Patents by Inventor Daisuke Kotake

Daisuke Kotake has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20190130216
    Abstract: An information processing apparatus comprising: a holding unit configured to hold a plurality of learning models for estimating geometric information based on an input image captured by an image capturing apparatus; a selection unit configured to calculate, for each of the learning models, an evaluation value that indicates suitability of the learning model to a scene of the input image, and select a learning model from the plurality of learning models based on the evaluation values; and an estimation unit configured to estimate first geometric information using the input image and the selected learning model.
    Type: Application
    Filed: October 30, 2018
    Publication date: May 2, 2019
    Inventors: Makoto Tomioka, Daisuke Kotake, Nozomu Kasuya, Masahiro Suzuki
  • Patent number: 10204445
    Abstract: An information processing apparatus includes: an input unit that inputs an image of real space captured by an image capturing apparatus; a measurement value input unit that inputs a measurement value regarding a position and orientation of the image capturing apparatus measured by a sensor attached to the image capturing apparatus; a position and orientation derivation unit that, based on three-dimensional information of a feature in the real space and the input image, derives a position and orientation of the image capturing apparatus; a determination unit that, based on the measurement value and the position and orientation of the image capturing apparatus derived by the position and orientation derivation unit, makes a determination as to whether derivation of the position and orientation of the image capturing apparatus performed by the position and orientation derivation unit has failed; and an output unit that outputs a result provided by the determination unit.
    Type: Grant
    Filed: August 4, 2016
    Date of Patent: February 12, 2019
    Assignee: Canon Kabushiki Kaisha
    Inventors: Daisuke Kotake, Keisuke Tateno
  • Patent number: 10171730
    Abstract: An apparatus comprises an unit configured to obtain captured images captured at a plurality of positions/orientations; an unit configured to generate a guidance instruction for causing a captured image corresponding to a position/orientation substantially the same as a captured image of a stipulated state to be obtained; an unit configured to output the guidance instruction; an unit configured to determine whether or not one captured image obtained after output of the guidance instruction was captured at a position/orientation substantially the same as the captured image of the stipulated state; and an unit configured to, if the one captured image is determined to be captured at the position/orientation, generate or update a three-dimensional map from three-dimensional coordinates of a feature included in a captured image based on the plurality of captured images including the one captured image.
    Type: Grant
    Filed: January 25, 2017
    Date of Patent: January 1, 2019
    Assignee: Canon Kabushiki Kaisha
    Inventors: Toshihiro Kobayashi, Daisuke Kotake, Masahiro Suzuki, Masakazu Fujiki, Akihiro Katayama
  • Publication number: 20180338135
    Abstract: To perform a high-accuracy three-dimensional measurement by performing an appropriate calibration in accordance with various temperature changes, an information processing apparatus that decides a temperature-dependent parameter of a projection apparatus configured to project a pattern onto a measurement target object to perform a three-dimensional measurement includes a holding unit configured to hold a relationship in which the temperature-dependent parameter of the projection apparatus is set as a temperature function, a temperature input unit configured to input a temperature of the projection apparatus, and a temperature-dependent parameter decision unit configured to decide the temperature-dependent parameter of the projection apparatus based on the temperature of the projection apparatus which is input by the temperature input unit and the relationship.
    Type: Application
    Filed: July 31, 2018
    Publication date: November 22, 2018
    Inventors: Daisuke Kotake, Masakazu Tohara, Hiroshi Yoshikawa
  • Patent number: 10070117
    Abstract: To perform a high-accuracy three-dimensional measurement by performing an appropriate calibration in accordance with various temperature changes, an information processing apparatus that decides a temperature-dependent parameter of a projection apparatus configured to project a pattern onto a measurement target object to perform a three-dimensional measurement includes a holding unit configured to hold a relationship in which the temperature-dependent parameter of the projection apparatus is set as a temperature function, a temperature input unit configured to input a temperature of the projection apparatus, and a temperature-dependent parameter decision unit configured to decide the temperature-dependent parameter of the projection apparatus based on the temperature of the projection apparatus which is input by the temperature input unit and the relationship.
