US5504847A
Expired / Lapsed
US
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Range-image processing apparatus and method
Assignee: Canon Inc
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Filing: 1993-12-01
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Granted: 1996-04-02
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Expires: 2013-12-01
Abstract
Abstract Plural range images having different resolutions are generated from an input range image and normal vectors are calculated for each generated range image. An edge map is formed for each of the plural range images based on the calculated normal vectors and a single edge map is formed by synthesizing the plural formed edge maps. Polygon data describing the surface shape of an object represented by the input range image are formed based on the synthesized edge map. Polygon data of high precision that represents characteristics of the surface shape of the object is thereby formed with little data.
Inventors
- 👤 Takeo Kimura
- 👤 Haruo Shimizu
- 👤 Osamu Yoshizaki
- 👤 Yoshifumi Kitamura
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 18:53
CPC Classifications
G; G06; G06T; G06T17/00; G06T17/20
Claims Analysis
Total Claims: 30
Claim 1
Independent Claim
146 words
A range-image processing apparatus, comprising: input means for inputting a range image; generating means for generating a plurality of range images having different resolutions from the range image input by said input means; calculation means for calculating normal vectors for each of the plurality of range images having different resolutions generated by said generation means; edge-map formation means for forming an edge map for each of the plurality of range images based on the normal vectors corresponding to different resolutions calculated by said calculation means; synthesis means for forming a single edge map by synthesizing the plurality of edge maps corresponding to different resolutions formed by said edge-map formation means; and polygon-data formation means for forming polygon data for describing the surface shape of the object represented by the range image input by said input means based on the edge map formed by said synthesis means.
Claim 2
Dependent Claim
146 words
A range-image processing apparatus, comprising: input means for inputting a range image; generating means for generating a plurality of range images having different resolutions from the range image input by said input means; calculation means for calculating normal vectors for each of the plurality of range images having different resolutions generated by said generation means; edge-map formation means for forming an edge map for each of the plurality of range images based on the normal vectors corresponding to different resolutions calculated by said calculation means; synthesis means for forming a single edge map by synthesizing the plurality of edge maps corresponding to different resolutions formed by said edge-map formation means; and polygon-data formation means for forming polygon data for describing the surface shape of the object represented by the range image input by said input means based on the edge map formed by said synthesis means.
Claim 3
Dependent Claim
26 words
An apparatus according to claim 1, wherein said generation means makes the range image input by said input means a range image having the highest resolution.
Claim 4
Dependent Claim
32 words
An apparatus according to claim 1, wherein, in a synthesis operation, said synthesis means protects edges possessed by a high-resolution range image from among the plurality of edge maps to be synthesized.
Claim 5
Dependent Claim
40 words
An apparatus according to claim 3, further comprising correction means for correcting the contour of a low-resolution edge map from among the plurality of edge maps formed by said edge-map formation means before the synthesis operation by said synthesis means.
Claim 6
Dependent Claim
16 words
An apparatus according to claim 4, wherein said correction means removes edges corresponding to the contour.
Claim 7
Dependent Claim
123 words
A range-image processing apparatus, comprising: input means for inputting a range image; calculation means for calculating normal vectors for the range image input by said input means; edge-map formation means for forming an edge map for the range image based on the normal vectors calculated by said calculation means; detection means for detecting non-closed edges by scanning the edge map formed by said edge-map formation means; shape-up means for shaping up the edge map by deleting or extending the non-closed edges detected by said detection means; and polygon-data formation means for forming polygon data for describing the surface shaped of the object represented by the range image input by said input means based on the edge map shaped up by said shape-up means.
Claim 8
Dependent Claim
123 words
A range-image processing apparatus, comprising: input means for inputting a range image; calculation means for calculating normal vectors for the range image input by said input means; edge-map formation means for forming an edge map for the range image based on the normal vectors calculated by said calculation means; detection means for detecting non-closed edges by scanning the edge map formed by said edge-map formation means; shape-up means for shaping up the edge map by deleting or extending the non-closed edges detected by said detection means; and polygon-data formation means for forming polygon data for describing the surface shaped of the object represented by the range image input by said input means based on the edge map shaped up by said shape-up means.
Claim 9
Dependent Claim
21 words
An apparatus according to claim 6, wherein said shape-up means deletes each edge comprising less than two segments of straight lines.
Claim 10
Dependent Claim
29 words
An apparatus according to claim 6, wherein said shape-up means extends each edge comprising at least two segments of straight lines until the edge is connected to another edge.
Claim 11
Dependent Claim
41 words
An apparatus according to claim 8, wherein said shape-up means deletes each edge comprising at least two segments of straight lines if the edge goes outside the map before the edge is connected to another edge when the edge is extended.
Claim 12
Dependent Claim
139 words
A range-image processing apparatus, comprising: input means for inputting a range image; calculation means for calculating normal vectors for the range image input by said input means; setting means for setting a scanning interval for scanning the range image input by said input means; edge detection means for scanning the range image input by said input means with the scanning interval set by said setting means, and for detecting edges in the range image based on the input range image and the normal vectors calculated by said calculation means; edge generation means for generating new edges based on the input range image and the normal vectors calculated by said calculation means; and edge-map formation means for forming an edge map based on the edges detected by said edge detection means and the edges generated by said edge generation means.
