公开(公告)号：US08525825B2

公开(公告)日：2013-09-03

申请号：US12038325

申请日：2008-02-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T15/00

CPC classification number: G06T19/003 ,  G06F3/04815 ,  G06T3/4038 ,  G06T15/06 ,  G06T17/00 ,  G06T19/00 ,  G06T2200/32

Abstract: The present invention relates to using image content to facilitate navigation in panoramic image data. In an embodiment, a computer-implemented method for navigating in panoramic image data includes: (1) determining an intersection of a ray and a virtual model, wherein the ray extends from a camera viewport of an image and the virtual model comprises a plurality of facade planes; (2) retrieving a panoramic image; (3) orienting the panoramic image to the intersection; and (4) displaying the oriented panoramic image.

公开(公告)号：US09477368B1

公开(公告)日：2016-10-25

申请号：US12415102

申请日：2009-03-31

Applicant: Daniel Filip ,  Andrew Szybalski

Inventor： Daniel Filip ,  Andrew Szybalski

IPC: G06F3/048

CPC classification number: G06F3/04812 ,  G01C21/367 ,  G06F3/048 ,  G06F17/30241

Abstract: A system and method is provided that displays cursors for street level images, where the cursor changes appearance based on the objects in the image, such as the geographic distance between the objects and the camera position and the surface of the objects. For example, the cursor may appear to lie flat against the objects in the image change size based on the distance between the camera and object's surface.

Abstract translation: 提供了一种系统和方法，其显示街道图像的光标，其中光标基于图像中的对象改变外观，诸如物体与相机位置之间的地理距离以及对象的表面。 例如，基于相机和物体表面之间的距离，光标可能看起来与图像变化尺寸中的物体平坦地对准。

公开(公告)号：US08977074B1

公开(公告)日：2015-03-10

申请号：US13247718

申请日：2011-09-28

Applicant: Jesse Berent ,  Daniel Filip ,  Luciano Sbaiz

Inventor： Jesse Berent ,  Daniel Filip ,  Luciano Sbaiz

IPC: G06K9/00

CPC classification number: G06T19/20 ,  G06T15/205 ,  G06T17/05 ,  G06T2219/2004

Abstract: Photographic images can be used to enhance three-dimensional (3D) virtual models of a physical location. In an embodiment, a method of generating a 3D scene geometry includes obtaining a first plurality of images and corresponding distance measurements for a first vehicle trajectory; obtaining a second plurality of images and corresponding distance measurements for a second vehicle trajectory, the second vehicle trajectory intersecting the first vehicle trajectory; registering a relative vehicle position and orientation for one or more segments of each of a first vehicle trajectory and a second vehicle trajectory; generating a three-dimensional geometry for each vehicle trajectory; mapping the three-dimensional geometries for each vehicle trajectory onto a common reference system based on the registering; and merging the three-dimensional geometries from both trajectories to generate a complete scene geometry.

Abstract translation: 摄影图像可用于增强物理位置的三维（3D）虚拟模型。 在一个实施例中，生成3D场景几何的方法包括获得第一车辆轨迹的第一多个图像和对应的距离测量; 获得用于第二车辆轨迹的第二多个图像和对应的距离测量，所述第二车辆轨迹与所述第一车辆轨迹相交; 记录第一车辆轨迹和第二车辆轨迹中的每一个的一个或多个段的相对车辆位置和方位; 为每个车辆轨迹生成三维几何; 基于登记将每个车辆轨迹的三维几何映射到公共参考系上; 并且从两个轨迹合并三维几何以产生完整的场景几何。

公开(公告)号：US08717354B2

公开(公告)日：2014-05-06

申请号：US13282880

申请日：2011-10-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T15/00 ,  G06T17/00 ,  G06G5/00 ,  G08G1/123 ,  G06K9/36 ,  G01C21/30 ,  G06F3/048

CPC classification number: G06T11/60 ,  G06F17/241 ,  G06F17/30241 ,  G06T7/75 ,  G06T19/00 ,  G06T19/20 ,  G06T2207/10028 ,  G06T2207/20101 ,  G06T2210/12 ,  G06T2219/004

Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.

Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上而实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。

公开(公告)号：US20120038638A1

公开(公告)日：2012-02-16

申请号：US13282880

申请日：2011-10-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T15/00

CPC classification number: G06T11/60 ,  G06F17/241 ,  G06F17/30241 ,  G06T7/75 ,  G06T19/00 ,  G06T19/20 ,  G06T2207/10028 ,  G06T2207/20101 ,  G06T2210/12 ,  G06T2219/004

Abstract: The present invention relates to annotating images. In an embodiment, the present invention enables users to create annotations corresponding to three-dimensional objects while viewing two-dimensional images. In one embodiment, this is achieved by projecting a selecting object onto a three-dimensional model created from a plurality of two-dimensional images. The selecting object is input by a user while viewing a first image corresponding to a portion of the three-dimensional model. A location corresponding to the projection on the three-dimensional model is determined, and content entered by the user while viewing the first image is associated with the location. The content is stored together with the location information to form an annotation. The annotation can be retrieved and displayed together with other images corresponding to the location.

Abstract translation: 本发明涉及注释图像。 在一个实施例中，本发明使用户能够在观看二维图像的同时创建与三维对象相对应的注释。 在一个实施例中，这是通过将选择对象投影到由多个二维图像创建的三维模型上来实现的。 选择对象由用户输入，同时观看对应于三维模型的一部分的第一图像。 确定与三维模型上的投影对应的位置，并且在查看第一图像时由用户输入的内容与位置相关联。 内容与位置信息一起存储以形成注释。 注释可以与对应于该位置的其他图像一起检索和显示。

公开(公告)号：US20100220173A1

公开(公告)日：2010-09-02

申请号：US12708302

申请日：2010-02-18

Applicant: Dragomir D. ANGUELOV ,  Daniel Filip

Inventor： Dragomir D. ANGUELOV ,  Daniel Filip

IPC: H04N5/228 ,  H04N7/18

CPC classification number: H04N5/23296 ,  G06T7/70 ,  G06T2207/30252 ,  H04N5/23238 ,  H04N5/2628

Abstract: A system and method are presented for estimating the orientation of a panoramic camera mounted on a vehicle relative to the vehicle coordinate frame. An initial pose estimate of the vehicle is determined based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle. Image data from images captured by the camera is processed to obtain one or more tracks, each track including a sequence of matched feature points stemming from a same three-dimensional location. A correction parameter determined from the initial pose estimate and tracks can then be used to correct the orientations of the images captured by the camera. The correction parameter can be optimized by deriving a correction parameter for each of a multitude of distinct subsequences of one or more runs. Statistical analysis can be performed on the determined correction parameters to produce robust estimates.

Abstract translation: 提出了一种用于估计安装在车辆上的全景相机相对于车辆坐标系的方位的系统和方法。 基于车辆的全球定位系统数据，惯性测量单元数据和车轮测距数据来确定车辆的初始姿态估计。 处理由相机拍摄的图像的图像数据以获得一个或多个轨道，每个轨道包括源自相同三维位置的匹配特征点的序列。 然后可以使用从初始姿态估计和轨迹确定的校正参数来校正由照相机拍摄的图像的取向。 可以通过为一个或多个运行的多个不同子序列中的每一个导出校正参数来优化校正参数。 可以对所确定的校正参数进行统计分析以产生鲁棒的估计。

公开(公告)号：US20090213112A1

公开(公告)日：2009-08-27

申请号：US12038325

申请日：2008-02-27

Applicant: Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

Inventor： Jiajun Zhu ,  Daniel Filip ,  Luc Vincent

IPC: G06T17/00

CPC classification number: G06T19/003 ,  G06F3/04815 ,  G06T3/4038 ,  G06T15/06 ,  G06T17/00 ,  G06T19/00 ,  G06T2200/32

Abstract: The present invention relates to using image content to facilitate navigation in panoramic image data. In an embodiment, a computer-implemented method for navigating in panoramic image data includes: (1) determining an intersection of a ray and a virtual model, wherein the ray extends from a camera viewport of an image and the virtual model comprises a plurality of facade planes; (2) retrieving a panoramic image; (3) orienting the panoramic image to the intersection; and (4) displaying the oriented panoramic image.

Abstract translation: 本发明涉及使用图像内容以促进全景图像数据中的导航。 在一个实施例中，用于在全景图像数据中导航的计算机实现的方法包括：（1）确定射线和虚拟模型的交集，其中所述射线从图像的相机视口延伸，并且所述虚拟模型包括多个 立面飞机 （2）检索全景图像; （3）将全景图像定向到十字路口; 和（4）显示定向全景图像。