Image navigation device
First Claim
Patent Images
1. A video navigation apparatus comprising:
- a photographing unit that photographs a scene;
an estimating unit that estimates a position and angles of the photographing unit;
an estimate image generating unit that generates an estimate image corresponding to estimate values of a position and angles of the photographing unit estimated by the estimating unit;
a collating unit that collates an estimate image generated by the estimate image generating unit with a scenery image photographed by the photographing unit, and corrects an estimate value estimated by the estimating unit according to a result of the collation, which includes a value of difference between the estimate image and the scenery image, wherein the collating unit further estimates a value of error of the estimate value based on the value of difference between the estimate image and the scenery image;
an indication image generating unit that generates an indication image by processing indication information indicated in advance based on position information that shows a position of the photographing unit and angle information that shows angles of the photographing unit after correction processing by the collating unit; and
a display unit that displays an indication image generated by the indication image generating unit.
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Abstract
An estimate image is generated from a position and an angle of a camera and the estimate image is stored. A collating unit collates an estimate image with a scenery image, and corrects estimate values of a position and angles of the camera according to a result of the collation. An indication image generating unit generates an indication image by processing indication information stored in an indication information storing unit, based on position information that shows a position of the camera and angle information that shows angles of the camera after the correction processing stored in a position and angle information storing unit.
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Citations
24 Claims
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1. A video navigation apparatus comprising:
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a photographing unit that photographs a scene; an estimating unit that estimates a position and angles of the photographing unit; an estimate image generating unit that generates an estimate image corresponding to estimate values of a position and angles of the photographing unit estimated by the estimating unit; a collating unit that collates an estimate image generated by the estimate image generating unit with a scenery image photographed by the photographing unit, and corrects an estimate value estimated by the estimating unit according to a result of the collation, which includes a value of difference between the estimate image and the scenery image, wherein the collating unit further estimates a value of error of the estimate value based on the value of difference between the estimate image and the scenery image; an indication image generating unit that generates an indication image by processing indication information indicated in advance based on position information that shows a position of the photographing unit and angle information that shows angles of the photographing unit after correction processing by the collating unit; and a display unit that displays an indication image generated by the indication image generating unit. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A video navigation apparatus comprising:
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a photographing unit that photographs a scene; an estimating unit that estimates a position and angles of the photographing unit; a collating unit that collates an estimate image generated by the estimate image generating unit with a scenery image photographed by the photographing unit, and corrects an estimate value estimated by the estimating unit according to a result of the collation, which includes a value of difference between the estimate image and the scenery image, wherein the collating unit further estimates a value of error of the estimate value based on the value of difference between the estimate image and the scenery image; an indication information generating unit that generates indication information based on work procedure information that shows a work procedure set in advance and progress state information that shows a progress state of a work implemented based on the work procedure; an indication image generating unit that generates an indication image by processing the indication information generated by the indication information generating unit based on position information that shows a position of the photographing unit and angle information that shows angles of the photographing unit estimated by the estimating unit; and a display unit that displays an indication image generated by the indication image generating unit. - View Dependent Claims (14, 15, 16)
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17. A computer-readable recording medium that stores therein a computer program for outputting information, the computer program causing a computer to execute steps of:
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receiving an image data representative of a scene; estimating with an estimating unit a position and angles of the image data representative of a scene; generating an estimate image with an estimate image generating unit corresponding to estimate values of a position and angles of the image data representative of a scene estimated by the estimating unit; collating with a collating unit the estimate image generated by the estimate image generating unit with the image data representative of a scene, and corrects an estimate value estimated by the estimating unit according to a result of the collation, wherein the collating with collating unit notifies a user of information that shows a level of coincidence between the image data representative of a scene and the estimate image or a change in the coincidence level; generating an indication image with an indication image generating to be displayed by processing indication information indicated in advance based on position information that shows a position of the image data representative of a scene after correction processing by the collating unit; and displaying with a display with the indication image generated by the indication image generating unit.
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18. A video navigation processor comprising:
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an image processor for processing an image data representative of a scene processor; an estimation processor that estimates a position and angles of the image data representative of a scene; an estimate image generating processor that generates an estimate image corresponding to estimate values of a position and angles of the image data representative of a scene estimated by the estimating processor; a collating processor that collates an estimate image generated by the estimate image generating processor with the image data representative of a scene, and corrects an estimate value estimated by the estimating processor according to a result of the collation, wherein the collating processor notifies a user of information that shows a level of coincidence between the image data representative of a scene and the estimate image or a change in the coincidence level; and an indication image generating processor that generates an indication image to be displayed by processing indication information indicated in advance based on position information that shows a position of the image data representative of a scene after correction processing by the collating processor.
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19. A video navigation apparatus comprising:
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an inputting unit inputting an input image representative of a scene; an estimating unit that estimates position and angle values within the scene for the input image; an estimate image generating unit that generates an estimate image corresponding to an estimated perspective determined from estimated position and angle values of the scene estimated by the estimating unit; a collating unit that collates an estimate image with an input image of a scene, and corrects an estimated position and angle values according to a result of the collation, wherein the collating unit notifies a user of position information that shows a level of coincidence between the input image and the estimate image or a change in the coincidence level; and an indication image generating unit that generates an indication image to be displayed based on position information that shows a position of the image based on position and angle values after correction processing by the collating unit.
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20. A video navigation apparatus comprising:
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an inputting unit inputting an input image representative of a scene from the perspective of a navigated element; an estimating unit that estimates position and angle values within the scene for the input image; an estimate image generating unit that generates an estimate image corresponding to an estimated perspective determined from estimated position and angle values of the scene estimated by the estimating unit; a collating unit that collates an estimate image with an input image of a scene, and corrects an estimated position and angle values according to a result of the collation, wherein the collating unit notifies a user of information that shows a level of coincidence between the input image and the estimate image or a change in the coincidence level; and a navigation unit that navigates the navigation element based on position information that represents position based on position and angle values after correction processing by the collating unit. - View Dependent Claims (21, 22)
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23. A computer-readable storage medium having a computer program stored therein, the computer program when executed causes a computer to perform the steps of:
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receiving an image data representative of a scene; estimating with an estimating unit a position and angles of the image data representative of a scene; generating an estimate image with an estimate image generating unit corresponding to estimate values of a position and angles of the image data representative of a scene estimated by the estimating unit; collating with a collating unit that estimates image generated by the estimate image generating unit with the image data representative of a scene, and corrects an estimate value estimated by the estimating unit according to a result of the collation, wherein the collating with the collating unit notifies a user of information that shows a level of coincidence between the image representative of a scene and the estimate image or a change in the coincidence level; and navigating with navigation unit that navigates based on position information that shows a position of the image representative of a scene after correction processing by the collating unit.
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24. A video navigation processor comprising:
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an image processor for processing an image data representative of a scene processor; an estimation processor that estimates a position and angles of the image data representative of a scene; an estimate image generating processor that generates an estimate image corresponding to estimate values of a position and angles of the image data representative of a scene estimated by the estimating processor; a collating processor that collates an estimate image generated by the estimate image generating processor with the image data representative of a scene and corrects an estimate value estimated by the estimating processor according to a result of the collation, wherein the collating processor notifies a user of information that shows a level of coincidence between the image data representative of a scene and the estimate image or a change in the coincidence level; and a navigating processor that navigates based on position information that shows a position of the image representative of a scene after correction processing by the collating unit.
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Specification