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1.发明申请公开(公告)号：US20120062702A1
公开(公告)日：2012-03-15
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译： 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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2.发明授权公开(公告)号：US09305361B2
公开(公告)日：2016-04-05
申请号：US13310204
申请日：2011-12-02
申请人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
发明人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.
摘要翻译： 平面物体的两个拍摄图像之间的单应性被分解为至少一种可能的解决方案，并且通常至少两个不明确的解决方案。 使用来自定向传感器的测量，可以消除两种解决方案之间的模糊性，或单个解决方案的验证。 来自定向传感器的测量可以通过将从一个或多个解的相对旋转矩阵导出的偏航，俯仰和/或滚动角中的至少一个与偏航，俯仰和/ 或从取向传感器的测量得出的滚动角度。
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3.发明授权公开(公告)号：US08638986B2
公开(公告)日：2014-01-28
申请号：US13191340
申请日：2011-07-26
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G01C15/00 , G01S3/7864 , G06T7/75 , G06T2207/10016 , G06T2207/30204 , G06T2207/30244
摘要： A reference patch of an unknown environment is generated on the fly for positioning and tracking. The reference patch is generated using a captured image of a planar object with two perpendicular sets of parallel lines. The planar object is detected in the image and axes of the world coordinate system are defined using the vanishing points for the two sets of parallel lines. The camera rotation is recovered based on the defined axes, and the reference patch of at least a portion of the image of the planar object is generated using the recovered camera rotation. The reference patch can then be used for vision based detection and tracking. The planar object may be detected in the image as sets of parallel lines or as a rectangle.
摘要翻译： 生成一个未知环境的参考补丁，用于定位和跟踪。 使用具有两条垂直平行线的平面物体的捕获图像来生成参考补片。 在图像中检测平面物体，并使用两组平行线的消失点来定义世界坐标系的轴。 基于定义的轴恢复相机旋转，并且使用恢复的相机旋转来生成平面对象的图像的至少一部分的参考补片。 然后，参考补丁可用于基于视觉的检测和跟踪。 平面物体可以在图像中作为一组平行线或矩形检测。
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4.发明申请公开(公告)号：US20120269388A1
公开(公告)日：2012-10-25
申请号：US13191340
申请日：2011-07-26
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G01C15/00 , G01S3/7864 , G06T7/75 , G06T2207/10016 , G06T2207/30204 , G06T2207/30244
摘要： A reference patch of an unknown environment is generated on the fly for positioning and tracking. The reference patch is generated using a captured image of a planar object with two perpendicular sets of parallel lines. The planar object is detected in the image and axes of the world coordinate system are defined using the vanishing points for the two sets of parallel lines. The camera rotation is recovered based on the defined axes, and the reference patch of at least a portion of the image of the planar object is generated using the recovered camera rotation. The reference patch can then be used for vision based detection and tracking. The planar object may be detected in the image as sets of parallel lines or as a rectangle.
摘要翻译： 生成一个未知环境的参考补丁，用于定位和跟踪。 使用具有两条垂直平行线的平面物体的捕获图像来生成参考补片。 在图像中检测平面物体，并使用两组平行线的消失点来定义世界坐标系的轴。 基于定义的轴恢复相机旋转，并且使用恢复的相机旋转来生成平面对象的图像的至少一部分的参考补片。 然后，参考补丁可用于基于视觉的检测和跟踪。 平面物体可以在图像中作为一组平行线或矩形检测。
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5.发明授权公开(公告)号：US09013550B2
公开(公告)日：2015-04-21
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译： 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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6.发明申请公开(公告)号：US20130064421A1
公开(公告)日：2013-03-14
申请号：US13360505
申请日：2012-01-27
申请人： Dheeraj Ahuja
发明人： Dheeraj Ahuja
IPC分类号： G06K9/00
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： The homography between captured images of a planar object is determined and decomposed into at least one possible solution, and typically at least two ambiguous solutions. The removal of the ambiguity between the two solutions, or validation of a single solution, is performed using a viewing angle range. The viewing angle range may be used by comparing the viewing angle range to the orientation of each solution as derived from the rotation matrix resulting from the homography decomposition. Any solution with an orientation outside the viewing angle range may be eliminated as a solution.
摘要翻译： 确定平面物体的捕获图像之间的单应性，并将其分解为至少一种可能的解决方案，并且通常至少两种模糊解决方案。 使用视角范围来执行两个解决方案之间的歧义或单个解决方案的验证。 通过将视角范围与从单因素分解得到的旋转矩阵导出的每个溶液的取向进行比较，可以使用视角范围。 解决方案可以消除取决于视角范围以外的任何解决方案。
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7.发明申请公开(公告)号：US20130063589A1
公开(公告)日：2013-03-14
申请号：US13310204
申请日：2011-12-02
申请人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
发明人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.
摘要翻译： 平面物体的两个拍摄图像之间的单应性被分解为至少一种可能的解决方案，并且通常至少两个不明确的解决方案。 使用来自定向传感器的测量，可以消除两种解决方案之间的模糊性，或单个解决方案的验证。 来自定向传感器的测量可以通过将从一个或多个解的相对旋转矩阵导出的偏航，俯仰和/或滚动角中的至少一个与偏航，俯仰和/ 或从取向传感器的测量得出的滚动角度。
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