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公开(公告)号：US08401225B2
公开(公告)日：2013-03-19
申请号：US13017626
申请日：2011-01-31
Applicant: Richard Newcombe , Shahram Izadi , Otmar Hilliges , David Kim , David Molyneaux , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
Inventor： Richard Newcombe , Shahram Izadi , Otmar Hilliges , David Kim , David Molyneaux , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
IPC: G06K9/00
CPC classification number: G06T7/215 , G06T7/194 , G06T2207/10028 , G06T2207/30244
Abstract: Moving object segmentation using depth images is described. In an example, a moving object is segmented from the background of a depth image of a scene received from a mobile depth camera. A previous depth image of the scene is retrieved, and compared to the current depth image using an iterative closest point algorithm. The iterative closest point algorithm includes a determination of a set of points that correspond between the current depth image and the previous depth image. During the determination of the set of points, one or more outlying points are detected that do not correspond between the two depth images, and the image elements at these outlying points are labeled as belonging to the moving object. In examples, the iterative closest point algorithm is executed as part of an algorithm for tracking the mobile depth camera, and hence the segmentation does not add substantial additional computational complexity.
Abstract translation: 描述使用深度图像来移动物体分割。 在一个示例中，从从移动深度相机接收的场景的深度图像的背景中分割移动物体。 检索场景的先前深度图像，并使用迭代最近点算法与当前深度图像进行比较。 迭代最近点算法包括对当前深度图像和先前深度图像之间对应的一组点的确定。 在确定点集合期间，检测到一个或多个在两个深度图像之间不对应的离开点，并且将这些离散点处的图像元素标记为属于移动对象。 在示例中，迭代最近点算法作为用于跟踪移动深度相机的算法的一部分被执行，因此分割不会增加实质的额外的计算复杂度。
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公开(公告)号：US20080184124A1
公开(公告)日：2008-07-31
申请号：US11669107
申请日：2007-01-30
Applicant: Ankur Agarwal , Antonio Criminisi , William Buxton , Andrew Blake , Andrew Fitzgibbon
Inventor： Ankur Agarwal , Antonio Criminisi , William Buxton , Andrew Blake , Andrew Fitzgibbon
IPC: G06F3/048
Abstract: Existing remote workspace sharing systems are difficult to use. For example, changes made on a common work product by one user often appear abruptly on displays viewed by remote users. As a result the interaction is perceived as unnatural by the users and is often inefficient. Images of a display of a common work product are received from a camera at a first location. These images may also comprise information about objects between the display and the camera such as a user's hand editing a document on a tablet PC. These images are combined with images of the shared work product and displayed at remote locations. Advance information about remote user actions is then visible and facilitates collaborative mediation between users. Depth information may be used to influence the process of combining the images.
Abstract translation: 现有的远程工作区共享系统很难使用。 例如，一个用户在公共工作产品上进行的更改通常会在远程用户查看的显示器上突然出现。 因此，互动被用户认为是不自然的，并且通常效率低下。 在第一位置从相机接收公共作品的显示的图像。 这些图像还可以包括关于显示器和相机之间的对象的信息，例如用户在平板PC上编辑文档的手。 这些图像与共享工作产品的图像组合，并在远程位置显示。 然后可以看到有关远程用户操作的高级信息，并促进用户之间的协作中介。 深度信息可以用于影响组合图像的过程。
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公开(公告)号：US09247238B2
公开(公告)日：2016-01-26
申请号：US13017518
申请日：2011-01-31
Applicant: Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Stephen Edward Hodges , David Alexander Butler , Andrew Fitzgibbon , Pushmeet Kohli
Inventor： Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Stephen Edward Hodges , David Alexander Butler , Andrew Fitzgibbon , Pushmeet Kohli
CPC classification number: G06T7/55 , G01B9/08 , G01B11/22 , H04N5/23229 , H04N5/247 , H04N5/33 , H04N5/332 , H04N13/271
Abstract: Systems and methods for reducing interference between multiple infra-red depth cameras are described. In an embodiment, the system comprises multiple infra-red sources, each of which projects a structured light pattern into the environment. A controller is used to control the sources in order to reduce the interference caused by overlapping light patterns. Various methods are described including: cycling between the different sources, where the cycle used may be fixed or may change dynamically based on the scene detected using the cameras; setting the wavelength of each source so that overlapping patterns are at different wavelengths; moving source-camera pairs in independent motion patterns; and adjusting the shape of the projected light patterns to minimize overlap. These methods may also be combined in any way. In another embodiment, the system comprises a single source and a mirror system is used to cast the projected structured light pattern around the environment.
