公开(公告)号：US07199754B2

公开(公告)日：2007-04-03

申请号：US11188438

申请日：2005-07-25

申请人： John C. Krumm ,  Eric J. Horvitz

发明人： John C. Krumm ,  Eric J. Horvitz

IPC分类号： G01S3/02

CPC分类号： G01S5/0252 ,  G01C21/206 ,  H04L29/06 ,  Y10S707/99937

摘要： A location system for locating and determining the motion and velocity of a wireless device. The methods include direct inferences about whether a device is in motion versus static based on a statistical analysis of the variation of radio signal strengths over time. The system is trained according to a sparse set of identified locations from which signal strengths are measured. The system uses the signal properties of the identified locations to interpolate for a new location of the wireless device. The system uses a probabilistic graph where the identified locations of the floor plan, expected walking speeds of pedestrians, and independent inference of whether or not the device is in motion are used to determine the new location of the device.

公开(公告)号：US07136525B1

公开(公告)日：2006-11-14

申请号：US09400346

申请日：1999-09-20

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

发明人： Kentaro Toyama ,  John C. Krumm ,  Barry L. Brumitt ,  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： The present invention is embodied in 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： 本发明体现在通过在多个空间尺度上进行处理来保持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：US07113885B2

公开(公告)日：2006-09-26

申请号：US11237405

申请日：2005-09-27

申请人： John C. Krumm

发明人： John C. 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：US06992625B1

公开(公告)日：2006-01-31

申请号：US10423093

申请日：2003-04-25

申请人： John C. Krumm ,  John C. Platt

发明人： John C. Krumm ,  John C. Platt

IPC分类号： G01S3/02 ,  G01C17/00

CPC分类号： H04W64/00 ,  G01C21/206 ,  G01S5/0252 ,  H04W16/20 ,  H04W16/225 ,  H04W88/18

摘要： An architecture for minimizing calibration effort in an IEEE 802.11 device location measurement system. The calibration technique is based upon a regression function that produces adequately accurate location information as a function of signal strength regardless of gaps in the calibration data or minimally available data. The algorithm takes a set of signal strengths from known room locations in a building and generates a function giving (x,y) as a function of signal strength, which function may then be used for the estimation of new locations. Radial basis functions, which are simple to express and compute, are used for regression. The fact that the algorithm maps signal strength to continuous location makes it possible to skip rooms during calibration, yet still evaluate the location in those rooms.

摘要翻译： 用于最小化IEEE 802.11设备位置测量系统中的校准工作的架构。 校准技术基于回归函数，其产生与校准数据或最小可用数据中的间隙无关的信号强度的函数的足够精确的位置信息。 该算法从建筑物中的已知房间位置获取一组信号强度，并产生作为信号强度的函数给出（x，y），该函数然后可用于估计新位置。 用于表达和计算的简单的径向基函数用于回归。 该算法将信号强度映射到连续位置的事实使得可以在校准期间跳过房间，但仍然评估这些房间中的位置。

公开(公告)号：US06789039B1

公开(公告)日：2004-09-07

申请号：US09543235

申请日：2000-04-05

申请人： John C. Krumm

发明人： John C. Krumm

IPC分类号： G06E1546

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，其提高了解决变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进行内插的内插处理。 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：US06771818B1

公开(公告)日：2004-08-03

申请号：US09542147

申请日：2000-04-04

申请人： John C. Krumm ,  Stephen C. Harris

发明人： John C. Krumm ,  Stephen C. Harris

IPC分类号： G06K962

CPC分类号： G06K9/00369 ,  G06T7/194 ,  G06T2207/10028

摘要： The present invention is embodied in a system and process for identifying and locating people and objects of interest in a scene by selectively clustering distinct three-dimensional regions or “blobs” within the scene and comparing the blob clusters to a model. Specifically, a background subtraction process is used to generate a working image from a baseline depth image and a live depth image of the scene. Distinct blobs in the working image are selectively clustered to generate “candidate blob clusters” which are then compared to a model representing the people or objects of interest. The comparison of candidate blob clusters to the model identifies the blob clusters that most accurately represent the people or objects of interest in the scene by determining the closest match or matches to the model. Blob clusters may be compared to a plurality of models representing people or objects of different sizes and shapes. Sequential live depth images may be captured and analyzed in real-time using the system and process of the present invention to provide for continuous identification and location of people or objects as a function of time.