Claim 13
Dependent Claim
139 words
A range-image processing apparatus, comprising: input means for inputting a range image; calculation means for calculating normal vectors for the range image input by said input means; setting means for setting a scanning interval for scanning the range image input by said input means; edge detection means for scanning the range image input by said input means with the scanning interval set by said setting means, and for detecting edges in the range image based on the input range image and the normal vectors calculated by said calculation means; edge generation means for generating new edges based on the input range image and the normal vectors calculated by said calculation means; and edge-map formation means for forming an edge map based on the edges detected by said edge detection means and the edges generated by said edge generation means.
Claim 14
Dependent Claim
17 words
An apparatus according to claim 10, wherein said edge detection means detects jump edges and roof edges.
Claim 15
Dependent Claim
14 words
An apparatus according to claim 10, wherein said edge generation means generates roof edges.
Claim 16
Dependent Claim
99 words
A range-image processing method, comprising the steps of: inputting a range image; generating a plurality of range images having different resolutions from the input range; calculating normal vectors for each of the plurality of generated range images having different resolutions; forming an edge map for each of the plurality of range images based on the calculated normal vectors corresponding to different resolutions; forming a single edge map by synthesizing the plurality of formed edge maps; and forming polygon data for describing the surface shape of the object represented by the input range image based on the synthesized edge map.
Claim 17
Dependent Claim
99 words
A range-image processing method, comprising the steps of: inputting a range image; generating a plurality of range images having different resolutions from the input range; calculating normal vectors for each of the plurality of generated range images having different resolutions; forming an edge map for each of the plurality of range images based on the calculated normal vectors corresponding to different resolutions; forming a single edge map by synthesizing the plurality of formed edge maps; and forming polygon data for describing the surface shape of the object represented by the input range image based on the synthesized edge map.
Claim 18
Dependent Claim
29 words
A method according to claim 13, wherein when generating the plurality of range images, the input range image is made to be a range image having the highest resolution.
Claim 19
Dependent Claim
30 words
A method according to claim 13, wherein, in said synthesizing step, edges possessed by a high-resolution range image from among the plurality of edge maps to be synthesized are protected.
Claim 20
Dependent Claim
31 words
A method according to claim 15, further comprising the step of correcting a contour of a low-resolution edge map from among the plurality of formed edge maps before said synthesizing step.
Claim 21
Dependent Claim
16 words
A method according to claim 16, wherein said correcting step removes edges corresponding to the contour.
Claim 22
Dependent Claim
85 words
A range-image processing method, comprising the steps of: inputting a range image; calculating normal vectors for the input range image; forming an edge map for the range images based on the calculated normal vectors; detecting non-closed edges by scanning the formed edge map; performing a shape-up operation which deletes or extends the detected non-closed edges for shaping up the edge map; and forming polygon data for describing the surface shape of the object represented by the input range image based on the shaped-up edge map.
Claim 23
Dependent Claim
85 words
A range-image processing method, comprising the steps of: inputting a range image; calculating normal vectors for the input range image; forming an edge map for the range images based on the calculated normal vectors; detecting non-closed edges by scanning the formed edge map; performing a shape-up operation which deletes or extends the detected non-closed edges for shaping up the edge map; and forming polygon data for describing the surface shape of the object represented by the input range image based on the shaped-up edge map.
Claim 24
Dependent Claim
21 words
A method according to claim 18, wherein said performing step deletes an edge comprising less than two segments of straight lines.
Claim 25
Dependent Claim
29 words
A method according to claim 18, wherein said performing step extends an edge comprising at least two segments of straight lines until the edge is connected to another edge.
Claim 26
Dependent Claim
41 words
An apparatus according to claim 20, wherein said performing step deletes an edge comprising at least two segments of straight lines if the edge goes outside the edge-map before the edge is connected to another edge when the edge is extended.
Claim 27
Dependent Claim
85 words
A range-image processing method, comprising the steps of: inputting a range image; calculating normal vectors for the input range image; setting a scanning interval for scanning the input range image; scanning the input range image input with the set interval; detecting edges in the range image based on the input range image and the calculated normal vectors; generating new edges based on the input range image and the calculated normal vectors; and forming an edge map based on the detected edges and the generated edges.
Claim 28
Dependent Claim
85 words
A range-image processing method, comprising the steps of: inputting a range image; calculating normal vectors for the input range image; setting a scanning interval for scanning the input range image; scanning the input range image input with the set interval; detecting edges in the range image based on the input range image and the calculated normal vectors; generating new edges based on the input range image and the calculated normal vectors; and forming an edge map based on the detected edges and the generated edges.
Claim 29
Dependent Claim
17 words
A method according to claim 22, wherein said edge detecting step detects jump edges and roof edges.
Claim 30
Dependent Claim
14 words
A method according to claim 22, wherein said edge generating step generates roof edges.
References Cited (Backward Citations)
US5369736A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1999-04-02 | 1999-10-02 | 2000-04-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2003-04-02 | 2003-10-02 | 2004-04-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2007-04-02 | 2007-10-02 | 2008-04-02 | $7700.00 | Window Closed / Lapsed |