Abstract translation: 描述了用于减少多个红外深度摄像机之间的干扰的系统和方法。 在一个实施例中，系统包括多个红外源，每个红外源将结构化的光图案投射到环境中。 控制器用于控制源，以减少由重叠的光图案引起的干扰。 描述了各种方法，包括：在不同的源之间循环，其中使用的周期可以是固定的，或者可以基于使用相机检测的场景动态地改变; 设置每个源的波长，使得重叠图案处于不同的波长; 以独立运动模式移动源摄像机对; 并调整投影光图案的形状以最小化重叠。 这些方法也可以以任何方式组合。 在另一个实施例中，系统包括单个源，并且使用镜子系统将投射的结构化光图案围绕环境投射。
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公开(公告)号：US08824801B2
公开(公告)日：2014-09-02
申请号：US12122129
申请日：2008-05-16
Applicant: Andrew Fitzgibbon , Alexander Rav-Acha , Pushmeet Kohli , Carsten Rother
Inventor： Andrew Fitzgibbon , Alexander Rav-Acha , Pushmeet Kohli , Carsten Rother
CPC classification number: H04N5/144 , G06T7/246 , G06T11/60 , G06T2207/20164 , H04N5/147
Abstract: A method and apparatus for processing video is disclosed. In an embodiment, image features of an object within a frame of video footage are identified and the movement of each of these features is tracked throughout the video footage to determine its trajectory (track). The tracks are analyzed, the maximum separation of the tracks is determined and used to determine a texture map, which is in turn interpolated to provide an unwrap mosaic for the object. The process may be iterated to provide an improved mosaic. Effects or artwork can be overlaid on this mosaic and the edited mosaic can be warped via the mapping, and combined with layers of the original footage. The effect or artwork may move with the object's surface.
Abstract translation: 公开了一种用于处理视频的方法和装置。 在一个实施例中，识别视频镜头帧内的对象的图像特征，并且在整个视频镜头中跟踪这些特征中的每一个的移动以确定其轨迹（轨迹）。 分析轨道，确定轨道的最大间距并用于确定纹理图，该纹理图又被内插以为对象提供展开马赛克。 可以迭代该过程以提供改进的马赛克。 效果或艺术品可以叠加在这个马赛克上，编辑的马赛克可以通过映射扭曲，并结合原始素材的图层。 效果或作品可能会随物体表面移动。
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公开(公告)号：US08711206B2
公开(公告)日：2014-04-29
申请号：US13017474
申请日：2011-01-31
Applicant: Richard Newcombe , Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
Inventor： Richard Newcombe , Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
CPC classification number: G06T7/20 , G06T7/74 , G06T2207/10016 , G06T2207/10021 , G06T2207/10024 , G06T2207/10028 , G06T2207/30244
Abstract: Mobile camera localization using depth maps is described for robotics, immersive gaming, augmented reality and other applications. In an embodiment a mobile depth camera is tracked in an environment at the same time as a 3D model of the environment is formed using the sensed depth data. In an embodiment, when camera tracking fails, this is detected and the camera is relocalized either by using previously gathered keyframes or in other ways. In an embodiment, loop closures are detected in which the mobile camera revisits a location, by comparing features of a current depth map with the 3D model in real time. In embodiments the detected loop closures are used to improve the consistency and accuracy of the 3D model of the environment.
