公开(公告)号：US06527395B1

公开(公告)日：2003-03-04

申请号：US10012930

申请日：2001-12-10

申请人： Ramesh Raskar ,  Paul Beardsley

发明人： Ramesh Raskar ,  Paul Beardsley

IPC分类号： G03B2114

CPC分类号： H04N9/3185 ,  G03B21/14 ,  H04N9/3194

摘要： A method calibrates a projector with a camera being a fixed physical relationship relative to each other. An output image is projected onto a display surface for a first and second pose of the projector and the camera relative to a display surface. For each pose, an input image is acquired. For each pose, a projector perspective projection matrix and a camera perspective projection matrix is determined from each input image. For each pose, a transformation from the projector perspective projection matrix and the camera perspective projection matrix to Euclidean form is determined, and the projector intrinsic parameters from the transformations.

摘要翻译： 一种使用相机相对于固定物理关系的相机进行校准的方法。 输出图像被投影到显示表面上，用于投影仪和相机相对于显示表面的第一和第二姿势。 对于每个姿势，获取输入图像。 对于每个姿势，从每个输入图像确定投影仪透视投影矩阵和相机透视投影矩阵。 对于每个姿势，从投影仪角度投影矩阵和相机透视投影矩阵到欧几里德形式的转换被确定，并且投影机内在参数从变换。

公开(公告)号：US09317970B2

公开(公告)日：2016-04-19

申请号：US13588841

申请日：2012-08-17

申请人： Thabo D. Beeler ,  Paul Beardsley ,  Robert Sumner ,  Bernd Bickel ,  Steve Marschner

发明人： Thabo D. Beeler ,  Paul Beardsley ,  Robert Sumner ,  Bernd Bickel ,  Steve Marschner

IPC分类号： G06T19/00 ,  G06T17/00 ,  G06T7/00 ,  H04N13/00

CPC分类号： G06T7/596 ,  G06T19/00 ,  G06T2207/10012 ,  G06T2207/20016 ,  G06T2207/30201 ,  H04N13/261 ,  H04N2013/0081

摘要： Techniques are provided to model hair and skin. Multiscopic images are received that depict at least part of a subject having hair. The multiscopic images are analyzed to determine hairs depicted. Two-dimensional hair segments are generated that represent the hairs. Three-dimensional hair segments are generated based on the two-dimensional hair segments. A three-dimensional model of skin is generated based on the three-dimensional hair segments.

摘要翻译： 提供技术来模拟头发和皮肤。 接收描绘具有头发的受试者的至少一部分的多视图。 分析多镜像图像以确定所描绘的毛发。 生成代表毛发的二维毛发片段。 基于二维毛发片段生成三维毛发片段。 基于三维毛发片段生成皮肤的三维模型。

公开(公告)号：US20140198221A1

公开(公告)日：2014-07-17

申请号：US13742256

申请日：2013-01-15

申请人： Paul Beardsley ,  Anselm Grundhoefer ,  Daniel Reetz

发明人： Paul Beardsley ,  Anselm Grundhoefer ,  Daniel Reetz

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G01B7/004 ,  G01B11/002 ,  G01B21/042

摘要： A three-dimensional coordinate position of a calibration device is determined. Further, a code is emitted to an image capture device. The code indicates the three-dimensional coordinate position of the calibration device. In addition, an image of light emitted from the calibration device is captured. The light includes the code. An image capture device three-dimensional coordinate position of the calibration device is calibrated according to the real world three-dimensional coordinate position of the calibration device indicated by the code.

