公开(公告)号：US20080285843A1

公开(公告)日：2008-11-20

申请号：US12121056

申请日：2008-05-15

申请人： Jongwoo Lim

发明人： Jongwoo Lim

IPC分类号： G06K9/20

CPC分类号： G06K9/209 ,  G06K9/2036 ,  G06T7/80

摘要： A system and method are disclosed for calibrating a plurality of projectors for three-dimensional scene reconstruction. The system includes a plurality of projectors and at least one camera, a camera-projector calibration module and a projector-projector calibration module. The camera-projector calibration module is configured to calibrate a first projector with the camera and generate a first camera-projector calibration data using camera-projector duality. The camera-projector calibration module is also configured to calibrate a second projector with the camera and generate a second camera-projector calibration data. The projector-projector calibration module is configured to calibrate the first and the second projector using the first and the second camera-projector calibration data.

摘要翻译： 公开了用于校准用于三维场景重建的多个投影仪的系统和方法。 该系统包括多个投影仪和至少一个照相机，照相机投影仪校准模块和投影仪 - 投影仪校准模块。 相机投影仪校准模块被配置为使用相机校准第一台投影机，并使用相机 - 投影仪二重性生成第一台相机 - 投影仪校准数据。 相机投影机校准模块还被配置为使用相机校准第二投影仪并生成第二相机投影仪校准数据。 投影仪 - 投影仪校准模块被配置为使用第一和第二照相机投影仪校准数据校准第一和第二投影仪。

公开(公告)号：US09077958B2

公开(公告)日：2015-07-07

申请号：US13221132

申请日：2011-08-30

申请人： Rakesh Gupta ,  Ananth Ranganathan ,  Jongwoo Lim

发明人： Rakesh Gupta ,  Ananth Ranganathan ,  Jongwoo Lim

IPC分类号： H04N13/00

CPC分类号： H04N13/00 ,  G06K9/00798 ,  G06T7/41 ,  G06T7/74 ,  G06T2207/10016 ,  G06T2207/20081 ,  G06T2207/30256

摘要： The prevention of vehicle accidents is targeted. A road texture model is created based on a vehicle camera image. An initial vehicle location estimate is determined, and map imagery is obtained based on this location estimate. A refined vehicle location is determined using visual egomotion. In particular, 3D features of the vehicle image and the retrieved map imagery are identified and aligned. A map image is selected based on this alignment, and the location associated with the map image is modified by a displacement between the selected map image and the vehicle image to produce a refined vehicle location. A road boundary model is created based on the road texture model and the refined vehicle location, and a road departure model is created based on the road boundary model and vehicle odometry information. The operator of the vehicle is warned of a road departure based on the road departure model.

摘要翻译： 预防车祸是针对性的。 基于车辆摄像机图像创建道路纹理模型。 确定初始车辆位置估计，并且基于该位置估计获得地图图像。 精确的车辆位置使用视觉自动运动来确定。 特别地，车辆图像和检索到的地图图像的3D特征被识别和对齐。 基于该对准来选择地图图像，并且通过所选择的地图图像和车辆图像之间的位移来修改与地图图像相关联的位置，以产生精细的车辆位置。 基于道路纹理模型和精细车辆位置创建道路边界模型，并根据道路边界模型和车辆测距信息创建道路离境模型。 根据道路离境模式，向车辆的操作者发出道路离境警告。

公开(公告)号：US08913055B2

公开(公告)日：2014-12-16

申请号：US13484127

申请日：2012-05-30

申请人： Jongwoo Lim ,  Jan-Michael Frahm ,  Marc Pollefeys

发明人： Jongwoo Lim ,  Jan-Michael Frahm ,  Marc Pollefeys

IPC分类号： G06F17/00 ,  G09G5/00 ,  G06K9/00 ,  G06F17/30 ,  G06T7/20

CPC分类号： G06K9/00744 ,  G06F17/30784 ,  G06F17/3079 ,  G06T7/20 ,  G06T7/579 ,  G06T2207/20072 ,  G06T2207/30241 ,  G06T2207/30244

摘要： A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.

摘要翻译： 公开了一种系统和方法，用于使用度量欧几里德环境地图和拓扑图的混合表示法在线映射大型环境。 该系统包括场景模块，位置识别模块，局部调整模块和全局调整模块。 场景流模块用于检测和跟踪输入视频序列的帧的视频特征。 场景流模块还被配置为识别输入视频序列的多个关键帧，并将所识别的关键帧添加到输入视频序列的初始环境图中。 位置识别模块用于检测环境地图中的环路闭合。 本地调整模块实施环境映射中的关键帧的本地度量属性，并且全局调整模块用于优化整个环境映射，并遵循关键帧姿势图中关键帧的全局度量属性。

公开(公告)号：US08818101B1

公开(公告)日：2014-08-26

申请号：US13342644

申请日：2012-01-03

申请人： Jongwoo Lim

发明人： Jongwoo Lim

IPC分类号： G06K9/46 ,  G06K9/36 ,  G06K9/32 ,  G09G5/00 ,  H04N7/00

CPC分类号： G06T3/4038 ,  G06F3/1446 ,  G06K9/6203 ,  G06T5/006 ,  G06T5/50 ,  G06T7/33 ,  G09G2356/00 ,  G09G2370/022 ,  G09G2370/20

摘要： Provided is a method of processing images. The method may include obtaining a plurality of radially-distorted images captured from one location in different directions, the plurality of images each having a field of view, and neighboring images among the plurality of images having overlapping fields of view. The method may further include reducing relative distortion of portions of the neighboring images in the overlapping fields of view of the neighboring images, matching features between the reduced distortion portions of neighboring images in the overlapping fields of view, and storing in memory data indicative of matched features.

