公开(公告)号：US20080119691A1

公开(公告)日：2008-05-22

申请号：US11883551

申请日：2005-12-19

Applicant: Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

Inventor： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

IPC: A61B1/045

CPC classification number: A61B1/00009 ,  A61B1/00016 ,  A61B1/041 ,  A61B1/042 ,  A61B5/7264 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/20 ,  G06T2207/10068 ,  G06T2207/30028 ,  H04N2005/2255

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20070161853A1

公开(公告)日：2007-07-12

申请号：US10587881

申请日：2005-02-17

Applicant: Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

Inventor： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

IPC: A61B1/04

CPC classification number: A61B1/00177 ,  A61B1/00009 ,  A61B1/041 ,  A61B1/126

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US08005279B2

公开(公告)日：2011-08-23

申请号：US11883551

申请日：2005-12-19

Applicant: Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

Inventor： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa ,  Hai Vu

IPC: G06K9/00

CPC classification number: A61B1/00009 ,  A61B1/00016 ,  A61B1/041 ,  A61B1/042 ,  A61B5/7264 ,  G06F19/00 ,  G06T7/0012 ,  G06T7/20 ,  G06T2207/10068 ,  G06T2207/30028 ,  H04N2005/2255

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US07922652B2

公开(公告)日：2011-04-12

申请号：US10587881

申请日：2005-02-17

Applicant: Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

Inventor： Yasushi Yagi ,  Tomio Echigo ,  Ryusuke Sagawa

IPC: A61B1/04

CPC classification number: A61B1/00177 ,  A61B1/00009 ,  A61B1/041 ,  A61B1/126

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US08837812B2

公开(公告)日：2014-09-16

申请号：US12997088

申请日：2009-06-04

Applicant: Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

Inventor： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

IPC: G06K9/00 ,  G06T1/00 ,  G01B11/25 ,  G06T7/00

CPC classification number: G01B11/25 ,  G06T1/00 ,  G06T7/521 ,  G06T2200/08 ,  G06T2207/10028

Abstract: Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing. An image processing device mainly consists of a projector serving as a projection means, a camera as a photographing means, and an image processing means consisting of, for example, a personal computer. The image processing means acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector and the camera. The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

Abstract translation: 提供能够进行高密度恢复并且对于图像处理也很强的图像处理装置，图像处理方法和程序。 图像处理装置主要由用作投影装置的投影仪，作为拍摄装置的照相机和由例如个人计算机组成的图像处理装置组成。 图像处理装置从拍摄图像获取图案之间的交点，并且通过使用第一临时平面的约束条件和包括从该位置获得的交点和约束条件的第二临时平面来计算包括自由度的第一解 投影机和相机之间的关系。 通过主要搜索取消自由度，从而恢复三维形状。

公开(公告)号：US20110081072A1

公开(公告)日：2011-04-07

申请号：US12997088

申请日：2009-06-04

Applicant: Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

Inventor： Hiroshi Kawasaki ,  Ryo Furukawa ,  Ryusuke Sagawa ,  Yasushi Yagi

IPC: G06K9/00

CPC classification number: G01B11/25 ,  G06T1/00 ,  G06T7/521 ,  G06T2200/08 ,  G06T2207/10028

Abstract: [PROBLEM] Provided are an image processing device, an image processing method, and a program which are capable of high density restoration and which are also strong to image processing.[METHOD FOR SOLUTION] An image processing device (10) mainly consists of a projector (12) serving as a projection means, a camera (14) as a photographing means, and an image processing means (16) consisting of, for example, a personal computer. The image processing means (16) acquires the intersection point between patterns from a photographed image and calculates a first solution including degree of freedom by using the constraint condition of a first tentative plane and a second tentative plane including the intersection point and the constraint condition obtained from the positional relationship between the projector (12) and the camera (14). The degree of freedom is cancelled by primary search, thereby restoring a three-dimensional shape.

