Patents by Inventor Kazuhiko Kobayashi

Kazuhiko Kobayashi 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).

  • Patent number: 10288418
    Abstract: To decrease the time and work needed for the measurement of a target object, an information processing apparatus includes an acquisition unit configured to acquire measurement data on a target object from a measuring apparatus, an extraction unit configured to extract a partial region of the target object that contains a geometric feature for use in estimation of a position-and-orientation of the target object, based on one or more pieces of measurement data acquired by the acquisition unit, a determination unit configured to determine a position-and-orientation of the measuring apparatus configured to measure the partial region extracted by the extraction unit, and an output unit configured to output the position-and-orientation determined by the determination unit.
    Type: Grant
    Filed: June 20, 2016
    Date of Patent: May 14, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi
  • Publication number: 20190126471
    Abstract: It is an object to enable a grasping operation to be executed according to a state of an object. The invention provides an information processing apparatus which determines the grasping operation in a grasping unit for grasping the object. The information processing apparatus has: an obtaining unit for obtaining an image acquired by capturing the object; a recognizing unit for recognizing a state of the object from the image obtained by the obtaining unit; and a generating unit for generating information for allowing the grasping unit to execute the grasping operation on the basis of the object state recognized by the recognizing unit and conditions to execute the grasping operation.
    Type: Application
    Filed: October 26, 2018
    Publication date: May 2, 2019
    Inventors: Toshihiro Kobayashi, Kazuhiko Kobayashi, Masakazu Fujiki, Akihiro Katayama
  • Publication number: 20190118394
    Abstract: A control apparatus, comprising: an image obtaining unit configured to obtain an image in which a control target that a robot controls and a target position to which the control target is to be moved are imaged by an imaging apparatus that is attached to the robot; an axial direction obtainment unit configured to obtain an axial direction of a rotational axis of the control target; a target position detection unit configured to detect the target position in the image; an operation generation unit configured to generate an operation for the control target so that the target position is present in the axial direction and to further generate an operation by which the control target becomes closer to the target position in the axial direction; and a control unit configured to control the control target in accordance with the operation.
    Type: Application
    Filed: October 18, 2018
    Publication date: April 25, 2019
    Inventors: Takayuki Yamada, Kazuhiko Kobayashi
  • Publication number: 20190099891
    Abstract: An information processing apparatus that obtains, with high accuracy, the gripping position for gripping the target object by a gripping apparatus is provided. The information processing apparatus includes an image acquisition unit that acquires a captured image obtained by capturing an image of the target object, an image feature detection unit that detects a plurality of image features in the captured image, and a unit detection unit that detects a unit of a pattern in which a plurality of image features repeatedly appear. In addition, the information processing apparatus further includes a snipping position determining unit that determines a gripping position using the unit detected by the unit detection unit.
    Type: Application
    Filed: October 1, 2018
    Publication date: April 4, 2019
    Inventors: Makoto Tomioka, Kazuhiko Kobayashi, Tomoaki Higo, Masahiro Suzuki
  • Publication number: 20190066333
    Abstract: An information processing apparatus comprising: at least one processor programmed to cause the apparatus to: hold label information regarding presence of a target object, the label information being set for the target object in an image; obtain a reliability of the label information; cause a display apparatus to display the label information and an image corresponding to the label information in the image, based on the reliability; accept an operation made by a user; and modify the label information based on the operation.
    Type: Application
    Filed: August 27, 2018
    Publication date: February 28, 2019
    Inventors: Hisayoshi Furihata, Kazuhiko Kobayashi
  • 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: 20180211138
    Abstract: An information processing device includes a first acquiring unit configured to acquire geometric information relating to a target object to be recognized, a decision unit configured to decide an imaging position and orientation at which the target object is imaged, based on the geometric information acquired by the first acquiring unit, a second acquiring unit configured to acquire an image of the target object which has been captured at the imaging position and orientation decided by the decision unit, and a generation unit configured to generate learning data, based on the geometric information acquired by the first acquiring unit and the image acquired by the second acquiring unit.
    Type: Application
    Filed: January 17, 2018
    Publication date: July 26, 2018
    Inventors: Takayuki Yamada, Akihiro Katayama, Kazuhiko Kobayashi
  • Patent number: 10024653
    Abstract: An apparatus that enables measurement of distances to a plurality of planes of an object and plane directions thereof, includes one or more processors that execute instructions to acquire an image of the object on which a projection pattern is projected, the projection pattern being formed by arranging a plurality of line sets at intervals longer than a predetermined value, each of the plurality of line sets having lines arranged at intervals shorter than the predetermined value, detect the lines in the projection pattern from the image, determine the line sets from the detected lines, calculate a distance from a predetermined reference coordinate to a position on a plane of the measurement target object on which a detected line is projected, and calculate a plane direction of a plane of the object on which the line sets are projected, based on the calculated distance.
