High accuracy monocular moving object localization
    178.
    发明授权
    High accuracy monocular moving object localization 有权
    高精度单目移动物体定位

    公开(公告)号:US09367922B2

    公开(公告)日:2016-06-14

    申请号:US14639536

    申请日:2015-03-05

    Abstract: Methods and systems for moving object localization include estimating a ground plane in a video frame based on a detected object within the video frame and monocular structure-from-motion (SFM) information; computing object pose for objects in the frame based on the SFM information using dense feature tracking; and determining a three-dimensional location for the detected object based on the estimated ground plane and the computed object pose.

    Abstract translation: 用于移动对象定位的方法和系统包括基于视频帧内的检测对象和单目动作(SFM)信息来估计视频帧中的接地平面; 基于使用密集特征跟踪的SFM信息计算帧中对象的物体姿态; 以及基于估计的接地平面和所计算的物体姿态来确定被检测物体的三维位置。

    Shape from differential motion with unknown reflectance
    179.
    发明授权
    Shape from differential motion with unknown reflectance 有权
    形状来自差分运动,反射率未知

    公开(公告)号:US08879851B2

    公开(公告)日:2014-11-04

    申请号:US13716294

    申请日:2012-12-17

    Abstract: A computer implemented method for determining shape from differential motion with unknown reflectance includes deriving a general relation that relates spatial and temporal image derivatives to bidirectional reflectance distribution function BRDF derivatives, responsive to 3D points and relative camera poses from images and feature tracks of an object in motion under colocated and unknown directional light conditions, employing a rank deficiency in image sequences from the deriving for shape determinations, under predetermined multiple camera and lighting conditions, to eliminate BDRF terms; and recovering a surface depth for determining a shape of the object.

    Abstract translation: 用于根据具有未知反射的差分运动来确定形状的计算机实现方法包括导出将空间和时间图像导数与双向反射分布函数BRDF导数相关联的一般关系,其响应于来自图像中的3D点和相对相机姿态的对象的图像和特征轨迹 在预定的多个照相机和照明条件下,在共定位和未知的定向光条件下运动,在来自形状确定的图像序列中使用秩缺陷,以消除BDRF项; 以及恢复用于确定所述物体的形状的表面深度。

    REAL-TIME MONOCULAR VISUAL ODOMETRY
    180.
    发明申请
    REAL-TIME MONOCULAR VISUAL ODOMETRY 有权
    实时单视觉视差

    公开(公告)号:US20140078258A1

    公开(公告)日:2014-03-20

    申请号:US13858040

    申请日:2013-04-06

    Abstract: Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.

    Abstract translation: 公开了通过用车上单个摄像机采集的用于多线程视觉测距的系统和方法; 使用2D-3D对应连续姿态估计; 并将姿态估计与2D-2D对极搜索相结合,以补充3D点。

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