    Type: Grant
    Filed: November 3, 2014
    Date of Patent: September 4, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Daisuke Kotake, Masakazu Tohara, Hiroshi Yoshikawa
  • Patent number: 10059002
    Abstract: There is provided with an image processing apparatus. A captured image of a target object that is captured by an image capturing apparatus is obtained. Information that indicates a deterioration degree of the captured image is obtained for a position in the captured image. A feature of the target object is extracted from the captured image based on the deterioration degree. The feature of the target object and a feature of the three-dimensional model observed when the three-dimensional model is arranged in accordance with a predetermined position and orientation are associated. A position and orientation of the target object with respect to the image capturing apparatus are derived by correcting the predetermined position and orientation based on a result of association.
    Type: Grant
    Filed: November 23, 2015
    Date of Patent: August 28, 2018
    Assignee: Canon Kabushiki Kaisha
    Inventors: Sonoko Miyatani, Tatsuya Suzuki, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki, Yuichiro Hirota, Daisuke Kotake
  • Publication number: 20180197307
    Abstract: An information processing apparatus has a hold unit for holding a plurality of features of a physical space as a plurality of held features, each of the plurality of held features being related with a position in a first image captured by an image capturing apparatus at a first time, and information of an availability for a position/orientation calculation of the image capturing apparatus. The information processing apparatus associates a plurality of detected features, which are detected in a second image captured by the image capturing apparatus at a second time after the first time, with the plurality of held features, and, based on the availabilities related with the associated held features, adjusts a detected feature, among the plurality of detected features, to be used in the calculation of the position/orientation of the image capturing apparatus.
    Type: Application
    Filed: January 4, 2018
    Publication date: July 12, 2018
    Inventors: Makoto Tomioka, Daisuke Kotake, Nozomu Kasuya
  • Publication number: 20180144497
    Abstract: In order to shorten the time required for a setting operation of features, an information processing apparatus includes an acquisition unit configured to acquire features used for deriving a positional attitude of an imaging device from an image captured by the imaging device, a setting unit configured to set a plurality of partial regions included in the image as a plurality of candidate regions to which a feature is to be added, an evaluation unit configured to evaluate the plurality of set candidate regions, a determination unit configured to determine a position and/or an orientation of a feature to be newly added based on the plurality of evaluated candidate regions, and an output unit configured to output the determined position and/or the orientation.
    Type: Application
    Filed: May 13, 2016
    Publication date: May 24, 2018
    Inventors: Yuichiro Hirota, Keisuke Tateno, Masahiro Suzuki, Daisuke Kotake, Akihiro Katayama, Masakazu Fujiki
  • Publication number: 20170358048
    Abstract: An information processing apparatus for determining a placement of an image capturing apparatus capable of accurately measuring the position and orientation of an object through model fitting includes a holding unit that holds a 3D model representing a 3D shape of the object, a generating unit that generates candidates of the position and orientation of the image capturing apparatus relative to the object, an evaluating unit that evaluates the candidates of the position and orientation of the image capturing apparatus relative to the object based on a result of matching between data that virtually generates the object observed when the image capturing apparatus is placed in the position and orientation generated by the generating unit and the 3D model, and a determining unit that determines the position and orientation of the image capturing apparatus relative to the object based on the result of evaluation performed by the evaluating unit.
    Type: Application
    Filed: November 9, 2015
    Publication date: December 14, 2017
    Inventors: Daisuke Kotake, Masakazu Fujiki, Keisuke Tateno
  • Publication number: 20170249752
    Abstract: An information processing device includes a holding unit which holds pieces of reference data including a captured image, a position and an orientation of an imaging apparatus when the image is captured, and three-dimensional information of a feature in a space corresponding to the image in association with each other, an input unit which inputs the captured image, a derivation unit which derives a position and an orientation of the imaging apparatus when the input image is captured, an addition determination unit which determines whether a new piece of reference data is to be added, a generating unit which, if the addition determination unit determines the new piece of reference data is to be added, generates a new piece of reference data, and an updating unit which adds the generated piece of reference data and updates the pieces of reference data.
