公开(公告)号：US09530073B2

公开(公告)日：2016-12-27

申请号：US13090180

申请日：2011-04-19

申请人： Onur C. Hamsici ,  John H. Hong ,  Yuriy Reznik ,  Sundeep Vaddadi ,  Chong Uk. Lee

发明人： Onur C. Hamsici ,  John H. Hong ,  Yuriy Reznik ,  Sundeep Vaddadi ,  Chong Uk. Lee

IPC分类号： G06K9/00 ,  G06K9/46

CPC分类号： G06K9/4671

摘要： A local feature descriptor for a point in an image is generated over multiple levels of an image scale space. The image is gradually smoothened to obtain a plurality of scale spaces. A point may be identified as the point of interest within a first scale space from the plurality of scale spaces. A plurality of image derivatives is obtained for each of the plurality of scale spaces. A plurality of orientation maps is obtained (from the plurality of image derivatives) for each scale space in the plurality of scale spaces. Each of the plurality of orientation maps is then smoothened (e.g., convolved) to obtain a corresponding plurality of smoothed orientation maps. Therefore, a local feature descriptor for the point may be generated by sparsely sampling a plurality of smoothed orientation maps corresponding to two or more scale spaces from the plurality of scale spaces.

摘要翻译： 图像中的一个点的局部特征描述符是通过图像比例空间的多个级别生成的。 图像逐渐平滑以获得多个刻度空间。 点可以被识别为来自多个刻度空间的第一刻度空间内的兴趣点。 为多个刻度空间中的每一个获得多个图像导数。 对于多个刻度空间中的每个刻度空间，获得多个取向图（来自多个图像衍生）。 然后对多个取向图中的每一个进行平滑（例如，卷积）以获得相应的多个平滑取向图。 因此，可以通过从多个比例空间中稀疏采样对应于两个或更多比例空间的多个平滑取向图来生成该点的局部特征描述符。

公开(公告)号：US09036925B2

公开(公告)日：2015-05-19

申请号：US13312335

申请日：2011-12-06

申请人： Sundeep Vaddadi ,  Onur C. Hamsici ,  Yuriy Reznik ,  John H. Hong ,  Chong U. Lee

发明人： Sundeep Vaddadi ,  Onur C. Hamsici ,  Yuriy Reznik ,  John H. Hong ,  Chong U. Lee

IPC分类号： G06K9/62 ,  G06K9/54 ,  G06K9/60 ,  G06F17/30

CPC分类号： G06F17/30247 ,  G06K9/62 ,  G06K9/627

摘要： Techniques are disclosed for performing robust feature matching for visual search. An apparatus comprising an interface and a feature matching unit may implement these techniques. The interface receives a query feature descriptor. The feature matching unit then computes a distance between a query feature descriptor and reference feature descriptors and determines a first group of the computed distances and a second group of the computed distances in accordance with a clustering algorithm, where this second group of computed distances comprises two or more of the computed distances. The feature matching unit then determines whether the query feature descriptor matches one of the reference feature descriptors associated with a smallest one of the computed distances based on the determined first group and second group of the computed distances.

摘要翻译： 公开了用于执行用于视觉搜索的鲁棒特征匹配的技术。 包括接口和特征匹配单元的装置可以实现这些技术。 接口接收查询特征描述符。 特征匹配单元然后计算查询特征描述符和参考特征描述符之间的距离，并且根据聚类算法确定计算出的距离的第一组和所计算的距离的第二组，其中该第二组计算距离包括两个 或更多的计算距离。 特征匹配单元然后基于所确定的计算出的距离的第一组和第二组来确定查询特征描述符是否与与计算出的距离中的最小一个相关联的参考特征描述符之一匹配。

公开(公告)号：US20130293532A1

公开(公告)日：2013-11-07

申请号：US13619234

申请日：2012-09-14

申请人： Sundeep Vaddadi ,  Andrew Moore Ziegler ,  Onur C. Hamsici

发明人： Sundeep Vaddadi ,  Andrew Moore Ziegler ,  Onur C. Hamsici

IPC分类号： G06T15/00

CPC分类号： G06T15/005 ,  G06T7/11 ,  G06T2207/10028 ,  G06T2207/20101

摘要： Techniques for segmentation of three-dimensional (3D) point clouds are described herein. An example of a method for user-assisted segmentation of a 3D point cloud described herein includes obtaining a 3D point cloud of a scene containing a target object; receiving a seed input indicative of a location of the target object within the scene; and generating a segmented point cloud corresponding to the target object by pruning the 3D point cloud based on the seed input.