Abstract translation: 使用深度图的移动摄像机定位被描述为机器人，沉浸式游戏，增强现实和其他应用。 在一个实施例中，移动深度相机在环境中跟踪，同时使用感测的深度数据形成环境的3D模型。 在一个实施例中，当相机跟踪失败时，检测到该相机并且通过使用先前收集的关键帧或以其它方式来重新定位相机。 在一个实施例中，通过将当前深度图与3D模型的特征实时比较，检测到环路闭合，其中移动摄像机重新访问位置。 在实施例中，检测到的环路闭合用于改善环境的3D模型的一致性和准确性。
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Patent Agency Ranking
26.发明授权Scanner system and method for scanning providing combined geometric and photometric information 有权扫描仪系统和扫描方法，提供组合的几何和光度信息公开(公告)号：US08294958B2
公开(公告)日：2012-10-23
申请号：US12299349
申请日：2007-05-03
Applicant: James Paterson , Ronald William Daniel , David Claus , Andrew Fitzgibbon
Inventor： James Paterson , Ronald William Daniel , David Claus , Andrew Fitzgibbon
IPC: H04N1/04
CPC classification number: G01B11/2518 , G06K9/2036 , G06K9/4661
Abstract: A scanner system and corresponding method, the system comprising: a scanner device (1); a target 17) and a processor (21). The scanner device (1) comprises: an emitter (13) for projecting patterned light and a sensor (12) for capturing images of the object (19). The target (17) has predetermined features visible to the sensor simultaneously with the object for enabling the processor to determine the location of the sensor with respect to the object. The generates a three-dimensional model of the object on the basis of images of the object with the patterned light projected thereon. The scanner device further comprises a light source (14) for directionally illuminating the object (19), and the sensor (12) is arranged to capture images of the illuminated object. The processor generates sets of photometric data for the object when illuminated from different directions. The processor combines the geometric data and photometric data to output a model comprising geometric information on the object together with photometric information spatially registered with the geometric information.
Abstract translation: 一种扫描仪系统和相应的方法，所述系统包括：扫描仪装置（1）; 目标17）和处理器（21）。 扫描仪装置（1）包括：用于投射图案光的发射器（13）和用于捕获物体（19）的图像的传感器（12）。 目标（17）具有与物体同时可见的预定特征，使得处理器能够确定传感器相对于物体的位置。 基于投影在其上的图案光的对象的图像，生成对象的三维模型。 扫描器装置还包括用于定向照射物体（19）的光源（14），并且传感器（12）被布置成捕获被照射物体的图像。 当从不同方向照明时，处理器生成对象的测光数据集。 处理器组合几何数据和光度数据以输出包括物体上的几何信息的模型以及与几何信息在空间上注册的光度信息。
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公开(公告)号：US20120196679A1
公开(公告)日：2012-08-02
申请号：US13017587
申请日：2011-01-31
Applicant: Richard Newcombe , Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
Inventor： Richard Newcombe , Shahram Izadi , David Molyneaux , Otmar Hilliges , David Kim , Jamie Daniel Joseph Shotton , Pushmeet Kohli , Andrew Fitzgibbon , Stephen Edward Hodges , David Alexander Butler
CPC classification number: A63F13/00 , A63F13/06 , A63F2300/1087 , A63F2300/69 , G06K9/00 , G06K9/00664 , G06T7/251 , G06T7/30 , G06T2207/10028 , G06T2207/10048 , G06T2207/30244
Abstract: Real-time camera tracking using depth maps is described. In an embodiment depth map frames are captured by a mobile depth camera at over 20 frames per second and used to dynamically update in real-time a set of registration parameters which specify how the mobile depth camera has moved. In examples the real-time camera tracking output is used for computer game applications and robotics. In an example, an iterative closest point process is used with projective data association and a point-to-plane error metric in order to compute the updated registration parameters. In an example, a graphics processing unit (GPU) implementation is used to optimize the error metric in real-time. In some embodiments, a dense 3D model of the mobile camera environment is used.
Abstract translation: 描述使用深度图的实时相机跟踪。 在一个实施例中，深度图帧由移动深度相机以每秒20帧的速度捕获，并且用于实时动态地更新一组注册参数，这些参数指定移动深度相机已经移动。 在实例中，实时相机跟踪输出用于计算机游戏应用和机器人。 在一个例子中，迭代最近点处理与投影数据关联和点到平面误差度量一起使用，以便计算更新的注册参数。 在一个例子中，使用图形处理单元（GPU）实现来实时优化误差度量。 在一些实施例中，使用移动照相机环境的密集3D模型。
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公开(公告)号：US08213680B2
公开(公告)日：2012-07-03
申请号：US12727787
申请日：2010-03-19
Applicant: Andrew Fitzgibbon , Jamie Shotton , Mat Cook , Richard Moore , Mark Finnochio
Inventor： Andrew Fitzgibbon , Jamie Shotton , Mat Cook , Richard Moore , Mark Finnochio
CPC classification number: G06K9/6256 , G06K9/00335 , G06K9/6206
Abstract: Synthesized body images are generated for a machine learning algorithm of a body joint tracking system. Frames from motion capture sequences are retargeted to several different body types, to leverage the motion capture sequences. To avoid providing redundant or similar frames to the machine learning algorithm, and to provide a compact yet highly variegated set of images, dissimilar frames can be identified using a similarity metric. The similarity metric is used to locate frames which are sufficiently distinct, according to a threshold distance. For realism, noise is added to the depth images based on noise sources which a real world depth camera would often experience. Other random variations can be introduced as well. For example, a degree of randomness can be added to retargeting. For each frame, the depth image and a corresponding classification image, with labeled body parts, are provided. 3-D scene elements can also be provided.
