公开(公告)号：US20100329542A1

公开(公告)日：2010-12-30

申请号：US12495655

申请日：2009-06-30

申请人： Srikumar Ramalingam ,  Matthew Brand ,  Sofien Bouaziz

发明人： Srikumar Ramalingam ,  Matthew Brand ,  Sofien Bouaziz

IPC分类号： G06K9/00 ,  H04N7/18

CPC分类号： G06K9/00704 ,  G01C21/3602 ,  G06K9/00208 ,  G06T7/162 ,  G06T7/194 ,  G06T7/80 ,  G06T2207/20016 ,  G06T2207/30244

摘要： A location and orientation in an environment is determined by first acquiring a real omni-directional image of an unknown skyline in the environment. A set of virtual omni-directional images of known skylines are synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known location and orientation. The real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation.

摘要翻译： 通过首先在环境中获取未知天际线的真正全方位图像来确定环境中的位置和方位。 已知天际线的一组虚拟全方向图像是从环境的3D模型合成的，其中每个虚拟全向图像与已知的位置和取向相关联。 使用每个虚拟全方位图像的真正全方位图像，以确定与相关联的已知位置和方向的最佳匹配虚拟全方位图像。

公开(公告)号：US20080291282A1

公开(公告)日：2008-11-27

申请号：US11751932

申请日：2007-05-22

申请人： Andrew W. Fitzgibbon ,  Antonio Criminisi ,  Srikumar Ramalingam

发明人： Andrew W. Fitzgibbon ,  Antonio Criminisi ,  Srikumar Ramalingam

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G06K9/209

摘要： Online camera calibration methods have been proposed whereby calibration information is extracted from the images that the system captures during normal operation and is used to continually update system parameters. However, such existing methods do not cope well with structure-poor scenes having little texture and/or 3D structure such as in a home or office environment. By considering camera families (a set of cameras that are manufactured at least partially in a common manner) it is possible to provide calibration methods which are suitable for use with structure-poor scenes. A prior distribution of camera parameters for a family of cameras is estimated and used to obtain accurate calibration results for individual cameras of the camera family even where the calibration is carried out online, in an environment which is structure-poor.

摘要翻译： 已经提出在线摄像机校准方法，其中从正常操作期间系统捕获的图像中提取校准信息，并用于不断地更新系统参数。 然而，这样的现有方法不能很好地解决具有很少纹理和/或3D结构的结构差的场景，例如在家庭或办公环境中。 通过考虑相机系列（一组至少部分以一般方式制造的相机），可以提供适合与结构不良的场景一起使用的校准方法。 对于一系列相机的相机参数的事先分配被估计并用于获得相机系列的各个照相机的精确校准结果，即使在结构差的环境中在线执行校准。

公开(公告)号：US08249302B2

公开(公告)日：2012-08-21

申请号：US12495655

申请日：2009-06-30

申请人： Srikumar Ramalingam ,  Matthew Brand ,  Sofien Bouaziz

发明人： Srikumar Ramalingam ,  Matthew Brand ,  Sofien Bouaziz

IPC分类号： G06K9/00

CPC分类号： G06K9/00704 ,  G01C21/3602 ,  G06K9/00208 ,  G06T7/162 ,  G06T7/194 ,  G06T7/80 ,  G06T2207/20016 ,  G06T2207/30244

摘要： A location and orientation in an environment is determined by first acquiring a real omni-directional image of an unknown skyline in the environment. A set of virtual omni-directional images of known skylines are synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known location and orientation. The real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation.

摘要翻译： 通过首先在环境中获取未知天际线的真正全方位图像来确定环境中的位置和方位。 已知天际线的一组虚拟全方向图像是从环境的3D模型合成的，其中每个虚拟全向图像与已知的位置和取向相关联。 使用每个虚拟全方位图像的真正全方位图像，以确定与相关联的已知位置和方向的最佳匹配虚拟全方位图像。

公开(公告)号：US20110150320A1

公开(公告)日：2011-06-23

申请号：US12824296

申请日：2010-06-28

申请人： Srikumar Ramalingam ,  Matthew E. Brand

发明人： Srikumar Ramalingam ,  Matthew E. Brand

IPC分类号： G06K9/00

CPC分类号： G01C21/3602 ,  G06F17/30256 ,  G06K9/00704 ,  G06T7/75 ,  G06T2207/30244 ,  H04N7/18

摘要： A location and orientation in an environment is determined by acquiring a set of one or more real omni-directional images of an unknown skyline in the environment from an unknown location and an unknown orientation in the environment by an omni-directional camera. A set of virtual omni-directional images is synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known skyline, a known location and a known orientation. Each real omni-directional image is compared with the set of virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and known orientation that correspond to the unknown location and orientation.