摘要翻译： 本文描述了三维（3D）点云的分割技术。 本文描述的用于用户辅助分割3D点云的方法的示例包括获得包含目标对象的场景的3D点云; 接收指示所述目标物体在所述场景内的位置的种子输入; 以及通过基于种子输入修剪3D点云来生成与目标对象相对应的分割点云。

公开(公告)号：US08571306B2

公开(公告)日：2013-10-29

申请号：US13229654

申请日：2011-09-09

申请人： Yuriy Reznik ,  Onur C Hamsici ,  Sundeep Vaddadi ,  John H Hong ,  Chong U Lee

发明人： Yuriy Reznik ,  Onur C Hamsici ,  Sundeep Vaddadi ,  John H Hong ,  Chong U Lee

IPC分类号： G06K9/00

CPC分类号： G06T9/00 ,  G06F17/18 ,  G06F17/30247 ,  G06K9/4671 ,  G06K2009/226 ,  G06T9/005

摘要： Methods and devices for coding of feature locations are disclosed. In one embodiment, a method of coding feature location information of an image includes generating a hexagonal grid, where the hexagonal grid includes a plurality of hexagonal cells, quantizing feature locations of an image using the hexagonal grid, generating a histogram to record occurrences of feature locations in each hexagonal cell, and encoding the histogram in accordance with the occurrences of feature locations in each hexagonal cell. The method of encoding the histogram includes applying context information of neighboring hexagonal cells to encode information of a subsequent hexagonal cell to be encoded in the histogram, where the context information includes context information from first order neighbors and context information from second order neighbors of the subsequent hexagonal cell to be encoded.

摘要翻译： 公开了用于编码特征位置的方法和装置。 在一个实施例中，一种编码图像的特征位置信息的方法包括生成六边形网格，其中六边形网格包括多个六边形单元格，使用六边形网格量化图像的特征位置，生成直方图以记录特征的出现 每个六边形单元格中的位置，并根据每个六边形单元格中特征位置的出现来对直方图进行编码。 对直方图进行编码的方法包括应用相邻六边形单元格的上下文信息来编码在直方图中要编码的随后的六边形单元格的信息，其中上下文信息包括来自一阶邻居的上下文信息和来自第二阶邻居的上下文信息 六角形单元格进行编码。

公开(公告)号：US20120027290A1

公开(公告)日：2012-02-02

申请号：US13193294

申请日：2011-07-28

申请人： Pawan Kumar Baheti ,  Sundeep Vaddadi ,  Ashwin Swaminathan ,  Yuriy Reznik ,  Onur C. Hamsici ,  Murali Ramaswamy Chari ,  John H. Hong ,  Chong Uk Lee

发明人： Pawan Kumar Baheti ,  Sundeep Vaddadi ,  Ashwin Swaminathan ,  Yuriy Reznik ,  Onur C. Hamsici ,  Murali Ramaswamy Chari ,  John H. Hong ,  Chong Uk Lee

IPC分类号： G06K9/62

CPC分类号： G06K9/6857 ,  G06K9/4671

摘要： In one example, an apparatus includes a processor configured to extract a first set of one or more keypoints from a first set of blurred images of a first octave of a received image, calculate a first set of one or more descriptors for the first set of keypoints, receive a confidence value for a result produced by querying a feature descriptor database with the first set of descriptors, wherein the result comprises information describing an identity of an object in the received image, and extract a second set of one or more keypoints from a second set of blurred images of a second octave of the received image when the confidence value does not exceed a confidence threshold. In this manner, the processor may perform incremental feature descriptor extraction, which may improve computational efficiency of object recognition in digital images.

