# US 10,480,934 B2 · Effective search for a silhouette cone to reconstruct a three dimensional shape of an object > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,480,934 B2 - Document ID: US10480934B2 - Status: Granted - Kind: B2 - Application number: 16/210,025 - Filed: 2018-12-05 - Published: 2019-06-27 - Granted: 2019-11-19 - Earliest claimed: 2017-12-27 - Assignees: Fujitsu Limited - Applicants: Fujitsu Limited - Inventors: Tomonori Kubota; Yasuyuki Murata; Masahiko Toichi - Web page: https://patentgrep.com/patent/US10480934B2 ## CPC - G01B 11/03: by measuring coordinates of points - G01B 11/24: for measuring contours or curvatures - G06T 1/20: Processor architectures; Processor configuration, e.g. pipelining - G06T 7/521: from laser ranging, e.g. using interferometry; from the projection of structured light - G06T 7/564: from contours - G06T 15/20: Perspective computation - G01B: MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract An apparatus sequentially acquires, from a plurality of reference imaging devices for imaging a silhouette imaged with a base imaging device from viewpoints different from a viewpoint of the base imaging device, silhouette existing position information based on the reference imaging devices, and transforms the silhouette existing position information into a common coordinate system, where the silhouette existing position information indicates an existing position of the silhouette. The apparatus detects a silhouette absence range in which the silhouette does not exist, based on a result of comparison of the silhouette existing position information acquired this time and the silhouette existing position information acquired last time, and searches a range in which the silhouette exists, based on the silhouette absence range. ## Claims ### Claim 1 An information processing apparatus comprising: a memory; and a processor coupled to the memory and configured to: sequentially acquire, from a plurality of reference imaging devices for imaging a silhouette imaged with a base imaging device from viewpoints different from a viewpoint of the base imaging device, silhouette existing position information based on the reference imaging devices, the silhouette existing position information indicating an existing position of the silhouette, and transform the silhouette existing position information into a common coordinate system, detect a silhouette absence range in which the silhouette does not exist, based on a result of comparison of the silhouette existing position information acquired this time and the silhouette existing position information acquired last time, and search a range in which the silhouette exists, based on the silhouette absence range. ### Claim 2 (depends on 1) The information processing apparatus according to claim 1, wherein: the processor accumulates the silhouette absence range, compares the accumulated silhouette absence range with the silhouette existing position information acquired this time, and detects the silhouette absence range based on a result of the comparison; and the processor searches a range in which the silhouette exists based on the silhouette absence range. ### Claim 3 (depends on 1) The information processing apparatus according to claim 1, wherein the processor detects the silhouette absence range by pipeline processing based on whether or not newly acquired silhouette existing position information overlaps the existing silhouette absence range, and adds the silhouette absence range detected based on a detection result to the existing silhouette absence range. ### Claim 4 (depends on 1) The information processing apparatus according to claim 1, wherein the processor detects, in the range in which the silhouette exists for all of the silhouette existing position information, a first range that is nearer to a viewpoint of the base imaging device than a nearest end of the range to the viewpoint, and a second range that is further from the viewpoint of the base imaging device than a farthest end of the range, as the silhouette absence range. ### Claim 5 (depends on 4) The information processing apparatus according to claim 4, wherein when, in the range in which the silhouette exists for all of the silhouette existing position information, a third range in which a silhouette does not exist is included between the nearest end of the range to the viewpoint of the base imaging device and the farthest end of the range to the viewpoint of the base imaging device, the processor includes the third range in which the silhouette does not exist in the range in which the silhouette exists. ### Claim 6 (depends on 4) The information processing apparatus according to claim 4, wherein when, in the range in which the silhouette exists for all of the silhouette existing position information, a third range in which a silhouette does not exist is included between the nearest end of the range to the viewpoint of the base imaging device and the farthest end of the range to the viewpoint of the base imaging device, the processor detects the third range in which the silhouette does not exist as the silhouette absence range. ### Claim 7 A non-transitory, computer-readable recording medium having stored therein a program for causing a computer to execute a process comprising: sequentially acquiring, from a plurality of reference imaging devices for imaging a silhouette imaged with a base imaging device from viewpoints different from a viewpoint of the base imaging device, silhouette existing position information based on the reference imaging devices, the silhouette existing position information indicating an existing position of the silhouette, and transforming the silhouette existing position information into a common coordinate system; detecting a silhouette absence range in which the silhouette does not exist, based on a result of comparison of the silhouette existing position information acquired this time and the silhouette existing position information acquired last time; and searching a range in which the silhouette exists, based on the silhouette absence range. ### Claim 8 (depends on 7) The non-transitory, computer-readable recording medium of claim 7, the process further comprising: accumulating the silhouette absence range after the searching; comparing the accumulated silhouette absence range with the silhouette existing position information acquired this time, and detecting the silhouette absence range based on a result of the comparison; and searching a range in which the silhouette exists based on the silhouette absence range. ### Claim 9 (depends on 7) The non-transitory, computer-readable recording medium of claim 7, the process further comprising: detecting the silhouette absence range by pipeline processing based on whether or not newly acquired silhouette existing position information overlaps the existing silhouette absence range, and adding the silhouette absence range detected based on a detection result to the existing silhouette absence range. ### Claim 10 An information processing method comprising: sequentially acquiring, from a plurality of reference imaging devices for imaging a silhouette imaged with a base imaging device from viewpoints different from a viewpoint of the base imaging device, silhouette existing position information based on the reference imaging devices, the silhouette existing position information indicating an existing position of the silhouette, and transforming the silhouette existing position information into a common coordinate system; detecting a silhouette absence range in which the silhouette does not exist, based on a result of comparison of the silhouette existing position information acquired this time and the silhouette existing position information acquired last time; and searching a range in which the silhouette exists, based on the silhouette absence range. ### Claim 11 (depends on 10) The information processing method of claim 10, further comprising: accumulating the silhouette absence range after the searching; comparing the accumulated silhouette absence range with the silhouette existing position information acquired this time, and detecting the silhouette absence range based on a result of the comparison; and searching a range in which the silhouette exists based on the silhouette absence range. ### Claim 12 (depends on 10) The information processing method of claim 10, further comprising: detecting the silhouette absence range by pipeline processing based on whether or not newly acquired silhouette existing position information overlaps the existing silhouette absence range, and adding the silhouette absence range detected based on a detection result to the existing silhouette absence range. ### Claim 13 An information processing device comprising: a memory storing instructions; and a processor, coupled to the memory, that executes the instructions to perform a process comprising: generating a plurality of viewpoint images, of an object, obtained from a plurality of viewpoints from at least a base image device and a reference image device; separating silhouette images of the object from the viewpoint images; acquiring a plurality of image device parameters; acquiring a base silhouette image from the base image device and a reference silhouette image from the reference image device; generating transformation information based on the image device parameters; and rendering a three-dimensional image of the object based on the viewpoint images, silhouette images, image device parameters, and the transformation information. ### Claim 14 (depends on 13) The information processing apparatus of claim 13, further comprising acquiring image device identifying information for the base image device and the reference image device. ### Claim 15 (depends on 14) The information processing apparatus of claim 14, further comprising calculating depth information of the object based on the image device identifying information, the transformation information, and the plurality of silhouette images. ### Claim 16 (depends on 13) The information processing device of claim 13, wherein the image device parameters comprise any of optical parameters and positional parameters.