摘要翻译： 确定校准装置的三维坐标位置。 此外，代码被发射到图像捕获装置。 代码表示校准装置的三维坐标位置。 此外，捕获从校准装置发射的光的图像。 灯包括代码。 校准装置的图像捕获装置的三维坐标位置根据代码所示的校准装置的实际三维坐标位置进行校准。

公开(公告)号：US08670606B2

公开(公告)日：2014-03-11

申请号：US12897518

申请日：2010-10-04

申请人： Thabo Dominik Beeler ,  Bernd Bickel ,  Markus Gross ,  Robert Sumner ,  Paul Beardsley

发明人： Thabo Dominik Beeler ,  Bernd Bickel ,  Markus Gross ,  Robert Sumner ,  Paul Beardsley

IPC分类号： G06K9/00

CPC分类号： G06T7/593 ,  G06T17/20 ,  G06T2200/08 ,  G06T2207/30201

摘要： A computer-implemented method for generating a three-dimensional model of an object. The method includes generating a coarse geometry mesh of the object; calculating an optimization for the coarse geometry mesh based on photometric consistency and surface consistency associated with the coarse geometry mesh; and refining the coarse geometry mesh with the optimization to generate the three-dimensional model for the object.

摘要翻译： 一种用于生成对象的三维模型的计算机实现的方法。 该方法包括生成对象的粗略几何网格; 基于与粗糙几何网格相关联的光度一致性和表面一致性，计算粗略几何网格的优化; 并通过优化来细化粗略几何网格以生成对象的三维模型。

公开(公告)号：US20120182390A1

公开(公告)日：2012-07-19

申请号：US12930857

申请日：2011-01-18

申请人： Christopher Purvis ,  Paul Beardsley

发明人： Christopher Purvis ,  Paul Beardsley

IPC分类号： H04N13/02

CPC分类号： G06K9/2036 ,  G01B11/2522 ,  G03B17/54 ,  G06K9/00771 ,  G06T7/75 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/30196 ,  G06T2207/30242

摘要： There is provided a system and method for counting riders arbitrarily positioned in a vehicle. There is provided a method comprising receiving, from at least one camera filtered to capture non-visible light, video data corresponding to the vehicle passing through a light source filtered for non-visible light, converting the video data into a 3D height map, and analyzing the 3D height map to determine a number of riders in the vehicle. The camera and light source may be mounted in a permanent position using a gantry or another suitable system where the vehicle travels across the camera and light system in a determined manner, for example through a vehicle track. Multiple cameras may be used to increase detection accuracy. To detect persons in the 3D height map, the analysis may search for height patterns indicating heads and shoulders of persons, compare against height map templates, or use machine-learning methods.

摘要翻译： 提供了一种用于对任意定位在车辆中的骑手进行计数的系统和方法。 提供了一种方法，包括从被过滤以捕获不可见光的至少一个相机接收对应于通过对不可见光过滤的光源的车辆的视频数据，将视频数据转换成3D高度图，以及 分析3D高度图以确定车辆中的一些骑手。 摄像机和光源可以使用台架或其他合适的系统安装在永久位置，其中车辆以确定的方式例如通过车辆轨道行驶在照相机和光系统上。 可以使用多个摄像机来提高检测精度。 为了检测3D高度图中的人员，分析可以搜索指示人物的头部和肩部的高度模式，与高度图模板进行比较，或使用机器学习方法。

公开(公告)号：US20110304633A1

公开(公告)日：2011-12-15

申请号：US13156212

申请日：2011-06-08

申请人： Paul Beardsley ,  Javier Alonso Mora ,  Andreas Breitenmoser ,  Martin Rufli ,  Roland Siegwart ,  Iain Matthews ,  Katsu Yamane

发明人： Paul Beardsley ,  Javier Alonso Mora ,  Andreas Breitenmoser ,  Martin Rufli ,  Roland Siegwart ,  Iain Matthews ,  Katsu Yamane

IPC分类号： G06T13/00 ,  G06F19/00

CPC分类号： G06T13/80 ,  B25J9/1666 ,  Y10S901/01 ,  Y10S901/46

摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.