摘要翻译： 环境中的位置和取向是通过全方位摄像机从环境中的未知位置和未知取向在环境中获取未知天际线的一个或多个真实全向图像的集合来确定的。 从环境的3D模型合成一组虚拟全方位图像，其中每个虚拟全方位图像与已知的天际线，已知位置和已知方向相关联。 将每个真正的全方位图像与虚拟全向图像的集合进行比较，以确定与相关联的已知位置和已知方向对应于未知位置和方向的最佳匹配虚拟全向图像。

公开(公告)号：US07671891B2

公开(公告)日：2010-03-02

申请号：US11751932

申请日：2007-05-22

申请人： Andrew Fitzgibbon ,  Antonio Criminisi ,  Srikumar Ramalingam

发明人： Andrew Fitzgibbon ,  Antonio Criminisi ,  Srikumar Ramalingam

IPC分类号： H04N17/00

CPC分类号： H04N17/002 ,  G06K9/209

摘要： Online camera calibration methods have been proposed whereby calibration information is extracted from the images that the system captures during normal operation and is used to continually update system parameters. However, such existing methods do not cope well with structure-poor scenes having little texture and/or 3D structure such as in a home or office environment. By considering camera families (a set of cameras that are manufactured at least partially in a common manner) it is possible to provide calibration methods which are suitable for use with structure-poor scenes. A prior distribution of camera parameters for a family of cameras is estimated and used to obtain accurate calibration results for individual cameras of the camera family even where the calibration is carried out online, in an environment which is structure-poor.

摘要翻译： 已经提出在线摄像机校准方法，其中从正常操作期间系统捕获的图像中提取校准信息，并用于不断地更新系统参数。 然而，这样的现有方法不能很好地解决具有很少纹理和/或3D结构的结构差的场景，例如在家庭或办公环境中。 通过考虑相机系列（一组至少部分以一般方式制造的相机），可以提供适合与结构不良的场景一起使用的校准方法。 对于一系列相机的相机参数的事先分配被估计并用于获得相机系列的各个照相机的精确校准结果，即使在结构差的环境中在线执行校准。

公开(公告)号：US08311285B2

公开(公告)日：2012-11-13

申请号：US12824296

申请日：2010-06-28

申请人： Srikumar Ramalingam ,  Matthew E. Brand

发明人： Srikumar Ramalingam ,  Matthew E. Brand

IPC分类号： G06K9/00

CPC分类号： G01C21/3602 ,  G06F17/30256 ,  G06K9/00704 ,  G06T7/75 ,  G06T2207/30244 ,  H04N7/18

摘要： A location and orientation in an environment is determined by acquiring a set of one or more real omni-directional images of an unknown skyline in the environment from an unknown location and an unknown orientation in the environment by an omni-directional camera. A set of virtual omni-directional images is synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known skyline, a known location and a known orientation. Each real omni-directional image is compared with the set of virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and known orientation that correspond to the unknown location and orientation.

摘要翻译： 环境中的位置和取向是通过全方位摄像机从环境中的未知位置和未知取向在环境中获取未知天际线的一个或多个真实全向图像的集合来确定的。 从环境的3D模型合成一组虚拟全方位图像，其中每个虚拟全方位图像与已知的天际线，已知位置和已知方向相关联。 将每个真正的全方位图像与虚拟全向图像的集合进行比较，以确定与相关联的已知位置和已知方向对应于未知位置和方向的最佳匹配虚拟全向图像。

公开(公告)号：US20110150319A1

公开(公告)日：2011-06-23

申请号：US12824828

申请日：2010-06-28

申请人： Srikumar Ramalingam

发明人： Srikumar Ramalingam

IPC分类号： G06K9/00

CPC分类号： G01C21/3602 ,  G06K9/00704 ,  G06T7/75 ,  G06T2207/30164 ,  H04N7/18

摘要： A three-dimensional (3D) pose of a 3D object in an environment is determined by extracting features from an image acquired of the environment by a camera. The features are matched to a 3D model of the environment to determine correspondences. A camera reference frame of the image and a world reference frame of the environment are transformed to a corresponding intermediate camera reference frame and a corresponding world reference frame using the correspondences. Geometrical constraints are applied to the intermediate camera reference frame and the intermediate world reference frame to obtain a constrained intermediate world reference frame and a constrained world reference frame. The 3D pose is then determined from parameters of the constrained intermediate world reference frame and the constrained world reference frame.

摘要翻译： 通过从摄像机获取的环境图像中提取特征来确定环境中3D对象的三维（3D）姿态。 这些特征与环境的3D模型相匹配，以确定对应关系。 图像的相机参考帧和环境的世界参考帧被使用对应关系变换到对应的中间摄像机参考帧和对应的世界参考帧。 将几何约束应用于中间摄像机参考帧和中间世界参考帧，以获得受约束的中间世界参考帧和受约束的世界参考帧。 然后，从受约束的中间世界参考帧和受约束的世界参考帧的参数确定3D姿态。