# Hiroshi Yano, Osaka JP

## Hiroshi Yano, Osaka JP

Patent application number | Description | Published |
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20090059242 | Three-dimensional measurement method and three-dimensional measurement apparatus - Images of a work piece in which measurement object is restricted to a specific point or domain are taken by a camera which takes the image of the work piece from a front-view direction and a camera which takes the image from obliquely above, and a height of each measurement object region is measured. Each pixel of the front-view image used in measurement processing is virtually disposed in a three-dimensional coordinate system including x- and y-axes constituting a coordinate system of the image and a z-axis indicating the height, and a perspective transform is performed to produce a processing result image expressing measurement result. A measurement value is set as the z-coordinate at the pixel which is a height measurement object, and the z-coordinates of other pixels are set at other pixels. A mark for identifying a position and an auxiliary line indicating the height are set at measurement object points and measurement object region in the image. | 03-05-2009 |

20090066968 | Method and apparatus for performing three-dimensional measurement - A control processing unit simultaneously drives cameras to produce images of a measuring object, the control processing unit searches corresponding point on a comparative image produced by one of the cameras for a representative point in a reference image produced by the other camera, and the control processing unit computes a three-dimensional coordinate corresponding to a coordinate using the coordinate of each point correlated by the search. The control processing unit also obtains a shift amount at the corresponding point specified by the search to an epipolar line specified based on a coordinate of a representative point on the reference image side or a parameter indicating a relationship between the cameras, and the control processing unit supplies the shift amount as an evaluation value indicating accuracy of three-dimensional measurement along with three-dimensional measurement result. | 03-12-2009 |

20090087031 | THREE-DIMENSIONAL MEASUREMENT INSTRUMENT, IMAGE PICK-UP APPARATUS AND ADJUSTING METHOD FOR SUCH AN IMAGE PICKUP APPARATUS - An image pickup apparatus is provided with cameras and string-shaped members. The user is allowed to know working distances based upon the lengths of the string-shaped members. The optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera, and the optical axis direction of the camera is adjusted so that the leading edge of the string-shaped member is included in the viewing field of the camera. Even in the case when no image-pickup object is present, by presuming the position of the image-pickup portion of the object, the working distance from the presumed position can be found by the string-shaped member. Moreover, since the string-shaped members are coupled to each other at the image-pickup position, the directions of the optical axes of the cameras can be determined based upon the extending directions of the string members. | 04-02-2009 |

20100231690 | MODEL DISPLAY METHOD FOR THREE-DIMENSIONAL OPTICAL SENSOR AND THREE-DIMENSIONAL OPTICAL SENSOR - The degree of accuracy and the recognition result of a three-dimensional model can be easily, visually confirmed. After a three-dimensional model of a workpiece to be recognized is generated, this three-dimensional model is used to execute a recognition test on three-dimensional information of an actual model of the workpiece. Then, the three-dimensional model is subjected to coordinate transformation processing based on the recognized position and the rotational angle, and the three-dimensional coordinates of the converted three-dimensional model are subjected to the transparent transformation processing onto imaging planes of the cameras A, B, C that take images for the recognition processing. Then, the projected image of the three-dimensional model is displayed in overlaying manner by overlaying on the image of the actual model that is used in the recognition processing and is generated by the cameras A, B, C. | 09-16-2010 |

20100232647 | THREE-DIMENSIONAL RECOGNITION RESULT DISPLAYING METHOD AND THREE-DIMENSIONAL VISUAL SENSOR - In the present invention, whether three-dimensional measurement or checking processing with a model is properly performed by setting information and recognition processing result can easily be confirmed. After setting processing is performed to a three-dimensional visual sensor including a stereo camera, a real workpiece is imaged, the three-dimensional measurement is performed to an edge included in a produced stereo image, and restored three-dimensional information is checked with a three-dimensional model to compute a position of the workpiece and a rotation angle for an attitude indicated by the three-dimensional model. Thereafter, perspective transformation of the three-dimensional information on the edge obtained through measurement processing and the three-dimensional model to which coordinate transformation is already performed based on recognition result is performed into a coordinate system of a camera that performs the imaging, and projection images are displayed while being able to be checked with each other. | 09-16-2010 |

20100232681 | THREE-DIMENSIONAL VISION SENSOR - An object of the present invention is to enable performing height recognition processing by setting a height of an arbitrary plane to zero for convenience of the recognition processing. A parameter for three-dimensional measurement is calculated and registered through calibration and, thereafter, an image pickup with a stereo camera is performed on a plane desired to be recognized as having a height of zero in actual recognition processing. Further, three-dimensional measurement using the registered parameter is performed on characteristic patterns (marks m | 09-16-2010 |

20100232682 | METHOD FOR DERIVING PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT PROCESSING AND THREE-DIMENSIONAL VISUAL SENSOR - In the present invention, processing for setting a parameter expressing a measurement condition of three-dimensional measurement to a value necessary to output a proper recognition result is easily performed. The three-dimensional measurement is performed to stereo images of real models WM | 09-16-2010 |

20100232683 | Method For Displaying Recognition Result Obtained By Three-Dimensional Visual Sensor And Three-Dimensional Visual Sensor - Display suitable to an actual three-dimensional model or a recognition-target object is performed when stereoscopic display of a three-dimensional model is performed while correlated to an image used in three-dimensional recognition processing. After a position and a rotation angle of a workpiece are recognized through recognition processing using the three-dimensional model, coordinate transformation of the three-dimensional model is performed based on the recognition result, and a post-coordinate-transformation Z-coordinate is corrected according to an angle (elevation angle f) formed between a direction of a line of sight and an imaging surface. Then perspective transformation of the post-correction three-dimensional model into a coordinate system of a camera of a processing object is performed, and a height according to a pre-correction Z-coordinate at a corresponding point of the pre-coordinate-transformation three-dimensional model is set to each point of a produced projection image. Projection processing is performed from a specified direction of a line of sight to a point group that is three-dimensionally distributed by the processing, thereby producing a stereoscopic image of the three-dimensional model. | 09-16-2010 |

20100232684 | CALIBRATION APPARATUS AND METHOD FOR ASSISTING ACCURACY CONFIRMATION OF PARAMETER FOR THREE-DIMENSIONAL MEASUREMENT - When computation of a three-dimensional measurement processing parameter is completed, accuracy of a computed parameter can easily be confirmed. After a parameter for three-dimensional measurement is computed through calibration processing using a calibration workpiece in which plural feature points whose positional relationship is well known can be extracted from an image produced by imaging, three-dimensional coordinate computing processing is performed using the computed parameter for the plural feature points included in the stereo image used to compute the parameter. Perspective transformation of each computed three-dimensional coordinate is performed to produce a projection image in which each post-perspective-transformation three-dimensional coordinate is expressed by a predetermined pattern, and the projection image is displayed on a monitor device. | 09-16-2010 |

20140191425 | SYSTEM AND METHOD FOR GENERATING NANOBUBBLES - Provided is a nanobubble generating system and a nanobubble generating method in which nanobubbles exist stably in a liquid phase by a very simple constitution and a very simple process. A nanobubble generating system has a generation chamber for accommodating a gas phase part existing in the upper side and a liquid phase part in contact with the lower side of the gas phase part under sealed condition, a supersaturated dissolved liquid generating device for generating supersaturated dissolved liquid in which a gas is dissolved in the liquid phase part under supersaturated condition, and a nanobubble generating device for feeding a pressurized gas to said supersaturated dissolved liquid via through-holes having a nano-sized opening size to generate nanobubbles having a diameter smaller than 1 μm. | 07-10-2014 |