摘要翻译： 本发明体现在用于通过选择性地聚集场景内的不同三维区域或“斑点”并将斑块群集与模型进行比较来识别和定位场景中的人物和物体的系统和过程。 具体地说，使用背景减除处理从基准深度图像和场景的实时深度图像生成工作图像。 选择性地聚集工作图像中不同的斑点以产生“候选斑点簇”，然后将其与表示感兴趣的人或物体的模型进行比较。 候选斑点群集与模型的比较通过确定与模型最接近的匹配或匹配来识别最准确地代表场景中的人或物体的斑点群集。 Blob聚类可以与表示不同大小和形状的人或物体的多个模型进行比较。 可以使用本发明的系统和过程实时捕获和分析连续生活深度图像，以提供作为时间的函数的人或物体的连续识别和定位。

公开(公告)号：US06708228B1

公开(公告)日：2004-03-16

申请号：US09709678

申请日：2000-11-09

申请人： Brian R. Meyers ,  Stephen C. Harris ,  Barry L. Brumitt ,  John C. Krumm ,  Steven A. N. Shafer

发明人： Brian R. Meyers ,  Stephen C. Harris ,  Barry L. Brumitt ,  John C. Krumm ,  Steven A. N. Shafer

IPC分类号： G06F300

CPC分类号： G06F3/011 ,  G06F1/3203 ,  G06F1/3231 ,  G06F3/03543 ,  Y02D10/173

摘要： A system and process for automatically initiating and terminating associations between a computer input device of some type (e.g., computer mice, keyboards, trackballs, and the like) and a computer in a computing space that can have many such devices and several computers. In this way, input devices can be used to interface with any of the computers in the space. For instance, a user could move about a room filled with computers and their respective computer monitors, with a wireless mouse, and interface with the various computers using the mouse. To this end, the aforementioned association entails redirecting signals generated by a computer input device from one computing device in a computing space to another computing device in the space. The association is either initiated or terminated depending on whether sets of preconditions have been satisfied. These preconditions can be tied to any event or combination of events desired, and a set of preconditions can include any number of preconditions, even just one. In general, the preconditions will fall in two categories—namely proximity-related preconditions and nonproximity-related preconditions. Proximity-related initiating preconditions as the name implies involve a requirement that the input devices are relatively near a computer or a display device connected to the computer for an association to be initiated. Conversely, if the input device and computer are too far apart, proximity-related terminating preconditions would dictate that any association be terminated. Nonproximity-related preconditions can concern such things as ambient conditions (e.g., illumination), device states, pre-existing associations, and device incompatibility.

摘要翻译： 用于自动启动和终止某些类型的计算机输入设备（例如，计算机鼠标，键盘，轨迹球等）与可以具有许多这样的设备和多台计算机的计算机空间中的计算机之间的关联的系统和过程。 以这种方式，可以使用输入设备与空间中的任何计算机进行接口。 例如，用户可以通过无线鼠标移动充满计算机的房间及其各自的计算机监视器，并且使用鼠标与各种计算机接口。 为此，上述关联需要将由计算机输入设备产生的信号从计算空间中的一个计算设备重定向到该空间中的另一个计算设备。 根据是否已经满足前提条件，启动或终止关联。 这些前提条件可以与所需事件或事件的组合相关联，一组前提条件可以包括任何数量的前提条件，甚至只包括一个。 一般来说，前提条件将分为两类，即接近相关的前提条件和与非邻近相关的先决条件。 作为名称的与邻近相关的启动前提条件意味着涉及输入设备相对靠近计算机或连接到计算机的显示设备以便关联被启动的要求。 相反，如果输入设备和计算机相距太远，则与邻近相关的终止前提条件将决定任何关联终止。 非接近相关的前提条件可以涉及诸如环境条件（例如，照明），设备状态，预先存在的关联和设备不兼容性的事情。