摘要翻译： 提供了一种处理图像的方法。 该方法可以包括获得从不同方向上的一个位置捕获的多个径向失真图像，每个具有视场的多个图像以及具有重叠视场的多个图像中的相邻图像。 该方法还可以包括减少相邻图像的重叠视场中相邻图像的部分的相对失真，在重叠视场中相邻图像的缩小失真部分之间的匹配特征，以及存储指示匹配的存储器数据 特征。

公开(公告)号：US20120306847A1

公开(公告)日：2012-12-06

申请号：US13484127

申请日：2012-05-30

申请人： Jongwoo Lim ,  Jan-Michael Frahm ,  Marc Pollefeys

发明人： Jongwoo Lim ,  Jan-Michael Frahm ,  Marc Pollefeys

IPC分类号： G06T1/00

CPC分类号： G06K9/00744 ,  G06F17/30784 ,  G06F17/3079 ,  G06T7/20 ,  G06T7/579 ,  G06T2207/20072 ,  G06T2207/30241 ,  G06T2207/30244

摘要： A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.

摘要翻译： 公开了一种系统和方法，用于使用度量欧几里德环境地图和拓扑图的混合表示法在线映射大型环境。 该系统包括场景模块，位置识别模块，局部调整模块和全局调整模块。 场景流模块用于检测和跟踪输入视频序列的帧的视频特征。 场景流模块还被配置为识别输入视频序列的多个关键帧，并将所识别的关键帧添加到输入视频序列的初始环境图中。 位置识别模块用于检测环境地图中的环路闭合。 本地调整模块实施环境映射中的关键帧的本地度量属性，并且全局调整模块用于优化整个环境映射，并遵循关键帧姿势图中关键帧的全局度量属性。

公开(公告)号：US20090161966A1

公开(公告)日：2009-06-25

申请号：US12337391

申请日：2008-12-17

申请人： Jongwoo Lim

发明人： Jongwoo Lim

IPC分类号： G06K9/62 ,  G06F17/10 ,  G06N5/02

CPC分类号： G06K9/2036 ,  G06T7/521 ,  G06T7/55 ,  G06T2207/10016 ,  G06T2207/20072 ,  G06T2207/20076

摘要： A system and method are disclosed for generating an optimized projection pattern and for using the optimized projection pattern for depth reconstruction. The system includes a De Bruijn graph generation module, a non-recurring De Bruijn sequence generation module and projection pattern generation module. The De Bruijn graph generation module is configured to generate a classical De Bruijn graph. The non-recurring De Bruijn sequence generation module is configured to generate a non-recurring De Bruijn sequence by eliminating nodes with recurring alphabets from the classical De Bruijn sequence and calculating a Hamiltonian cycle of the modified De Bruijn graph. The projection pattern generation module is configured to generate the optimized projection pattern form the non-recurring De Bruijn sequence. The system further comprises a projector to project the non-recurring De Bruijn sequence to a plurality of images and a depth reconstruction module to reconstruct depth images from the plurality of the images.

摘要翻译： 公开了用于生成优化的投影图案和使用优化的投影图案进行深度重建的系统和方法。 该系统包括De Bruijn图生成模块，非循环De Bruijn序列生成模块和投影模式生成模块。 De Bruijn图生成模块被配置为生成经典的De Bruijn图。 非循环的De Bruijn序列生成模块被配置为通过从经典的De Bruijn序列中消除具有循环字母的节点并计算修改的De Bruijn图的哈密尔顿算子来生成非重复的De Bruijn序列。 投影图案生成模块被配置为从非循环的De Bruijn序列生成优化的投影图案。 该系统还包括投影仪，将非循环的De Bruijn序列投影到多个图像，以及深度重建模块，用于重建来自多个图像的深度图像。

公开(公告)号：US20080144937A1

公开(公告)日：2008-06-19

申请号：US11876724

申请日：2007-10-22

申请人： Jongwoo Lim ,  Benjamin Laxton

发明人： Jongwoo Lim ,  Benjamin Laxton

IPC分类号： G06K9/00

CPC分类号： G06K9/00335

摘要： A system (and a method) are disclosed for recognizing and representing activities in a video sequence. The system includes an activity dynamic Bayesian network (ADBN), an object/action dictionary, an activity inference engine and a state output unit. The activity dynamic Bayesian network encodes the prior information of a selected activity domain. The prior information of the selected activity domain describes the ordering, temporal constraints and contextual cues among the expected actions. The object/action dictionary detects activities in each frame of the input video stream, represents the activities hierarchically, and generates an estimated observation probability for each detected action. The activity inference engine estimates a likely activity state for each frame based on the evidence provided by the object/action dictionary and the ADBN. The state output unit outputs the likely activity state generated by the activity inference engine.

摘要翻译： 公开了用于识别和表示视频序列中的活动的系统（和方法）。 该系统包括活动动态贝叶斯网络（ADBN），对象/动作词典，活动推理引擎和状态输出单元。 活动动态贝叶斯网络编码所选活动域的先前信息。 所选活动领域的先前信息描述了预期动作之间的顺序，时间约束和上下文提示。 对象/动作字典检测输入视频流的每帧中的活动，分层地表示活动，并且为每个检测到的动作生成估计的观察概率。 活动推理引擎根据对象/动作字典和ADBN提供的证据估计每个帧的可能活动状态。 状态输出单元输出由活动推理机产生的可能活动状态。