Abstract translation: 提供了一种图像处理装置，图像处理方法和能够进行高密度恢复并且对图像处理也很强的程序。 [解决方案]图像处理装置（10）主要由用作投影装置的投影仪（12），作为拍摄装置的照相机（14）和图像处理装置（16）组成，图像处理装置 一台个人电脑 图像处理装置（16）从拍摄图像获取图案之间的交点，并且通过使用第一临时平面的约束条件和包括交点和约束条件的第二暂定平面来计算包括自由度的第一解 根据投影仪（12）和照相机（14）之间的位置关系。 通过主要搜索取消自由度，从而恢复三维形状。

公开(公告)号：US09244258B2

公开(公告)日：2016-01-26

申请号：US13391667

申请日：2011-06-24

Applicant: Akio Nishimura ,  Tetsuro Okuyama ,  Yasushi Yagi

Inventor： Akio Nishimura ,  Tetsuro Okuyama ,  Yasushi Yagi

IPC: H04N7/18 ,  G02B13/06 ,  G02B17/06 ,  G03B37/06 ,  H04N5/225 ,  H04N5/232

CPC classification number: G02B13/06 ,  G02B17/061 ,  G03B37/06 ,  H04N5/2259 ,  H04N5/23238

Abstract: To enable an image with no blind spot area to be obtained while ensuring a wide field of view, an omnidirectional imaging system includes: a primary mirror (101) including a hyperbolic mirror; a plurality of secondary mirrors (102) arranged around the primary mirror and each including a hyperbolic mirror; and a camera (104) that captures an image reflected by the primary mirror and images reflected by the plurality of secondary mirrors. A hyperboloid of the primary mirror and hyperboloids of the plurality of secondary mirrors have a substantially coincident outer focal point, and the camera (104) is placed so that a viewpoint of the camera substantially coincides with the outer focal point of the hyperboloid of the primary mirror (101) and the hyperboloids of the plurality of secondary mirrors (102), the viewpoint of the camera being an entrance pupil position of a lens attached to the camera (104).

Abstract translation: 为了在确保宽视场的同时能够获得没有盲区的图像，全向成像系统包括：主镜（101），包括双曲面镜; 多个辅助反射镜（102），其布置在主镜周围并且每个包括双曲面镜; 以及拍摄由主反射镜反射的图像和由多个次反射镜反射的图像的照相机（104）。 多个次级反射镜的主镜和双曲面的双曲面具有基本上重合的外焦点，并且相机（104）被放置成使得照相机的视点基本上与主要的双曲面的外焦点重合 反射镜（101）和多个次级反射镜（102）的双曲面，相机的视点是附接到相机（104）的透镜的入射光瞳位置。

公开(公告)号：US08909448B2

公开(公告)日：2014-12-09

申请号：US13564311

申请日：2012-08-01

Applicant: Tomohiro Nozu ,  Ryohei Shigeta ,  Yasushi Yagi ,  Daisuke Kofu ,  Akihiro Tatara

Inventor： Tomohiro Nozu ,  Ryohei Shigeta ,  Yasushi Yagi ,  Daisuke Kofu ,  Akihiro Tatara

IPC: B60W20/00 ,  B60K17/35 ,  B60K23/08

CPC classification number: B60K17/35 ,  B60K23/0808 ,  B60K2023/0858 ,  Y10T477/606

Abstract: A driving force distribution control device, which is mounted on a vehicle including an engine configured to generate driving force for the vehicle, a transmission device configured to shift rotation of an output shaft of the engine by transmission ratios, and a driving force transmission system capable of transmitting output of the transmission device to main drive wheels and auxiliary drive wheels, includes: a control device configured to, when a rotational speed of the output shaft of the engine is in a range in which abnormal sound of the driving force transmission system due to pulsation of the driving force can be generated, set a torque value to a value capable of reducing the abnormal sound depending on the driving force; and a driving force transmitting device configured to transmit driving force depending on the set value to the auxiliary drive wheels.

