公开(公告)号：US07577294B2

公开(公告)日：2009-08-18

申请号：US11382697

申请日：2006-05-10

申请人： Kentaro Toyama ,  John Krumm ,  Barry L. Brummitt ,  Brian R. Meyers

发明人： Kentaro Toyama ,  John Krumm ,  Barry L. Brummitt ,  Brian R. Meyers

IPC分类号： G06K9/34 ,  G06K9/46 ,  G06K9/66

CPC分类号： G06K9/38 ,  G06T7/11 ,  G06T7/174 ,  G06T7/194 ,  G06T2207/10016 ,  G06T2207/20016 ,  G06T2207/20081

摘要： A system and method for maintaining a background model of an image sequence by processing on multiple spatial scales. These multiple spatial scales include a pixel scale, a regional scale and a frame scale. The image sequence undergoes pixel processing that determines a current background model and provides an initial pixel assignment as either a background or a foreground pixel. Region processing further refines the initial pixel assignments by considering relationships between pixels and possibly reassigning pixels. Frame processing further refines the current background model by determining whether a substantial change has occurred in the actual background and, if so, providing a more accurate background model.

摘要翻译： 一种用于通过在多个空间尺度上处理来维护图像序列的背景模型的系统和方法。 这些多个空间尺度包括像素尺度，区域尺度和帧尺度。 图像序列经历像素处理，其确定当前背景模型，并将初始像素分配提供为背景或前景像素。 区域处理通过考虑像素之间的关系和可能重新分配的像素进一步优化初始像素分配。 帧处理通过确定在实际背景中是否发生实质性变化而进一步优化当前背景模型，如果是，则提供更准确的背景模型。

公开(公告)号：US20060195292A1

公开(公告)日：2006-08-31

申请号：US11382022

申请日：2006-05-06

申请人： John Krumm

发明人： John Krumm

IPC分类号： G01C17/00

CPC分类号： G06K9/209 ,  G01C3/08 ,  G01C11/06 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/89 ,  G06T7/80

摘要： Method and system for measuring a relative position and orientation of range cameras using a movement of an object within a scene. In general, the method and system determine the relative pose between two cameras by measuring a path the movement of the object makes within a scene and calculating transformation parameters based on these measurements. These transformation parameters are used to determine the relative position of each camera with respect to a base camera. The system and method include other novel features, such as a data synchronization feature that uses a time offset between cameras to obtain the transformation parameters, and a technique that improves the robustness and accuracy of solving for the transformation parameters, and an interpolation process that interpolates between sampled points if there is no data at a particular instant in time.

公开(公告)号：US20060052975A1

公开(公告)日：2006-03-09

申请号：US11263720

申请日：2005-10-31

申请人： John Krumm

发明人： John Krumm

IPC分类号： G06F15/00

CPC分类号： G06K9/209 ,  G01C3/08 ,  G01C11/06 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/89 ,  G06T7/80

摘要： Method and system for measuring a relative position and orientation of range cameras using a movement of an object within a scene. In general, the method and system determine the relative pose between two cameras by measuring a path the movement of the object makes within a scene and calculating transformation parameters based on these measurements. These transformation parameters are used to determine the relative position of each camera with respect to a base camera. The system and method include other novel features, such as a data synchronization feature that uses a time offset between cameras to obtain the transformation parameters, and a technique that improves the robustness and accuracy of solving for the transformation parameters, and an interpolation process that interpolates between sampled points if there is no data at a particular instant in time.