    Type: Grant
    Filed: March 18, 2015
    Date of Patent: July 17, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Hisayoshi Furihata, Kazuhiko Kobayashi, Masahiro Suzuki
  • Publication number: 20180147726
    Abstract: An information processing apparatus includes a first generation unit configured to generate deviation data for each of parameters of respective apparatuses relating to three-dimensional measurement, a second generation unit configured to generate deviation data based on a captured image of a target acquired using the parameters and a registration image of the target, an acquiring unit configured to acquire similarity between the deviation data generated by the second generation unit and the deviation data for each of the parameters generated by the first generation unit, and a presentation unit configured to present presentation information relating to calibration of the parameters based on the similarity.
    Type: Application
    Filed: November 20, 2017
    Publication date: May 31, 2018
    Inventors: Kazuhiko Kobayashi, Masahiro Suzuki
  • Publication number: 20180126555
    Abstract: An apparatus comprises a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together.
    Type: Application
    Filed: January 10, 2018
    Publication date: May 10, 2018
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki
  • Patent number: 9943961
    Abstract: An apparatus comprises a holding unit configured to hold data related to a worker; an obtaining unit configured to obtain measurement data for recognizing the worker; a recognizing unit configured to recognize the worker based on the data related to the worker and the measurement data; a determination unit configured to determine work information about a work which the worker and a robot perform on a target object together, corresponding to the recognized worker, based on a physical feature of the recognized worker; and a controlling unit configured to control the robot based on the work information so that the worker and the robot perform a work on the target object together.
    Type: Grant
    Filed: June 1, 2015
    Date of Patent: April 17, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki
  • Publication number: 20180097984
    Abstract: An imaging device performs imaging using an imaging element. The imaging device is provided with an imaging unit, a control unit and a synthesis unit. The imaging unit performs exposure with a predetermined exposure time, thereby performing image capture. The control unit successively performs an imaging process N-times. In each imaging process, a plurality of images are captured with different exposure times. The synthesis unit generates, using HDR rendering, a plurality of images acquired by the plurality of image captures. The control unit performs one of the plurality of image captures such that the exposure is completed at a corresponding synchronous timing, and performs a subsequent other image capture such that exposure is started at the synchronous timing.
    Type: Application
    Filed: October 2, 2017
    Publication date: April 5, 2018
    Inventors: Kazuhiko Kobayashi, Toshikazu Murao, Masato Nishikawa
  • Publication number: 20180082106
    Abstract: An information processing apparatus comprises an image generation unit configured to generate, based on a first image in which a transparent object having transparency is captured and a second image in which a target object is captured, a reproduced image in which the target object which is at least partially covered by the transparent object is reproduced; and a creation unit configured to create, based on the reproduced image, a model for recognizing the target object which is at least partially covered by the transparent object.
    Type: Application
    Filed: August 16, 2017
    Publication date: March 22, 2018
    Inventors: Masaki Inaba, Masahiro Suzuki, Kazuhiko Kobayashi
  • Patent number: 9914222
    Abstract: An information processing apparatus predicts, based on a geometric model of an object to be measured, an image degradation of the object in an image in which the object is captured by a capturing device. Furthermore, the information processing apparatus searches a two-dimensional image in which the object is captured by the capturing device for a measurement data feature that corresponds to a model feature of the geometric model, and evaluates, using the two-dimensional image, an image degradation with respect to the found measurement data feature. The information processing apparatus calculates, based on the predicted image degradation and the evaluated image degradation, the accuracy of the correspondence between the model feature and the measurement data feature, and collates, based on this accuracy, the geometric model and the object in the two-dimensional image.
    Type: Grant
    Filed: January 29, 2016
    Date of Patent: March 13, 2018
    Assignee: Canon Kabushiki Kaisha
    Inventors: Tatsuya Suzuki, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki
  • Publication number: 20180066934
    Abstract: A three-dimensional measurement apparatus selects points corresponding to geometric features of a three-dimensional shape model of a target object, projects a plurality of selected points corresponding to the geometric features onto a range image based on approximate values indicating the position and orientation of the target object and imaging parameters at the time of imaging of the range image, searches regions of predetermined ranges respectively from the plurality of projected points for geometric features on the range image which correspond to the geometric features of the three-dimensional shape model, and associates these geometric features with each other. The apparatus then calculates the position and orientation of the target object using differences of distances on a three-dimensional space between the geometric features of the three-dimensional shape model and those on the range image, which are associated with each other.
