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公开(公告)号：US07922652B2
公开(公告)日：2011-04-12
申请号：US10587881
申请日：2005-02-17
申请人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa
发明人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa
IPC分类号： A61B1/04
CPC分类号： A61B1/00177 , A61B1/00009 , A61B1/041 , A61B1/126
摘要： An endoscope that is free from a dead area and capable of preventing the physician from overlooking any nidus is an endoscope for taking the inside of digestive organs, and the endoscope is provided with an omnidirectional camera (32), a light (34), a forceps (36) and a rinse water injection port (38) at the tip (24). The omnidirectional camera (32) is a device for taking the inside of digestive organs, and is able to take 360-degree images of its surroundings. A probe-type endoscope (20) is provided with a receiver (26) composed of orthogonal coils, and the receiver (26) is used for estimating the position and attitude of the probe-type endoscope (20). An image taken by the omnidirectional camera (32) is presented on a display unit (28) of an image processing device (22) connected to the probe-type endoscope (20). In the image processing device, a video mosaicking process is performed on a plurality of images obtained by the omnidirectional camera (32) to generate a panoramic image of the inside of a digestive organ.
摘要翻译： 一种无死角并能够防止医生俯瞰任何痣的内窥镜，是用于摄取消化器官内部的内窥镜，内窥镜设置有全向照相机（32），光（34）， 镊子（36）和尖端（24）处的冲洗水注入口（38）。 全方向摄像机（32）是用于摄取消化器官内部的装置，能够拍摄周围360度的图像。 探针型内窥镜（20）具有由正交线圈构成的接收器（26），所述接收器（26）用于估计所述探针型内窥镜（20）的位置和姿势。 由全向照相机（32）拍摄的图像呈现在连接到探针型内窥镜（20）的图像处理装置（22）的显示单元（28）上。 在图像处理装置中，对由全向照相机（32）获得的多个图像执行视频镶嵌处理，以产生消化器官内部的全景图像。
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公开(公告)号：US20080119691A1
公开(公告)日：2008-05-22
申请号：US11883551
申请日：2005-12-19
申请人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa , Hai Vu
发明人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa , Hai Vu
IPC分类号： A61B1/045
CPC分类号： A61B1/00009 , A61B1/00016 , A61B1/041 , A61B1/042 , A61B5/7264 , G06F19/00 , G06T7/0012 , G06T7/20 , G06T2207/10068 , G06T2207/30028 , H04N2005/2255
摘要： The present invention discloses a capsule endoscope image display controller (26) including: an image-to-image similarity calculating unit (36) that calculates, for each image included in an image sequence captured by a capsule endoscope which moves within the digestive organs, a similarity between the image and its temporally consecutive image; an amount-of-movement calculating unit (47) that calculates, for each image included in the image sequence, an amount of movement of a feature area included in the image; a video state classifying unit (41) that classifies, for each image included in the image sequence, a video state of the image into one of the following states, based on the video state, the similarity, and the amount of movement of the image: (a) “stationary state” indicating that the capsule endoscope is stationary, (b) “digestive organs deformation state” indicating that the digestive organs are deformed, and (c) “capsule moving state” indicating that the capsule endoscope is moving, based on the similarity and the amount of movement of the image; a rendering duration determining unit (42) that determines, for each image included in the image sequence, a rendering duration between the image and its temporally consecutive image; and a display controlling unit (44) that sequentially displays, on a screen, the images included in the image sequence with the determined rendering durations.