摘要翻译： 公开了用于控制机器人像素以显示输入的视觉表示的技术。 系统的输入可以是面部的图像，并且机器人像素以物理布置来部署以显示面部的视觉表示，并且将随时间改变其物理布置以表示改变的面部表情。 机器人像素用作用于机器人像素的给定分配的显示装置。 还公开了用于多个非完整机器人中的分布式冲突避免的技术，以保证平稳和无碰撞的运动。 碰撞避免技术通过解耦路径规划和协调为多机器人工作。

公开(公告)号：US07164784B2

公开(公告)日：2007-01-16

申请号：US10210844

申请日：2002-07-30

申请人： Paul Beardsley

发明人： Paul Beardsley

IPC分类号： G06K9/00

CPC分类号： G06K9/32 ,  G06T5/50 ,  G06T7/12 ,  G06T7/174 ,  G06T7/181 ,  G06T7/593 ,  G06T2207/10021 ,  G06T2207/30236 ,  H04N2013/0085

摘要： A method links edges in stereo images into chains which correspond to physical contours in a scene. First, edges are detected in the stereo images. Edges between the stereo images are matched, such that each edge has associated stereo matches. The edges are linked into chains, such that each chained edge has a single associated stereo match, and neighboring edges in a chain have matches with a substantial similar stereo disparity.

摘要翻译： 一种方法将立体图像中的边缘链接到对应于场景中的物理轮廓的链。 首先，在立体图像中检测边缘。 立体图像之间的边缘匹配，使得每个边缘具有相关联的立体匹配。 边缘链接成链，使得每个链接边缘具有单个相关联的立体匹配，并且链中的相邻边缘与实质上类似的立体视差匹配。

公开(公告)号：US06917702B2

公开(公告)日：2005-07-12

申请号：US10128827

申请日：2002-04-24

申请人： Paul Beardsley

发明人： Paul Beardsley

IPC分类号： G01B11/00 ,  G06T1/00 ,  G06T7/00 ,  H04N13/02 ,  G06K9/00

CPC分类号： G06T7/85

摘要： In a method and system for calibrating a multiple cameras, a calibration object is placed on a turntable while a set of images is acquired with each camera while rotating the turntable. Vertices of a calibration pattern are located in each set of images, and intrinsic parameters for each camera are determined from the vertices. An orientation of a rotation axis of the turntable relative to a position of each camera is estimated from the intrinsic parameters of each camera. A dependency of each orientation on a global geometry of the calibration pattern is minimized. Then, one camera is selected as a fixed camera, all other cameras are designated as floating cameras. A translation vector between the fixed camera and each floating camera is determined, and the translation vectors are used to place the cameras in a common coordinate frame according to the translating vectors.

摘要翻译： 在用于校准多个摄像机的方法和系统中，校准对象被放置在转盘上，同时在旋转转盘的同时在每个摄像机中获取一组图像。 校准图案的顶点位于每组图像中，并且从顶点确定每个相机的固有参数。 根据每个摄像机的固有参数估计转盘相对于每个照相机的位置的旋转轴的取向。 每个取向对校准图案的全局几何的依赖性最小化。 然后，选择一个摄像机作为固定摄像机，所有其他摄像机都被指定为浮动摄像机。 确定固定摄像机和每个浮动摄像机之间的平移向量，并且使用平移矢量根据平移向量将摄像机放置在公共坐标系中。

公开(公告)号：US06781618B2

公开(公告)日：2004-08-24

申请号：US09923884

申请日：2001-08-06

申请人： Paul Beardsley

发明人： Paul Beardsley

IPC分类号： H04N1300

CPC分类号： G06T17/00 ,  G06T7/73 ,  G06T2200/08 ,  G06T2207/30208 ,  H04N5/2224

摘要： A 3D model of a scene is constructed by acquiring first images of a scene having unknown characteristics with a first camera. Corresponding second images of a another scene having known characteristics are acquired by a second camera. The first and second cameras have a fixed physical relationship to each other. Only the second images are analyzed to determine corresponding positions of the second camera while acquiring the first images. Then, the first images are assembled into the 3D model using the corresponding positions and the fixed physical relationship of the first and second camera.

摘要翻译： 通过用第一相机获取具有未知特征的场景的第一图像来构造场景的3D模型。 具有已知特征的另一场景的对应的第二图像由第二照相机获取。 第一和第二相机彼此之间具有固定的物理关系。 在获取第一图像的同时分析第二图像以确定第二相机的对应位置。 然后，使用第一和第二相机的相应位置和固定的物理关系将第一图像组装到3D模型中。