Abstract translation: 一种驱动力分配控制装置，其安装在包括被配置为产生车辆的驱动力的发动机的车辆上;传动装置，其构造成通过传动比来移动发动机的输出轴的旋转;以及驱动力传递系统， 将传动装置的输出传递到主驱动轮和辅助驱动轮的控制装置包括：控制装置，其被配置为当所述发动机的输出轴的转速处于所述驱动力传递系统的异常声音的范围内时 可以产生驱动力的脉动，将扭矩值设定为能够根据驱动力减少异常声音的值; 以及驱动力传递装置，其构造成将驱动力根据设定值传递给辅助驱动轮。

公开(公告)号：US20130094759A1

公开(公告)日：2013-04-18

申请号：US13805527

申请日：2011-06-20

Applicant: Yasushi Yagi ,  Yasushi Makihara ,  Chunsheng Hua

Inventor： Yasushi Yagi ,  Yasushi Makihara ,  Chunsheng Hua

IPC: G06K9/32

CPC classification number: G06K9/3241 ,  G06K9/00369 ,  G06K9/00771 ,  G06K9/4647 ,  G06K2009/3291 ,  G06T7/215 ,  G06T7/269 ,  G06T2207/30196

Abstract: A moving object detection device includes a window setting unit configured to set a window having a predetermined volume in a video, an orientation of spatial intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of spatial intensity gradient, a spatial histogram calculation unit configured to calculate a spatial histogram that is a histogram of the orientation of spatial intensity gradient within the window, an orientation of temporal intensity gradient calculation unit configured to calculate, for each pixel included in the window, an orientation of temporal intensity gradient, a temporal histogram calculation unit configured to calculate a temporal histogram that is a histogram of an orientation of temporal intensity gradient within the window, and a determination unit configured to determine whether or not the moving object is included within the window based on the spatial histogram and the temporal histogram.

Abstract translation: 移动物体检测装置包括：窗口设定单元，其被配置为在视频中设置具有预定体积的窗口;空间强度梯度计算单元的方向，被配置为针对包括在窗口中的每个像素计算空间强度梯度的方向， 空间直方图计算单元，被配置为计算作为窗口内的空间强度梯度的取向的直方图的空间直方图，时间强度梯度计算单元的方位被配置为针对包括在窗口中的每个像素计算时间方向 强度梯度，时间直方图计算单元，其被配置为计算作为窗口内的时间强度梯度的取向的直方图的时间直方图;以及确定单元，被配置为基于所述窗口中的所述窗口来确定所述移动对象是否包括在所述窗口内 空间直方图和时间直方图。

公开(公告)号：US20130035832A1

公开(公告)日：2013-02-07

申请号：US13564311

申请日：2012-08-01

Applicant: Tomohiro NOZU ,  Ryohei Shigeta ,  Yasushi Yagi ,  Daisuke Kofu ,  Akihiro Tatara

Inventor： Tomohiro NOZU ,  Ryohei Shigeta ,  Yasushi Yagi ,  Daisuke Kofu ,  Akihiro Tatara

IPC: F16H59/74 ,  F16H61/686 ,  B60K23/08 ,  B60W10/10

CPC classification number: B60K17/35 ,  B60K23/0808 ,  B60K2023/0858 ,  Y10T477/606

Abstract: A driving force distribution control device, which is mounted on a vehicle including an engine configured to generate driving force for the vehicle, a transmission device configured to shift rotation of an output shaft of the engine by transmission ratios, and a driving force transmission system capable of transmitting output of the transmission device to main drive wheels and auxiliary drive wheels, includes: a control device configured to, when a rotational speed of the output shaft of the engine is in a range in which abnormal sound of the driving force transmission system due to pulsation of the driving force can be generated, set a torque value to a value capable of reducing the abnormal sound depending on the driving force; and a driving force transmitting device configured to transmit driving force depending on the set value to the auxiliary drive wheels.

Abstract translation: 一种驱动力分配控制装置，其安装在包括被配置为产生车辆的驱动力的发动机的车辆上;传动装置，其构造成通过传动比来移动发动机的输出轴的旋转;以及驱动力传递系统， 将传动装置的输出传递到主驱动轮和辅助驱动轮的控制装置包括：控制装置，其被配置为当所述发动机的输出轴的转速处于所述驱动力传递系统的异常声音的范围内时 可以产生驱动力的脉动，将扭矩值设定为能够根据驱动力减少异常声音的值; 以及驱动力传递装置，其构造成将驱动力根据设定值传递给辅助驱动轮。