摘要翻译： 本发明公开了一种胶囊型内窥镜图像显示控制器（26），包括：图像相似度计算单元，对于在消化器官内移动的胶囊型内窥镜拍摄的图像序列中包含的各图像， 图像与其时间上连续的图像之间的相似性; 移动量计算单元（47）针对包括在图像序列中的每个图像计算图像中包括的特征区域的移动量; 视频状态分类单元，根据视频状态，相似度和图像的移动量，将包括在图像序列中的每个图像的图像的视频状态分类为以下状态之一： （a）表示胶囊型内窥镜静止的“静止状态”，（b）表示消化器官变形的“消化器官变形状态”，（c）表示胶囊型内窥镜正在移动的“胶囊移动状态” 基于图像的相似性和移动量; 对于包括在图像序列中的每个图像，确定图像与其时间上连续的图像之间的渲染持续时间的渲染持续时间确定单元（42） 以及显示控制单元，其在屏幕上依次在所确定的渲染持续时间内显示包括在图像序列中的图像。
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公开(公告)号：US20070161853A1
公开(公告)日：2007-07-12
申请号：US10587881
申请日：2005-02-17
申请人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa
发明人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa
IPC分类号： A61B1/04
CPC分类号： A61B1/00177 , A61B1/00009 , A61B1/041 , A61B1/126
摘要： An endoscope that is free from a dead area and capable of preventing the physician from overlooking any nidus is an endoscope for taking the inside of digestive organs, and the endoscope is provided with an omnidirectional camera (32), a light (34), a forceps (36) and a rinse water injection port (38) at the tip (24). The omnidirectional camera (32) is a device for taking the inside of digestive organs, and is able to take 360-degree images of its surroundings. A probe-type endoscope (20) is provided with a receiver (26) composed of orthogonal coils, and the receiver (26) is used for estimating the position and attitude of the probe-type endoscope (20). An image taken by the omnidirectional camera (32) is presented on a display unit (28) of an image processing device (22) connected to the probe-type endoscope (20). In the image processing device, a video mosaicking process is performed on a plurality of images obtained by the omnidirectional camera (32) to generate a panoramic image of the inside of a digestive organ.
摘要翻译： 一种无死角并能够防止医生俯瞰任何痣的内窥镜，是用于摄取消化器官内部的内窥镜，内窥镜设置有全向照相机（32），光（34）， 镊子（36）和尖端（24）处的冲洗水注入口（38）。 全方向摄像机（32）是用于摄取消化器官内部的装置，能够拍摄周围360度的图像。 探针型内窥镜（20）具有由正交线圈构成的接收器（26），所述接收器（26）用于估计所述探针型内窥镜（20）的位置和姿势。 由全向照相机（32）拍摄的图像呈现在连接到探针型内窥镜（20）的图像处理装置（22）的显示单元（28）上。 在图像处理装置中，对由全向照相机（32）获得的多个图像执行视频镶嵌处理，以产生消化器官内部的全景图像。
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公开(公告)号：US08005279B2
公开(公告)日：2011-08-23
申请号：US11883551
申请日：2005-12-19
申请人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa , Hai Vu
发明人： Yasushi Yagi , Tomio Echigo , Ryusuke Sagawa , Hai Vu
IPC分类号： G06K9/00
CPC分类号： A61B1/00009 , A61B1/00016 , A61B1/041 , A61B1/042 , A61B5/7264 , G06F19/00 , G06T7/0012 , G06T7/20 , G06T2207/10068 , G06T2207/30028 , H04N2005/2255
摘要： The present invention discloses a capsule endoscope image display controller (26) including: an image-to-image similarity calculating unit (36) that calculates, for each image included in an image sequence captured by a capsule endoscope which moves within the digestive organs, a similarity between the image and its temporally consecutive image; an amount-of-movement calculating unit (47) that calculates, for each image included in the image sequence, an amount of movement of a feature area included in the image; a video state classifying unit (41) that classifies, for each image included in the image sequence, a video state of the image into one of the following states, based on the video state, the similarity, and the amount of movement of the image: (a) “stationary state” indicating that the capsule endoscope is stationary, (b) “digestive organs deformation state” indicating that the digestive organs are deformed, and (c) “capsule moving state” indicating that the capsule endoscope is moving, based on the similarity and the amount of movement of the image; a rendering duration determining unit (42) that determines, for each image included in the image sequence, a rendering duration between the image and its temporally consecutive image; and a display controlling unit (44) that sequentially displays, on a screen, the images included in the image sequence with the determined rendering durations.