    Type: Application
    Filed: February 23, 2017
    Publication date: August 31, 2017
    Inventor: Daisuke Kotake
  • Publication number: 20170236301
    Abstract: An apparatus comprises an unit configured to obtain captured images captured at a plurality of positions/orientations; an unit configured to generate a guidance instruction for causing a captured image corresponding to a position/orientation substantially the same as a captured image of a stipulated state to be obtained; an unit configured to output the guidance instruction; an unit configured to determine whether or not one captured image obtained after output of the guidance instruction was captured at a position/orientation substantially the same as the captured image of the stipulated state; and an unit configured to, if the one captured image is determined to be captured at the position/orientation, generate or update a three-dimensional map from three-dimensional coordinates of a feature included in a captured image based on the plurality of captured images including the one captured image.
    Type: Application
    Filed: January 25, 2017
    Publication date: August 17, 2017
    Inventors: Toshihiro KOBAYASHI, Daisuke KOTAKE, Masahiro SUZUKI, Masakazu FUJIKI, Akihiro KATAYAMA
  • Patent number: 9733339
    Abstract: A position and orientation measuring apparatus calculates a difference between an image feature of a two-dimensional image of an object and a projected image of a three-dimensional model in a stored position and orientation of the object projected on the two-dimensional image. The position and orientation measuring apparatus further calculates a difference between three-dimensional coordinate information and a three-dimensional model in the stored position and orientation of the object. The position and orientation measuring apparatus then converts a dimension of the first difference and/or the second difference to cause the first difference and the second difference to have an equivalent dimension and corrects the stored position and orientation.
    Type: Grant
    Filed: August 7, 2015
    Date of Patent: August 15, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Daisuke Kotake, Shinji Uchiyama
  • Publication number: 20170206676
    Abstract: An information processing apparatus: obtains a feature distribution by calculating a distribution of features, existing in an environment, that can be used to measure a position and orientation of a measurement viewpoint; decides on a feature pattern to be laid out and a layout position of the feature pattern in the environment that enable the obtainment of a feature distribution that enhances an accuracy at which the position and orientation of the measurement viewpoint is calculated; and presents the feature pattern and the layout position of the feature pattern that have been decided on.
    Type: Application
    Filed: January 19, 2017
    Publication date: July 20, 2017
    Inventors: Yusuke NAKAZATO, Daisuke KOTAKE, Akihiro KATAYAMA
  • Publication number: 20170186237
    Abstract: Whether a reference map can be changed is determined based on an index for evaluating a user's unlikeliness to notice a change in an appearance of a virtual object in an image captured by a camera, the change occurring when the reference map is changed to another map.
    Type: Application
    Filed: December 22, 2016
    Publication date: June 29, 2017
    Inventors: Yuichiro Hirota, Akihiro Katayama, Masakazu Fujiki, Daisuke Kotake
  • Patent number: 9605961
    Abstract: Information processing apparatus that performs three-dimensional shape measurement with high accuracy at high speed while taking into account lens distortion of a projection device. An image input unit of an information processing apparatus inputs image data of a measurement object photographed by a camera in a state where a predetermined pattern light is projected by a projector. An association unit calculates associations between coordinates on the image data of the measurement object and coordinates on image data of the predetermined pattern light. A three-dimensional coordinate calculation unit calculates a viewing vector of the camera from which lens distortion thereof has been eliminated and a viewing vector of the projector to which lens distortion thereof has been added. The calculation unit calculates coordinates of a point, in a three-dimensional space, of intersection between the camera viewing vector and the projector viewing vector, for each association.
