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公开(公告)号：US20180158200A1
公开(公告)日：2018-06-07
申请号：US15834904
申请日：2017-12-07
CPC分类号： G06T7/337 , G01B11/005 , G01C1/04 , G01C15/00 , G01C15/002 , G06T7/277 , G06T7/30 , G06T7/38 , G06T7/579 , G06T2207/10016 , G06T2207/10028 , G06T2207/30241 , G06T2207/30244 , H04N5/23238
摘要： A method for registering two or more three-dimensional (3D) point clouds. The method includes, with a surveying instrument, obtaining a first 3D point cloud of a first setting at a first position, initiating a first Simultaneous Localisation and Mapping (SLAM) process by capturing first initial image data at the first position with a camera unit comprised by the surveying instrument, wherein the first initial image data and the first 3D point cloud share a first overlap, finalising the first SLAM process at the second position by capturing first final image data with the camera unit, wherein the first final image data are comprised by the first image data, with the surveying instrument, obtaining a second 3D point cloud of a second setting at the second position, and based on the first SLAM process, registering the first 3D point cloud and the second 3D point cloud relative to each other.
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32.发明授权公开(公告)号：US09990736B2
公开(公告)日：2018-06-05
申请号：US15652013
申请日：2017-07-17
发明人： David Held , Jesse Levinson , Sebastian Thrun , Silvio Savarese
CPC分类号： G06T7/277 , G06T7/207 , G06T2207/10016 , G06T2207/20016 , G06T2207/20076
摘要： Velocity controllers in accordance with embodiments of the invention enable velocity estimation for tracked objects. One embodiment includes a tracker controller, including: a processor; and a memory containing: a velocity tracker application; a state space describing relationships between measured locations, calculated locations, and changes in locations, where the calculated locations in the state space correspond to unoccluded points on the surface of the tracked object; wherein the processor is configured by the velocity tracker application to: pre-process the state space to identify a tracked object; estimate a velocity of the tracked object using a location history calculated from the measured locations of the tracked object within the state space and a motion model calculated from the state space; and return the velocity of the tracked object.
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公开(公告)号：US20180137376A1
公开(公告)日：2018-05-17
申请号：US15724123
申请日：2017-10-03
申请人： DENSO CORPORATION
发明人： Shunsuke Suzuki , Arata Takahashi
CPC分类号： G06K9/00805 , G06K9/00369 , G06K9/00798 , G06T7/277 , G06T2207/30261 , G08G1/166 , G08G1/167
摘要： A state estimation apparatus for estimating, based on an output of an image sensor, an estimated value of an estimation target using a Kalman filter extracts, from the output of the image sensor, an observation to the Kalman filter. The state estimation apparatus also obtains, from the output of a vehicular motion sensor that is different from the image sensor, a time update input related to the state of the estimation target. The time update input is used by the Kalman filter. The state estimation apparatus obtains, based on the observation and the time update input, the estimated value of the state of the estimation target using the Kalman filter. The Kalman filter is comprised of system noise to which a previously defined correction has been added. The previously defined correction addresses variations of an error in the vehicular motion sensor.
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公开(公告)号：US09958868B2
公开(公告)日：2018-05-01
申请号：US15076813
申请日：2016-03-22
发明人： Fumiya Shingu , Norikazu Ikoma , Kenta Nagamine , Hiromu Hasegawa
CPC分类号： G06K9/00664 , G06K9/00791 , G06T7/246 , G06T7/277 , G06T7/579
摘要： A moving object controller efficiently generates an environmental map and performs highly accurate state estimation in a short time to appropriately control a moving object. An observation obtaining unit obtains observation data from an observable event. A landmark prediction unit generates a landmark prediction signal including predictive information about a landmark at a current time. A landmark detection unit detects information about the landmark at the current time, and generates a landmark detection signal indicating the detection result. A state estimation unit estimates an internal state of the moving object to obtain data indicating an estimated internal state of the moving object at the current time, and estimates the environmental map based on the landmark detection signal to obtain data indicating an estimated environmental map at the current time.