摘要翻译： 本发明公开了一种胶囊型内窥镜图像显示控制器（26），包括：图像相似度计算单元，对于在消化器官内移动的胶囊型内窥镜拍摄的图像序列中包含的各图像， 图像与其时间上连续的图像之间的相似性; 移动量计算单元（47）针对包括在图像序列中的每个图像计算图像中包括的特征区域的移动量; 视频状态分类单元，根据视频状态，相似度和图像的移动量，将包括在图像序列中的每个图像的图像的视频状态分类为以下状态之一： （a）表示胶囊型内窥镜静止的“静止状态”，（b）表示消化器官变形的“消化器官变形状态”，（c）表示胶囊型内窥镜正在移动的“胶囊移动状态” 基于图像的相似性和移动量; 对于包括在图像序列中的每个图像，确定图像与其时间上连续的图像之间的渲染持续时间的渲染持续时间确定单元（42） 以及显示控制单元，其在屏幕上依次在所确定的渲染持续时间内显示包括在图像序列中的图像。
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公开(公告)号：US20060280335A1
公开(公告)日：2006-12-14
申请号：US11457829
申请日：2006-07-17
申请人： Alberto Tomita , Takaaki Murao , Tomio Echigo , Ajith Narayanan
发明人： Alberto Tomita , Takaaki Murao , Tomio Echigo , Ajith Narayanan
IPC分类号： G06K9/00
CPC分类号： H04N19/20 , G06T7/246 , G06T7/251 , G06T2207/10016 , G06T2207/30221 , G06T2207/30236 , G06T2207/30241 , H04N19/503 , H04N19/553
摘要： The invention provide methods and apparatus for effectively identifying the occlusion of objects, such as persons, having a high degree of freedom. In an example embodiment, after initialization, an image is input, and an image region is extracted from image data. The distance is employed that is obtained when the shape of a two-dimensional histogram in the color space is transformed into the feature space. A graph is formed by using, the regions between the frames. A confidence factor is provided and image features are provided as weights to the edges that connect the nodes. Processing is performed, and the confidence factor is examined. A connection judged less possible to be a path is removed. When there is only one available connection for the occlusion point, this connection is selected.
摘要翻译： 本发明提供了用于有效地识别具有高自由度的物体（例如人）的遮挡的方法和装置。 在示例实施例中，在初始化之后，输入图像，并且从图像数据中提取图像区域。 当将颜色空间中的二维直方图的形状变换为特征空间时，采用距离。 通过使用帧之间的区域形成图形。 提供置信因子，并且图像特征被提供为连接节点的边缘的权重。 进行处理，并检查置信因子。 取消不太可能成为路径的连接。 当遮挡点只有一个可用连接时，选择此连接。
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6.发明授权Video contents access method that uses trajectories of objects and apparatus therefor 有权视频内容访问方法，使用对象及其设备的轨迹公开(公告)号：US06833849B1
公开(公告)日：2004-12-21
申请号：US09620113
申请日：2000-07-20
申请人： Masato Kurokawa , Tomio Echigo
发明人： Masato Kurokawa , Tomio Echigo
IPC分类号： G09G500
CPC分类号： G11B27/28
摘要： A method and an apparatus for using the trajectory of an object to access video contents, for example, to specify and display a specific video image scene. Such a video contents access method comprises the steps of: extracting objects from video contents; displaying movements of the objects as trajectories on a specific projection screen; specifying locations on the trajectories; and accessing a desired scene of the video contents. An apparatus is so designed that it performs the above method.
摘要翻译： 一种用于使用物体的轨迹来访问视频内容的方法和装置，例如用于指定和显示特定视频图像场景。 这样的视频内容访问方法包括以下步骤：从视频内容中提取对象; 将物体的运动显示为特定投影屏幕上的轨迹; 指定轨迹上的位置; 以及访问视频内容的期望场景。 这样设计的装置能够执行上述方法。
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公开(公告)号：US5525882A
公开(公告)日：1996-06-11
申请号：US328030
申请日：1994-10-24
CPC分类号： H04N13/0003 , G05D1/0251 , G05D1/0255 , G05D2201/0216 , H04N13/0239 , H04N2013/0081
摘要： A method and system for maneuvering a mobile robot are disclosed, which include a mobile robot having a plurality of sensors, including a sensor which detects the presence of an object and a sensor which detects image information related to the object. Utilizing data acquired by the plurality of sensors, elements of the object are determined. A hypothesis expressing the configuration of the object is then generated from the elements interpreted from the data. The hypothesis is generated by referencing a table in which interpretations of data acquired by the plurality of sensors are associated with possible configurations of objects in response to the generated hypothesis, the mobile robot is moved along a path which avoids the object.
摘要翻译： 公开了一种用于操纵移动机器人的方法和系统，其包括具有多个传感器的移动机器人，所述多个传感器包括检测对象的存在的传感器和检测与对象相关的图像信息的传感器。 利用由多个传感器获取的数据，确定对象的元素。 然后从从数据解释的元素生成表示对象的配置的假设。 该假设是通过参照其中由多个传感器获取的数据的解释与响应于所产生的假设的对象的可能配置相关联的表来生成的，移动机器人沿着避开对象的路径移动。
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8.发明授权公开(公告)号：US07251364B2
公开(公告)日：2007-07-31
申请号：US09950878
申请日：2001-09-12
申请人： Alberto Tomita, Jr. , Takaaki Murao , Tomio Echigo
发明人： Alberto Tomita, Jr. , Takaaki Murao , Tomio Echigo
CPC分类号： H04N19/20 , G06T7/246 , G06T7/251 , G06T2207/10016 , G06T2207/30221 , G06T2207/30236 , G06T2207/30241 , H04N19/503 , H04N19/553
摘要： Methods and apparatus for effectively identifying the occlusion of objects, such as persons, having a high degree of freedom. In an example embodiment, after initialization, an image is input, and an image region is extracted from image data. The distance is employed that is obtained when the shape of a two-dimensional histogram in the color space is transformed into the feature space. A graph is formed by using the regions between the frames. A confidence factor is provided and image features are provided as weights to the edges that connect the nodes. Processing is performed and the confidence factor is examined. A connection judged less possible to be a path is removed. When there is only one available connection for the occlusion point, this connection is selected.