    Type: Grant
    Filed: April 1, 2013
    Date of Patent: March 28, 2017
    Assignee: Canon Kabushiki Kaisha
    Inventor: Daisuke Kotake
  • Publication number: 20170039718
    Abstract: An information processing apparatus includes: an input unit that inputs an image of real space captured by an image capturing apparatus; a measurement value input unit that inputs a measurement value regarding a position and orientation of the image capturing apparatus measured by a sensor attached to the image capturing apparatus; a position and orientation derivation unit that, based on three-dimensional information of a feature in the real space and the input image, derives a position and orientation of the image capturing apparatus; a determination unit that, based on the measurement value and the position and orientation of the image capturing apparatus derived by the position and orientation derivation unit, makes a determination as to whether derivation of the position and orientation of the image capturing apparatus performed by the position and orientation derivation unit has failed; and an output unit that outputs a result provided by the determination unit.
    Type: Application
    Filed: August 4, 2016
    Publication date: February 9, 2017
    Inventors: Daisuke Kotake, Keisuke Tateno
  • Patent number: 9519971
    Abstract: A position and orientation measurement device includes a grayscale image input unit that inputs a grayscale image of an object, a distance image input unit that inputs a distance image of the object, an approximate position and orientation input unit that inputs an approximate position and orientation of the object with respect to the position and orientation measurement device, and a position and orientation calculator that updates the approximate position and orientation. The position and orientation calculator calculates a first position and orientation so that an object image on an image plane and a projection image of the three-dimensional shape model overlap each other, associates the three-dimensional shape model with the image features of the grayscale image and the distance image, and calculates a second position and orientation on the basis of a result of the association.
    Type: Grant
    Filed: December 12, 2011
    Date of Patent: December 13, 2016
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Daisuke Kotake, Keisuke Tateno, Shinji Uchiyama
  • Patent number: 9467682
    Abstract: An information processing apparatus includes a model storing unit configured to store a three-dimensional form model for acquiring the position and posture of a measurement target object, an image acquiring unit configured to acquire an image of the measurement target object, a first position and posture acquiring unit configured to acquire a first position and posture of the three-dimensional form model in a first coordinate system on the basis of a first geometric feature of the three-dimensional form model and a first geometric feature within the image, and a second position and posture acquiring unit configured to acquire a second position and posture of the three-dimensional form model in a second coordinate system that is different from the first coordinate system on the basis of a second geometric feature of the three-dimensional form model and a second geometric feature within the image and the first position and posture.
    Type: Grant
    Filed: December 22, 2011
    Date of Patent: October 11, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventors: Daisuke Watanabe, Shinji Uchiyama, Daisuke Kotake
  • Patent number: 9437005
    Abstract: An information processing apparatus configured to estimate a position and orientation of a measuring object using an imaging apparatus includes an approximate position and orientation input unit configured to input a relative approximate position and orientation between the imaging apparatus and the measuring object, a first position and orientation updating unit configured to update the approximate position and orientation by matching a three-dimensional shape model to a captured image, a position and orientation difference information input unit configured to calculate and acquire a position and orientation difference amount of the imaging apparatus relative to the measuring object having moved after the imaging apparatus has captured an image of the measuring object or after last position and orientation difference information has been acquired, and a second position and orientation updating unit configured to update the approximate position and orientation based on the position and orientation difference
    Type: Grant
    Filed: June 29, 2012
    Date of Patent: September 6, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventors: Keisuke Tateno, Daisuke Kotake, Shinji Uchiyama
  • Publication number: 20160155235
    Abstract: There is provided with an image processing apparatus. A captured image of a target object that is captured by an image capturing apparatus is obtained. Information that indicates a deterioration degree of the captured image is obtained for a position in the captured image. A feature of the target object is extracted from the captured image based on the deterioration degree. The feature of the target object and a feature of the three-dimensional model observed when the three-dimensional model is arranged in accordance with a predetermined position and orientation are associated. A position and orientation of the target object with respect to the image capturing apparatus are derived by correcting the predetermined position and orientation based on a result of association.
    Type: Application
    Filed: November 23, 2015
    Publication date: June 2, 2016
    Inventors: Sonoko Miyatani, Tatsuya Suzuki, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki, Yuichiro Hirota, Daisuke Kotake