图案，包括在预定方向上以一定距离重复排列的连续亮度变化;以及第二图案，其具有用于识别拍摄图像中的测量图案的位置的信息 测量图案中峰值之间的区域。
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公开(公告)号：US20130229666A1
公开(公告)日：2013-09-05
申请号：US13774168
申请日：2013-02-22
Applicant: CANON KABUSHIKI KAISHA
Inventor： Tatsuya Suzuki , Tetsuri Sonoda
IPC: G01B11/25
CPC classification number: G01B11/25 , G01B11/026
Abstract: A projection pattern that includes a measurement pattern for measuring a distance to a target object, and a code pattern for identifying the measurement pattern is projected onto the target object. The target object onto which the projection pattern was projected is sensed. On the basis of a relationship between the measurement pattern and the code pattern in the sensed image, the projection pattern that is to be projected onto the target object after the projection pattern are changed, the code pattern is read out in the sensed image of the target object onto which the changed projection pattern was projected, and the measurement pattern is associated with it. Using the associated measurement pattern, a distance from the projection unit or the sensing unit to the target object is acquired.
Abstract translation: 包括用于测量与目标对象的距离的测量图案和用于识别测量图案的代码图案的投影图案被投影到目标对象上。 感测投影图案投影到其上的目标物体。 基于感测图像中的测量图案与代码图案之间的关系，在投影图案之后投影到目标物体上的投影图案被改变，在图像的感测图像中读出代码图案 其上投影有改变的投影图案的目标对象，并且测量图案与其相关联。 使用相关联的测量图案，获取距离投影单元或感测单元到目标对象的距离。
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