    Type: Application
    Filed: November 1, 2017
    Publication date: March 8, 2018
    Applicant: CANON KABUSHIKI KAISHA
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi
  • Patent number: 9858670
    Abstract: A two-dimensional image obtained by capturing a scene including an object is obtained. Parameters indicating capturing position and capturing orientation of the two-dimensional image are obtained. A three-dimensional shape model representing a three-dimensional shape of the object is obtained. Two-dimensional geometrical features of the object are extracted from the two-dimensional image. Three-dimensional information with respect to a surface of the object close to each of the two-dimensional geometrical features is calculated from the three-dimensional shape model. Three-dimensional geometrical features in the three-dimensional shape model, corresponding to the two-dimensional geometrical features are calculated based on the two-dimensional geometrical features, the parameters, and the calculated three-dimensional information.
    Type: Grant
    Filed: October 2, 2015
    Date of Patent: January 2, 2018
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Chihiro Mitsubori
  • Publication number: 20170372466
    Abstract: An information processing apparatus comprises: a generating unit which generates, based on model information including a feature of an object, a model feature indicating the feature of the object to be acquired by observing the object respectively from a plurality of candidate viewpoints; an acquiring unit which acquires an image feature indicating features of images acquired by photographing the object respectively from the plurality of candidate viewpoints; an evaluating unit which evaluates each of the plurality of candidate viewpoints, based on a correspondence relation between the model feature and the image feature; and a selecting unit which selects, from the plurality of candidate viewpoints, one or more measurement viewpoints from which the object should be measured, on the basis of evaluation by the evaluating unit for each of the plurality of candidate viewpoints.
    Type: Application
    Filed: June 27, 2017
    Publication date: December 28, 2017
    Inventors: Yuichiro HIROTA, Masakazu FUJIKI, Kazuhiko KOBAYASHI, Masahiro SUZUKI, Keisuke TATENO
  • Patent number: 9841271
    Abstract: A three-dimensional measurement apparatus selects points corresponding to geometric features of a three-dimensional shape model of a target object, projects a plurality of selected points corresponding to the geometric features onto a range image based on approximate values indicating the position and orientation of the target object and imaging parameters at the time of imaging of the range image, searches regions of predetermined ranges respectively from the plurality of projected points for geometric features on the range image which correspond to the geometric features of the three-dimensional shape model, and associates these geometric features with each other. The apparatus then calculates the position and orientation of the target object using differences of distances on a three-dimensional space between the geometric features of the three-dimensional shape model and those on the range image, which are associated with each other.
    Type: Grant
    Filed: February 18, 2011
    Date of Patent: December 12, 2017
    Assignee: Canon Kabushiki Kaisha
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi
  • Patent number: 9831187
    Abstract: Provided is a resist film forming device which uses an electrostatic spray device which is capable of forming a thin film with a uniform thickness on a workpiece. A resist film forming device (100), which forms a resist film (108) on a substrate by electrostatic spraying, comprises: a nozzle (102) which, upon application of a prescribed voltage, sprays liquid particles which form the raw material for a resist film (108) toward a substrate (105) having stepped portions (105a); a driving means (111) for causing relative movement of the substrate (105) or the nozzle (102); and a control means (110) for controlling such that the resist film (108) is formed on the substrate (105) having the stepped portions (105a) by the liquid particles.
    Type: Grant
    Filed: November 11, 2013
    Date of Patent: November 28, 2017
    Assignee: Apic Yamada Corporation
    Inventors: Kazuhiko Kobayashi, Keisuke Suda
  • Publication number: 20170326739
    Abstract: A position and an orientation of an object are measured with high accuracy. An approximate position-orientation of a target object is obtained, positional information of the target object is obtained by measuring the target object using a noncontact sensor, positional information of contact positions touched by a contact sensor is obtained by bringing the contact sensor into contact with the target object, and a position-orientation of the target object is obtained by associating shape information of the target object with the positional information of the target object and the positional information of the contact positions in accordance with the approximate position-orientation.
    Type: Application
    Filed: November 17, 2015
    Publication date: November 16, 2017
    Inventors: Yusuke Nakazato, Kazuhiko Kobayashi, Masahiro Suzuki