Patents by Inventor Masakazu Fujiki

Masakazu Fujiki 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: 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
  • 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: 20180336691
    Abstract: Whether to correct unevenness of brightness of a first image of an object onto which pattern light for three-dimensional shape measurement is projected is determined based on the first image or a second image of the object onto which the pattern light is not projected. If correction is performed, the three-dimensional shape of the object is measured using a corrected image obtained by correcting the unevenness of the brightness of the first image based on the second image; otherwise, the three-dimensional shape of the object is measured using the first image.
    Type: Application
    Filed: May 10, 2018
    Publication date: November 22, 2018
    Inventors: Tatsuya Suzuki, Akihiro Katayama, Masakazu Fujiki, Masahiro Suzuki, Toshihiro 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: 20180197308
    Abstract: An information processing apparatus inputs a plurality of detected features that are detected from an image or three-dimensional data, holds a plurality of features of a physical space as a plurality of held features in association with availabilities in a calculation of a position/orientation of an apparatus that obtained the image or the three-dimensional data, decides spatial locations of the held features in the image or the three-dimensional data, and decides, based on the availabilities of the held features existing in a vicinity of one detected feature out of the plurality of detected features at the locations, a state of usage of the one detected feature in the position/orientation calculation.
    Type: Application
    Filed: January 4, 2018
    Publication date: July 12, 2018
    Inventors: Nozomu Kasuya, Makoto Tomioka, Masakazu Fujiki
  • 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
  • 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: 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
  • 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: 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
  • 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: 9621793
    Abstract: A spread degree of a geometric feature in a surface of an object to be measured is estimated. The geometric feature is included in a geometric pattern, and will be observed in an image obtained by capturing the object on which the geometric pattern is projected. A parameter is set based on the estimated spread degree. Based on the parameter, a point on the geometric pattern is set in a captured image obtained by capturing the object to be measured on which the geometric pattern is projected. A three-dimensional position on the surface of the object corresponding to the set point is calculated.
    Type: Grant
    Filed: April 9, 2015
    Date of Patent: April 11, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Hisayoshi Furihata, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki
  • Patent number: 9560250
    Abstract: There is provided with an information processing apparatus. Location information indicating an approximate location of a measurement target relative to a projection apparatus is obtained. The projection apparatus projects, onto the measurement target, projection light of a predetermined pattern composed of light rays travelling in respective directions. For respective travelling directions, incident regions of the measurement target on which the projection light is incident are estimated in accordance with the location information. Amounts of the projection light toward the respective travelling directions are determined such that light amounts of reflected light from the estimated incident regions toward an image capturing apparatus fall within a predetermined range. The image capturing apparatus captures an image of the measurement target onto which the projection light has been projected.
    Type: Grant
    Filed: June 20, 2014
    Date of Patent: January 31, 2017
    Assignee: CANON KABUSHIKI KAISHA
    Inventors: Hisayoshi Furihata, Masakazu Fujiki, Masahiro Suzuki
  • Patent number: 9430837
    Abstract: A position and orientation measurement apparatus for measuring the position and orientation of a target object includes a first search unit which searches a geometric model for a lost model region corresponding to a lost image region in a range image, a determination unit which determines whether or not a point on a geometric model corresponding to a pixel on the range image of the target object falls within the lost model region, a correction unit which corrects combinations of pixels on the range image and corresponding points which are determined to fall within the lost model region, and a calculation unit which calculates the position and orientation of the target object based on the corrected combinations of the pixels on the range image and points on the geometric model.
    Type: Grant
    Filed: March 21, 2014
    Date of Patent: August 30, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventors: Masakazu Fujiki, Shinji Uchiyama
  • Publication number: 20160232654
    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: Application
    Filed: January 29, 2016
    Publication date: August 11, 2016
    Inventors: Tatsuya Suzuki, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki
  • 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
  • Patent number: 9355453
    Abstract: A three-dimensional measurement apparatus generates a plurality of view-point images obtained by observing a measurement object from a plurality of different view-points using a three-dimensional geometric model, detects edges of the measurement object from the plurality of view-point images as second edges, calculates respective reliabilities of first edges of the three-dimensional geometric model based on a result obtained when the second edges are associated with the first edges, weights each of the first edges based on the respective reliabilities, associates third edges detected from a captured image with the weighted first edges, and calculates a position and an orientation of the measurement object based on the association result.
    Type: Grant
    Filed: February 23, 2011
    Date of Patent: May 31, 2016
    Assignee: Canon Kabushiki Kaisha
    Inventors: Daisuke Watanabe, Masakazu Fujiki, Shinji Uchiyama
  • Patent number: 9208395
    Abstract: An apparatus comprises: extraction means for extracting an occluded region in which illumination irradiated onto the target object is occluded in an obtained two-dimensional image; projection means for projecting a line segment that constitutes a three-dimensional model onto the two-dimensional image based on approximate values of position/orientation of the target object; association means for associating a point that constitutes the projected line segment with a point that constitutes an edge in the two-dimensional image; determination means for determining whether the associated point that constitutes an edge in the two-dimensional image is present within the occluded region; and measurement means for measuring the position/orientation of the target object based on a distance on the two-dimensional image between the point that constitutes the projected line segment and the point that constitutes the edge, the points being associated as the pair, and a determination result.
    Type: Grant
    Filed: August 12, 2011
    Date of Patent: December 8, 2015
    Assignee: Canon Kabushiki Kaisha
    Inventors: Masakazu Fujiki, Yusuke Nakazato, Shinji Uchiyama
  • Publication number: 20150292863
    Abstract: A spread degree of a geometric feature in a surface of an object to be measured is estimated. The geometric feature is included in a geometric pattern, and will be observed in an image obtained by capturing the object on which the geometric pattern is projected. A parameter is set based on the estimated spread degree. Based on the parameter, a point on the geometric pattern is set in a captured image obtained by capturing the object to be measured on which the geometric pattern is projected. A three-dimensional position on the surface of the object corresponding to the set point is calculated.
    Type: Application
    Filed: April 9, 2015
    Publication date: October 15, 2015
    Inventors: Hisayoshi Furihata, Masakazu Fujiki, Kazuhiko Kobayashi, Masahiro Suzuki
  • Patent number: 9111177
    Abstract: A position/orientation measurement apparatus holds a three-dimensional shape model of a object, acquires approximate value indicating a position and an orientation of the object, acquires a two-dimensional image of the object, projects a geometric feature of the three-dimensional shape model on the two-dimensional image based on the approximate value, calculates the direction of the geometric feature of the three-dimensional shape model projected on the two-dimensional image, detects an image feature based on the two-dimensional image, calculates the direction of the image feature, associates the image feature and the geometric feature by comparing the direction of the image feature calculated based on the two-dimensional image and the direction of the geometric feature calculated based on the three-dimensional shape model, and calculates the position and orientation of the object by correcting the approximate value based on the distance between the geometric feature and the image feature associated therewith
    Type: Grant
    Filed: June 9, 2011
    Date of Patent: August 18, 2015
    Assignee: Canon Kabushiki Kaisha
    Inventors: Keisuke Tateno, Masakazu Fujiki, Shinji Uchiyama