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公开(公告)号：US20210400189A1
公开(公告)日：2021-12-23
申请号：US17462630
申请日：2021-08-31
IPC分类号： H04N5/232 , G06T7/33 , G06F3/0484
摘要： A displacement detection method, performed by a computer, includes: obtaining (i) a first three-dimensional (3D) model representing a region at a first timing by 3D points and including first objects and (ii) a second three-dimensional model representing the region at a second timing by 3D points and including second objects, the second timing being different from the first timing; detecting, by use of attribute information of the first objects and the second objects, (i) first 3D points included in the first 3D model and (ii) second 3D points included in the second 3D model and associated with the respective first 3D points; performing alignment of the first 3D model and the second 3D model by use of the first 3D points and the second 3D points; and detecting displacement between the first 3D model and the second 3D model after the alignment.
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公开(公告)号：US20230003506A1
公开(公告)日：2023-01-05
申请号：US17942548
申请日：2022-09-12
摘要： A dimension measurement method includes: extracting a plurality of lines from a plurality of images generated by shooting a target area from a plurality of viewpoints, and generating a line segment model which is a three-dimensional model of the target area that is expressed using the plurality of lines; calculating a dimension of a particular part inside the target area, using the line segment model; and outputting the dimension calculated.
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公开(公告)号：US20240362860A1
公开(公告)日：2024-10-31
申请号：US18764883
申请日：2024-07-05
IPC分类号： G06T17/00 , G06T7/11 , G06V10/764
CPC分类号： G06T17/00 , G06T7/11 , G06V10/764 , G06T2207/30201
摘要： A calculation method according to one aspect of the present disclosure obtains three-dimensional points that represent an object in a space on a computer, each indicating a position on the object, classifies the three-dimensional points into groups based on the respective normal directions of the three-dimensional points, and calculates a first accuracy of each of the groups, the first accuracy increasing with an increase of a second accuracy of at least one three-dimensional point belonging to the group. The three-dimensional points are generated by a sensor detecting light from the object from different positions and in different directions. The normal direction of each three-dimensional point is determined based on the different directions used to generate the three-dimensional point.
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公开(公告)号：US20230213371A1
公开(公告)日：2023-07-06
申请号：US18113223
申请日：2023-02-23
发明人： Ukyou KATSURA , Toru MATSUNOBU , Satoshi YOSHIKAWA , Masaki FUKUDA , Kensho TERANISHI , Tomokazu ICHIRIKI , Masanori KIMURA , Toshiyasu SUGIO
IPC分类号： G01F23/284 , G06T7/62
CPC分类号： G01F23/2845 , G06T7/62
摘要： A filling rate measurement method includes: obtaining a space three-dimensional model generated by measuring a storage through an opening of the storage using a range sensor facing the storage; obtaining a storage three-dimensional model that is a three-dimensional model of the storage; extracting a target part that is a part of a measurement target in the space three-dimensional model; identifying a line segment indicating a shape of the opening on a two-dimensional image of the opening which is generated; estimating a target three-dimensional model that is a three-dimensional model of the measurement target based on the target part and a three-dimensional coordinate system with respect to the position of the opening on a three-dimensional space identified based on the position of the range sensor, the specific direction, and the shape of the opening; and calculating a filling rate of the measurement target with respect to the storage space.
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公开(公告)号：US20220284672A1
公开(公告)日：2022-09-08
申请号：US17748331
申请日：2022-05-19
摘要： A three-dimensional model generation method includes: obtaining map information generated by camera calibration executed by controlling one or more cameras to shoot a subject from a plurality of viewpoints, the map information including three-dimensional points each indicating a position on the subject in a three-dimensional space; obtaining a first image from a first view point and a second image from a second viewpoint; determining a search range in the three-dimensional space, based on the map information, the search range including a first three-dimensional point on the subject, the first three-dimensional point corresponding to a first point in the first image; searching for a similar point that is similar to the first point, in a range in the second image which corresponds to the search range; and generating a three-dimensional model using a search result in the searching.
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6.发明公开公开(公告)号：US20230281927A1
公开(公告)日：2023-09-07
申请号：US18195606
申请日：2023-05-10
发明人： Toru MATSUNOBU , Kensho TERANISHI , Masaki FUKUDA , Ukyou KATSURA , Makoto KOHRIN , Satoshi YOSHIKAWA
摘要： A three-dimensional point cloud densification device includes: an obtainer that obtains a plurality of three-dimensional points, each of which indicates a three-dimensional position of at least one object, and auxiliary information for creating a polygon; and a densifier that: identifies the polygon having, as vertices, at least three three-dimensional points among the plurality of three-dimensional points, based on the auxiliary information; and generates a new three-dimensional point inside the polygon.
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7.发明公开公开(公告)号：US20230206558A1
公开(公告)日：2023-06-29
申请号：US18117056
申请日：2023-03-03
IPC分类号： G06T17/10
CPC分类号： G06T17/10
摘要： A three-dimensional model generation method includes: detecting a first line from each of a plurality of images of a target area shot to detect a plurality of first lines, the plurality of images being shot from a plurality of viewpoints; excluding, from the plurality of first lines detected, a second line that reaches an edge of an image among the plurality of images; and generating a line segment model which is a three-dimensional model of the target area represented by lines, using a plurality of line segments which are the plurality of first lines from which the second line is excluded.
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8.发明申请公开(公告)号：US20230005220A1
公开(公告)日：2023-01-05
申请号：US17943415
申请日：2022-09-13
摘要： A shooting method executed by a shooting device includes: shooting first images of a target space; generating a first three-dimensional point cloud of the target space, based on the first images and a first shooting position and a first shooting orientation of each of the first images; and determining a first region of the target space for which generating a second three-dimensional point cloud which is denser than the first three-dimensional point cloud is difficult, using the first three-dimensional point cloud and without generating the second three-dimensional point cloud. The determining includes generating a mesh using the first three-dimensional point cloud, and determining the region other than a second region of the target space for which the mesh is generated.
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9.发明公开公开(公告)号：US20240296621A1
公开(公告)日：2024-09-05
申请号：US18663702
申请日：2024-05-14
发明人： Kensho TERANISHI , Toru Matsunobu , Satoshi Yoshikawa , Georges Nader , Zheng Wu , Pongsak Lasang
CPC分类号： G06T17/00 , G06T7/80 , G06T2207/10012 , G06T2207/10028 , G06T2207/30244 , G06T2210/21
摘要： A three-dimensional model generation method includes: obtaining subject information including a plurality of positions on a subject in a three-dimensional space; obtaining a first camera image of the subject from a first viewpoint and a second camera image of the subject from a second viewpoint; determining a search range in the three-dimensional space, including a first three-dimensional point on the subject corresponding to a first point in the first camera image, based on the subject information and without using map information that is generated by camera calibration executed by shooting the subject from a plurality of viewpoints and includes three-dimensional points each indicating a position on the subject in the three-dimensional space; searching for a similar point that is similar to the first point, in a range in the second camera image corresponding to the search range; and a generating three-dimensional model using the search result.
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10.发明公开公开(公告)号：US20230394754A1
公开(公告)日：2023-12-07
申请号：US18203925
申请日：2023-05-31
CPC分类号： G06T17/00 , G06T7/13 , G06T2207/10012
摘要： A three-dimensional model generation method executed by a computer includes: obtaining a first image generated by shooting a subject from a first viewpoint and a second image generated by shooting the subject from a second viewpoint; detecting, in at least the first image, a first line composed of a series of edges and corresponding to a contour of the subject; and generating first three-dimensional points representing the contour, in a three-dimensional space in the computer, based on the first image, the second image, and the first line.
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