公开(公告)号：US20110101101A1

公开(公告)日：2011-05-05

申请号：US12985831

申请日：2011-01-06

Applicant: Xiangyun Ye ,  Sateesha Nadabar

Inventor： Xiangyun Ye ,  Sateesha Nadabar

IPC: G06K7/14

CPC classification number: G06T3/00 ,  G06K7/14

Abstract: A method is provided for reading distorted optical symbols using known locating and decoding methods, without requiring a separate and elaborate camera calibration procedure, without excessive computational complexity, and without compromised burst noise handling. The invention exploits a distortion-tolerant method for locating and decoding 2D code symbols to provide a correspondence between a set of points in an acquired image and a set of points in the symbol. A coordinate transformation is then constructed using the correspondence, and run-time images are corrected using the coordinate transformation. Each corrected run-time image provides a distortion-free representation of a symbol that can be read by traditional code readers that normally cannot read distorted symbols. The method can handle both optical distortion and printing distortion. The method is applicable to “portable” readers when an incident angle with the surface is maintained, the reader being disposed at any distance from the surface.

公开(公告)号：US20100166294A1

公开(公告)日：2010-07-01

申请号：US12345130

申请日：2008-12-29

Applicant: Cyril C. Marrion ,  Nigel J. Foster ,  Lifeng Liu ,  David Y. Li ,  Guruprasad Shivaram ,  Aaron S. Wallack ,  Xiangyun Ye

Inventor： Cyril C. Marrion ,  Nigel J. Foster ,  Lifeng Liu ,  David Y. Li ,  Guruprasad Shivaram ,  Aaron S. Wallack ,  Xiangyun Ye

IPC: G06K9/00

CPC classification number: G06K9/00214 ,  G06K9/6211

Abstract: This invention provides a system and method for determining the three-dimensional alignment of a modeledobject or scene. After calibration, a 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. A stereo matching process is then performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image. 3D points are computed for each pair of cameras to derive a 3D point cloud. The 3D point cloud is generated by transforming the 3D points of each camera pair into the world 3D space from the world calibration. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified by, for example, fitting found 3D or 2D points of the candidate poses to a larger set of corresponding three-dimensional or two-dimensional model points, whereby the closest match is the best refined three-dimensional pose.

Abstract translation: 本发明提供一种用于确定建模对象或场景的三维对准的系统和方法。 校准后，3D（立体声）传感器系统会查看对象以导出包含对象的场景的运行时3D表示。 来自每个立体声头的整流图像被预处理以增强其边缘特征。 然后，通过在第一图像上定位预定特征，然后将另一图像中的相同特征定位，对至少两（一对）经整流的预处理图像执行立体匹配处理。 为每对相机计算3D点以导出3D点云。 3D点云是通过将世界三维空间中的每个摄像机对的3D点变换为世界校准而产生的。 通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。 从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。 粗略的评分过程会减少姿势的数量。 然后，剩下的候选姿势进一步进行更精细的评分过程。 然后通过例如将候选姿势的3D或2D点拟合到较大的一组相应的三维或二维模型点来验证这些幸存的候选姿势，由此最接近的匹配是最佳精细三维姿态 。