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公开(公告)号：US20180075611A1
公开(公告)日：2018-03-15
申请号：US15823370
申请日：2017-11-27
申请人： NVIDIA Corporation
CPC分类号： G06T7/507 , G06K9/6276 , G06T7/251 , G06T7/277 , G06T7/70 , G06T7/75 , G06T7/77 , G06T2200/28 , G06T2207/10016 , G06T2207/10028 , G06T2207/30201
摘要： One embodiment of the present invention sets forth a technique for estimating a head pose of a user. The technique includes acquiring depth data associated with a head of the user and initializing each particle included in a set of particles with a different candidate head pose. The technique further includes performing one or more optimization passes that include performing at least one iterative closest point (ICP) iteration for each particle and performing at least one particle swarm optimization (PSO) iteration. Each ICP iteration includes rendering the three-dimensional reference model based on the candidate head pose associated with the particle and comparing the three-dimensional reference model to the depth data. Each PSO iteration comprises updating a global best head pose associated with the set of particles and modifying at least one candidate head pose. The technique further includes modifying a shape of the three-dimensional reference model based on depth data.
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公开(公告)号：US20180050638A1
公开(公告)日：2018-02-22
申请号：US15634972
申请日：2017-06-27
发明人： Seong Soo LEE
CPC分类号： B60R1/002 , B60R2300/105 , B60R2300/30 , B60R2300/802 , G06K9/00798 , G06K9/4604 , G06K9/4633 , G06K9/6202 , G06T3/60 , G06T7/246 , G06T7/269 , G06T7/277 , G06T7/70 , G06T7/73 , G06T2207/20061 , G06T2207/20076 , G06T2207/30244 , G06T2207/30256 , H04N5/247
摘要： The present invention is directed to providing an around view monitoring system (AVMS) that may enhance accuracy of an estimation of a camera attitude while a road gradient is present, and an operating method thereof. According to an embodiment of the present invention, the AVMS may calculate a rotation matrix for removing a road gradient component using a camera that has not changed position and generate an estimated rotation matrix from which the road gradient is removed by applying the rotation matrix to an estimated rotation matrix for a camera that has changed position.
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37.发明授权公开(公告)号：US09898672B2
公开(公告)日：2018-02-20
申请号：US15084465
申请日：2016-03-29
发明人： Cheng-Lung Jen , Yen-Lin Chen , Chao-Wei Yu , Meng-Tsan Li , Augustine Tsai
CPC分类号： G06K9/00825 , B60Q9/00 , G06K9/4642 , G06K9/4652 , G06K9/4661 , G06K9/468 , G06K2209/23 , G06T7/246 , G06T7/251 , G06T7/277 , G06T2207/20016 , G06T2207/30252
摘要： A system of detection, tracking and identification of an evolutionary adaptation of a vehicle lamp includes an image capture device and a processor. The image capture device captures an image of a vehicle. The processor processes the image of the vehicle to generate a detection result of the vehicle lamp, analyzes and integrates vehicle lamp dynamic motion information and vehicle lamp multiple scale variation information based on the detection result, and then tracks the position of the vehicle lamp by applying a multiple scale vehicle lamp measurement model.
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公开(公告)号：US20180041708A1
公开(公告)日：2018-02-08
申请号：US15783603
申请日：2017-10-13
发明人： Zhenyu Wu , Wei Jiang , John Wus , Hong Heather Yu
CPC分类号： H04N5/23267 , G06T7/246 , G06T7/277 , G06T2207/10016 , G06T2207/20016 , H04N5/23251
摘要： A method of stabilizing a video in real time using a single pass including receiving consecutive video frames, where the consecutive video frames include a current video frame and previous video frames, storing the consecutive video frames in a buffer, estimating a global motion for the current video frame by describing a camera's relative motion between the current video frame and one of the previous video frames adjacent to the current video frame, estimating a long-term camera motion for the current video frame by determining a geometric mean of an accumulation of the estimate of the global motion for the current video frame and an estimate of global motion for each of the previous video frames, and displaying the current video frame on a display of an electronic device, the current video frame stabilized based on the estimate of the long-term camera motion.
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公开(公告)号：US20180040155A1
公开(公告)日：2018-02-08
申请号：US15549378
申请日：2016-02-05
申请人： THOMSON Licensing
发明人： Pascal LECGCG , Arthur DUFAY , Jean-Eudes MARViE
摘要： An Apparatus for use in producing lighting effects comprising a plurality of graphic processing units, each graphic processing unit for jittering a first ray, having a direction, to result in a second ray, the second ray having a direction not the same as the first ray; and each graphic processing unit having a plurality of threads for processing rays for computing lighting effects such that the first ray is processed by a first thread and the second ray is processed in a thread adjacent to the first thread; and a memory for providing data for use in computing the lighting effects for the first ray and the second ray.
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公开(公告)号：US09886768B2
公开(公告)日：2018-02-06
申请号：US14786577
申请日：2014-04-25
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterized in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.
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