Abstract translation: 为身体关节跟踪系统的机器学习算法生成合成身体图像。 来自运动捕捉序列的帧被重定向到几种不同的身体类型，以利用运动捕捉序列。 为了避免向机器学习算法提供冗余或相似的帧，并且为了提供紧凑但高度变化的图像集合，可以使用相似性度量来识别不同的帧。 相似性度量用于根据阈值距离定位足够明显的帧。 对于现实主义，基于真实世界深度相机经常会遇到的噪声源，将噪声添加到深度图像。 也可以引入其他随机变化。 例如，可以添加一定程度的随机性来重定向。 对于每个帧，提供深度图像和具有标记的身体部分的相应分类图像。 也可以提供3-D场景元素。
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公开(公告)号：US20120162354A1
公开(公告)日：2012-06-28
申请号：US13406235
申请日：2012-02-27
Applicant: Ankur Agarwal , Antonio Criminisi , William Buxton , Andrew Blake , Andrew Fitzgibbon
Inventor： Ankur Agarwal , Antonio Criminisi , William Buxton , Andrew Blake , Andrew Fitzgibbon
IPC: H04N7/15
Abstract: Existing remote workspace sharing systems are difficult to use. For example, changes made on a common work product by one user often appear abruptly on displays viewed by remote users. As a result the interaction is perceived as unnatural by the users and is often inefficient. Images of a display of a common work product are received from a camera at a first location. These images may also comprise information about objects between the display and the camera such as a user's hand editing a document on a tablet PC. These images are combined with images of the shared work product and displayed at remote locations. Advance information about remote user actions is then visible and facilitates collaborative mediation between users. Depth information may be used to influence the process of combining the images.
Abstract translation: 现有的远程工作区共享系统很难使用。 例如，一个用户在公共工作产品上进行的更改通常会在远程用户查看的显示器上突然出现。 因此，互动被用户认为是不自然的，并且通常效率低下。 在第一位置从相机接收公共作品的显示的图像。 这些图像还可以包括关于显示器和相机之间的对象的信息，例如用户在平板PC上编辑文档的手。 这些图像与共享工作产品的图像组合，并在远程位置显示。 然后可以看到有关远程用户操作的高级信息，并促进用户之间的协作中介。 深度信息可以用于影响组合图像的过程。
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公开(公告)号：US08125510B2
公开(公告)日：2012-02-28
申请号：US11669107
申请日：2007-01-30
Applicant: Ankur Agarwal , Antonio Criminisi , Bill Buxton , Andrew Blake , Andrew Fitzgibbon
Inventor： Ankur Agarwal , Antonio Criminisi , Bill Buxton , Andrew Blake , Andrew Fitzgibbon
IPC: H04N7/14
Abstract: Existing remote workspace sharing systems are difficult to use. For example, changes made on a common work product by one user often appear abruptly on displays viewed by remote users. As a result the interaction is perceived as unnatural by the users and is often inefficient. Images of a display of a common work product are received from a camera at a first location. These images may also comprise information about objects between the display and the camera such as a user's hand editing a document on a tablet PC. These images are combined with images of the shared work product and displayed at remote locations. Advance information about remote user actions is then visible and facilitates collaborative mediation between users. Depth information may be used to influence the process of combining the images.
Abstract translation: 现有的远程工作区共享系统很难使用。 例如，一个用户在公共工作产品上进行的更改通常会在远程用户查看的显示器上突然出现。 因此，互动被用户认为是不自然的，并且通常效率低下。 在第一位置从相机接收公共作品的显示的图像。 这些图像还可以包括关于显示器和相机之间的对象的信息，例如用户在平板PC上编辑文档的手。 这些图像与共享工作产品的图像组合，并在远程位置显示。 然后可以看到有关远程用户操作的高级信息，并促进用户之间的协作中介。 深度信息可以用于影响组合图像的过程。
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