公开(公告)号：US20060047472A1

公开(公告)日：2006-03-02

申请号：US11237406

申请日：2005-09-27

申请人： John Krumm

发明人： John Krumm

IPC分类号： G06F15/00

CPC分类号： G06K9/209 ,  G01C3/08 ,  G01C11/06 ,  G01C25/00 ,  G01S7/497 ,  G01S17/06 ,  G01S17/87 ,  G01S17/89 ,  G06T7/80

摘要： Method and system for measuring a relative position and orientation of range cameras using a movement of an object within a scene. In general, the method and system determine the relative pose between two cameras by measuring a path the movement of the object makes within a scene and calculating transformation parameters based on these measurements. These transformation parameters are used to determine the relative position of each camera with respect to a base camera. The system and method include other novel features, such as a data synchronization feature that uses a time offset between cameras to obtain the transformation parameters, and a technique that improves the robustness and accuracy of solving for the transformation parameters, and an interpolation process that interpolates between sampled points if there is no data at a particular instant in time.

公开(公告)号：US20060046709A1

公开(公告)日：2006-03-02

申请号：US10880051

申请日：2004-06-29

申请人： John Krumm ,  Kenneth Hinckley

发明人： John Krumm ,  Kenneth Hinckley

IPC分类号： H04Q7/20

CPC分类号： H04W64/00 ,  H04N21/4126 ,  H04W24/00

摘要： Described is a system and method in a wireless (Wi-Fi) network comprising a server, clients and various mechanisms that compute lists of other clients and resources that are physically nearby. Clients report Wi-Fi access points' signal strengths to a server, which uses that data to compute the proximity of resources to one another, including an estimate the distance between resources. The data may be returned to the client as a list of resources within short range proximity, or resources within long-range proximity, with an approximate time to that resource based on previous clients' reporting. Because proximity is used rather than absolute location, only minimal setup is needed. As the number of clients and resources that use the system increases, the server knowledge also increases with respect to the number of resources that can be found and in the physical range over which other people and places can be found.

公开(公告)号：US20050031329A1

公开(公告)日：2005-02-10

申请号：US10927373

申请日：2004-08-25

申请人： John Krumm

发明人： John Krumm

IPC分类号： G01C11/06 ,  G01S5/16 ,  G03B3/10 ,  G06T7/00

CPC分类号： G01C11/06 ,  G01S5/16 ,  G06T7/521 ,  G06T7/579 ,  G06T7/85

摘要： A method and a system for measuring a relative position and orientation of range cameras using a movement of an object within a scene. In general, the present invention determines the relative pose between two cameras by measuring a path the movement of the object makes within a scene and calculating transformation parameters based on these measurements. These transformation parameters are used to determine the relative position of each camera with respect to a base camera. In a preferred embodiment, the present invention also includes other novel features such as a data synchronization feature that uses a time offset between cameras to obtain the transformation parameters. In addition, the present invention includes a technique that improves the robustness and accuracy of solving for the transformation parameters and an interpolation process that interpolates between sampled points if there is no data at a particular instant in time. Further, the present invention includes a system for determining a relative position and orientation of range cameras using spatial movement that incorporates the method of the present invention.

摘要翻译： 一种用于使用场景内的物体的运动来测量距离相机的相对位置和方位的方法和系统。 通常，本发明通过测量对象在场景中的移动的路径并基于这些测量来计算变换参数来确定两个摄像机之间的相对姿态。 这些变换参数用于确定每个摄像机相对于基本摄像机的相对位置。 在优选实施例中，本发明还包括其他新颖特征，例如使用相机之间的时间偏移来获得变换参数的数据同步特征。 此外，本发明包括一种技术，其提高了解转换参数的鲁棒性和准确性以及在特定时刻没有数据时在采样点之间内插的内插处理。 此外，本发明包括一种用于使用包含本发明的方法的空间运动来确定距离相机的相对位置和取向的系统。

公开(公告)号：US20050020277A1

公开(公告)日：2005-01-27

申请号：US10741783

申请日：2003-12-19

申请人： John Krumm ,  Gerald Cermak ,  Eric Horvitz ,  Edward Miller ,  Adel Amin Youssef

发明人： John Krumm ,  Gerald Cermak ,  Eric Horvitz ,  Edward Miller ,  Adel Amin Youssef