摘要翻译： 用于有效地识别具有高度自由度的物体（例如人）的遮挡的方法和装置。 在示例实施例中，在初始化之后，输入图像，并且从图像数据中提取图像区域。 当将颜色空间中的二维直方图的形状变换为特征空间时，采用距离。 通过使用帧之间的区域形成图形。 提供置信因子，并且图像特征被提供为连接节点的边缘的权重。 执行处理并检查置信因子。 取消不太可能成为路径的连接。 当遮挡点只有一个可用连接时，选择此连接。
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公开(公告)号：US07231088B2
公开(公告)日：2007-06-12
申请号：US10146310
申请日：2002-05-15
IPC分类号： G06K9/62
CPC分类号： G06T7/20 , Y10S707/99943
摘要： The object of the invention is to extract from a moving picture and display at least a portion of team play, especially in a field sport, that is considered to be important for detailed analysis, so that the teamwork involved is easily discerned. A team play analysis apparatus comprises: a multi-resolution team play extraction unit for extracting a multi-resolution team play based on the trajectory of a player in the moving picture; a multi-resolution team play display unit for displaying at least a part of the multi-resolution team play through the interaction with a content creator; a parameter adjustment acceptance unit for accepting, from the content creator, the adjustment of a resolution in the multi-resolution team play display unit and the selection of groups, which constitute a series of desired plays to be picked up as an event, and collaborated movement of the groups; and a team play display unit for displaying a team play that is prepared through the adjustment and selection that are accepted by the parameter adjustment acceptance unit.
摘要翻译： 本发明的目的是从运动图像中提取出来，并且显示出被认为对于详细分析很重要的小组游戏的至少一部分，特别是在田野运动中，从而容易地辨别出所涉及的团队合作。 团队游戏分析装置包括：多分辨率团队游戏提取单元，用于基于运动图像中的玩家的轨迹提取多分辨率团队游戏; 多分辨率团队游戏显示单元，用于通过与内容创作者的交互来显示多分辨率团队游戏的至少一部分; 参数调整接收单元，用于从内容创作者接收多分辨率团队播放显示单元中的分辨率的调整和组成的组的选择，其构成作为事件被拾取的一系列期望的播放，并且协作 团体运动; 以及用于显示通过由参数调整接受单元接受的调整和选择而准备的团队游戏的团队游戏显示单元。
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10.发明授权Index generation method, index generation apparatus, index addition system, and program and storage medium thereof 有权索引生成方法，索引生成装置，索引附加系统及其程序和存储介质公开(公告)号：US07072901B2
公开(公告)日：2006-07-04
申请号：US10055694
申请日：2002-01-23
IPC分类号： G06F17/30
CPC分类号： H04N21/4532 , A63B71/06 , G06F17/30843 , G06F17/30858 , G11B27/11 , G11B27/28 , H04N5/147 , H04N21/84 , Y10S707/99943 , Y10S707/99945
摘要： An index generator that generates an index, which is data description contents, such as video contents, comprises: an index description device, for defining in advance basic index information concerning an index; a video display device for the input, the display or the output of contents to which an index is to be added; a triggering action input device, for accepting a triggering action in the contents that is displayed or output; and an index determination device, for generating index data based on the basic index information, which is defined by the index description device, and triggering action input history information, which is entered by the triggering action input device.
摘要翻译： 产生索引的索引生成器，其是诸如视频内容的数据描述内容，包括：索引描述装置，用于预先定义关于索引的基本索引信息; 用于输入的内容的视频显示装置，要添加索引的内容的显示或输出; 触发动作输入装置，用于接受显示或输出的内容中的触发动作; 以及索引确定装置，用于基于由索引描述装置定义的基本索引信息和由触发动作输入装置输入的触发动作输入历史信息来生成索引数据。
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