IPC分类号： H04B7/26 ,  G01C21/28 ,  G01S5/00 ,  G01S5/02 ,  G01S19/48 ,  G08G1/0962 ,  G08G1/0967 ,  H04L12/56 ,  H04Q7/34 ,  H04M1/00 ,  H04B1/38

CPC分类号： G01C21/28 ,  G01S5/0027 ,  G01S5/0252 ,  G08G1/0962 ,  G08G1/0967 ,  G08G1/096716 ,  G08G1/096741 ,  G08G1/096775

摘要： The present invention leverages changes in the sensed strength of radio signals at different locations to determine a device's location. In one instance of the present invention, inference procedures are used to process ambient commercial radio signals, to estimate a location or a probability distribution over the locations of a device. In another instance of the present invention, a system utilizes learning and inference methods that are applied to rank vector of signal strength vectors. Moving to such rank orderings leads to systems that bypass consideration of absolute signal strengths in location calculations. The present invention facilitates approximations for locating a device by providing a system that does not require a substantial number of available ambient signal strengths while still providing useful location inferences in determining locations.

摘要翻译： 本发明利用在不同位置处的无线电信号的感测强度的变化来确定设备的位置。 在本发明的一个实例中，推理程序用于处理环境商业无线电信号，以估计设备位置上的位置或概率分布。 在本发明的另一个实例中，系统利用应用于信号强度矢量的秩矢量的学习和推理方法。 移动到这样的排序导致系统绕过位置计算中绝对信号强度的考虑。 本发明通过提供不需要大量可用环境信号强度的系统来帮助定位设备，同时仍然在确定位置方面提供有用的位置推断。

公开(公告)号：US06807286B1

公开(公告)日：2004-10-19

申请号：US09548182

申请日：2000-04-13

申请人： John Krumm ,  Richard J. Campbell

发明人： John Krumm ,  Richard J. Campbell

IPC分类号： G06K900

CPC分类号： G06K9/6211 ,  G06K9/6255

摘要： A system and process for recognizing an object in an input image involving first generating training images depicting the object. A set of prototype edge features is created that collectively represent the edge pixel patterns encountered within a sub-window centered on each pixel depicting an edge of the object in the training images. Next, a Hough kernel is defined for each prototype edge feature in the form of a set of offset vectors representing the distance and direction, from each edge pixel having an associated sub-window exhibiting an edge pixel pattern best represented by the prototype edge feature, to a prescribed reference point on a surface of the object. The offset vectors are represented as originating at a central point of the kernel. For each edge pixel in the input image, the prototype edge feature which best represents the edge pixel pattern exhibited within the sub-window centered on the edge pixel is identified. Then, for each input image pixel location, the number of offset vectors terminating at that location from Hough kernels centered on each edge pixel location of the input image is identified. The Hough kernel centered on each pixel location is the Hough kernel associated with the prototype edge feature best representing the edge pixel pattern exhibited within a sub-window centered on that input image edge pixel location. The object is declared to be present in the input image if any of the input image pixel locations have a quantity of offset vectors terminating thereat that equals or exceeds a detection threshold.

摘要翻译： 一种用于识别输入图像中的对象的系统和过程，包括首先生成描绘对象的训练图像。 创建一组原型边缘特征，其共同地表示在描绘训练图像中的对象的边缘的每个像素的中心的子窗口内遇到的边缘像素图案。 接下来，以代表距离和方向的一组偏移向量的形式为每个原型边缘特征定义霍夫核，从具有相关子窗口的每个边缘像素表现出由原型边缘特征最佳表示的边缘像素图案， 到物体表面上规定的参考点。 偏移矢量被表示为在内核的中心点处产生的。 对于输入图像中的每个边缘像素，识别最佳表示以边缘像素为中心的子窗口内展现的边缘像素图案的原型边缘特征。 然后，对于每个输入图像像素位置，识别以位于输入图像的每个边缘像素位置为中心的霍夫粒子的该位置处终止的偏移矢量的数量。 以每个像素位置为中心的霍夫核心是与原型边缘特征相关联的霍恩核，其最佳地表示在以该输入图像边缘像素位置为中心的子窗口内展现的边缘像素图案。 如果任何输入图像像素位置具有等于或超过检测阈值的偏移量向量终止，则该对象被声明为存在于输入图像中。

公开(公告)号：US09086292B2

公开(公告)日：2015-07-21

申请号：US12493131

申请日：2009-06-26

申请人： Eric Horvitz ,  John Krumm

发明人： Eric Horvitz ,  John Krumm

IPC分类号： G01C21/34 ,  G01C21/00 ,  G01C21/36

CPC分类号： G01C21/3484 ,  G01C21/3697

摘要： Techniques and systems are disclosed that provide a risk-based assessment for a user based on user location information. Incident data is acquired for incidents that involve potential risks (e.g., to people and/or property) from a plurality of locations and contexts, considering such factors as date, time, weather, traffic, and velocity. The incident data is matched to the user's location and context directly or indirectly to provide one or more potential outcomes of interest (e.g., accidents, injuries, fatalities), and inferences regarding the likelihood of events are made available. These measures are compared to desired risk thresholds for the user. In one embodiment, routes, times, and conditions of travel may be preferred over others routes, times, and conditions. In another embodiment, users may be notified of a condition or a vehicle's maximum velocity may be reduced when the matched incident data meets/exceeds a user's risk threshold.

摘要翻译： 公开了基于用户位置信息为用户提供基于风险的评估的技术和系统。 考虑到诸如日期，时间，天气，交通和速度等因素，从多个位置和情境中获取涉及潜在风险（例如对人和/或财产）的事件的事件数据。 事件数据与用户的位置和环境直接或间接地匹配，以提供一个或多个潜在的感兴趣的结果（例如，事故，伤害，死亡），并且关于事件的可能性可用的推论。 将这些措施与用户的期望风险阈值进行比较。 在一个实施例中，旅行的路线，时间和条件可能优于其他路线，时间和条件。 在另一个实施例中，可以向用户通知条件，或者当匹配的事件数据满足/超过用户的风险阈值时，可以减少车辆的最大速度。

公开(公告)号：US20100332131A1

公开(公告)日：2010-12-30

申请号：US12493131

申请日：2009-06-26

申请人： Eric Horvitz ,  John Krumm

发明人： Eric Horvitz ,  John Krumm

IPC分类号： G01C21/00

CPC分类号： G01C21/3484 ,  G01C21/3697

摘要： Techniques and systems are disclosed that provide a risk-based assessment for a user based on user location information. Incident data is acquired for incidents that involve potential risks (e.g., to people and/or property) from a plurality of locations and contexts, considering such factors as date, time, weather, traffic, and velocity. The incident data is matched to the user's location and context directly or indirectly to provide one or more potential outcomes of interest (e.g., accidents, injuries, fatalities), and inferences regarding the likelihood of events are made available. These measures are compared to desired risk thresholds for the user. In one embodiment, routes, times, and conditions of travel may be preferred over others routes, times, and conditions. In another embodiment, users may be notified of a condition or a vehicle's maximum velocity may be reduced when the matched incident data meets/exceeds a user's risk threshold.

摘要翻译： 公开了基于用户位置信息为用户提供基于风险的评估的技术和系统。 考虑到诸如日期，时间，天气，交通和速度等因素，从多个位置和情境中获取涉及潜在风险（例如对人和/或财产）的事件的事件数据。 事件数据与用户的位置和环境直接或间接地匹配，以提供一个或多个潜在的感兴趣的结果（例如，事故，伤害，死亡），并且关于事件的可能性可用的推论。 将这些措施与用户的期望风险阈值进行比较。 在一个实施例中，旅行的路线，时间和条件可能优于其他路线，时间和条件。 在另一个实施例中，可以向用户通知条件，或者当匹配的事件数据满足/超过用户的风险阈值时，可以减少车辆的最大速度。