摘要翻译： 在一个示例中，设备包括处理器，其被配置为从接收到的图像的第一个八度音阶的第一组模糊图像中提取一个或多个关键点的第一组，计算第一组的一个或多个描述符 关键点，通过用第一组描述符查询特征描述符数据库而产生的结果的置信度值，其中结果包括描述接收到的图像中的对象的身份的信息，并且从一个或多个关键点中提取一个或多个关键点的第二组 当置信度值不超过置信度阈值时，接收图像的第二倍频程的第二组模糊图像。 以这种方式，处理器可以执行增量特征描述符提取，这可以提高数字图像中对象识别的计算效率。

公开(公告)号：US09153061B2

公开(公告)日：2015-10-06

申请号：US13619234

申请日：2012-09-14

申请人： Sundeep Vaddadi ,  Andrew Moore Ziegler ,  Onur C. Hamsici

发明人： Sundeep Vaddadi ,  Andrew Moore Ziegler ,  Onur C. Hamsici

IPC分类号： G06T15/00 ,  G06T7/00

CPC分类号： G06T15/005 ,  G06T7/11 ,  G06T2207/10028 ,  G06T2207/20101

摘要： Techniques for segmentation of three-dimensional (3D) point clouds are described herein. An example of a method for user-assisted segmentation of a 3D point cloud described herein includes obtaining a 3D point cloud of a scene containing a target object; receiving a seed input indicative of a location of the target object within the scene; and generating a segmented point cloud corresponding to the target object by pruning the 3D point cloud based on the seed input.

摘要翻译： 本文描述了三维（3D）点云的分割技术。 本文描述的用于用户辅助分割3D点云的方法的示例包括获得包含目标对象的场景的3D点云; 接收指示所述目标物体在所述场景内的位置的种子输入; 以及通过基于种子输入修剪3D点云来生成与目标对象相对应的分割点云。

公开(公告)号：US20130187905A1

公开(公告)日：2013-07-25

申请号：US13560678

申请日：2012-07-27

申请人： Sundeep Vaddadi ,  Krishnakanth S. Chimalamarri ,  Ketal V. Gandhi ,  Anubha Jayaswal ,  Prince Gupta ,  Jose Ricardo Leal dos Santos ,  Chelsea M. Dereck

发明人： Sundeep Vaddadi ,  Krishnakanth S. Chimalamarri ,  Ketal V. Gandhi ,  Anubha Jayaswal ,  Prince Gupta ,  Jose Ricardo Leal dos Santos ,  Chelsea M. Dereck

IPC分类号： G06T19/00

CPC分类号： G06T19/006 ,  G06T15/205 ,  G06T19/20 ,  G06T2210/04 ,  G06T2219/2021

摘要： In some embodiments, methods and systems are provided for assisting a user in visualizing how a modified real-world setting would appear. An imaging device may capture a plurality of images of one or more objects or settings. A three-dimensional model of each object or setting may be created based on the images. These models may then be used to create a realistic image of a modified setting. For example, an image may display a setting (e.g., a living room) with an additional object (e.g., a couch) in the setting. The image may be realistic, in that it may accurately represent dimensions of the object relative to dimensions in the setting. Because three-dimensional models were created for both the setting and object, a user may be able to manipulate the image to, e.g., re-position and/or re-orient the object within the setting and view the setting from different perspectives.

摘要翻译： 在一些实施例中，提供了方法和系统以帮助用户可视化修改的现实世界设置将如何出现。 成像装置可以捕获一个或多个对象或设置的多个图像。 可以基于图像来创建每个对象或设置的三维模型。 然后可以使用这些模型来创建修改设置的逼真图像。 例如，图像可以在设置中显示具有附加对象（例如，沙发）的设置（例如，客厅）。 图像可能是现实的，因为它可以准确地表示对象相对于设置中的尺寸的尺寸。 由于为设置和对象都创建了三维模型，用户可能能够操纵图像，例如在设置内重新定位和/或重新定向对象，并从不同的角度查看设置。

公开(公告)号：US20130046793A1

公开(公告)日：2013-02-21

申请号：US13214089

申请日：2011-08-19

申请人： Yuriy Reznik ,  Sundeep Vaddadi

发明人： Yuriy Reznik ,  Sundeep Vaddadi

IPC分类号： G06F17/30

CPC分类号： G06K9/6261 ,  G06F16/583 ,  G06F16/9027

摘要： A method for generating a descriptor tree data structure is provided. A plurality of descriptors are obtained for one or more images, each descriptor defined within a multi-dimensional descriptor space. The plurality of descriptors are partitioned into nodes of a tree data structure, where the number of nodes in such partitioning is a function of the number of descriptors in the plurality of descriptors. The nodes having more than two descriptors may be sub-partitioned into sub-nodes of the tree data structure until two or fewer descriptors remain per sub-node, where such sub-partitioning is a function of the number of descriptors remaining in each such node and/or a dimensionality of such descriptors.

摘要翻译： 提供了一种用于生成描述符树数据结构的方法。 为一个或多个图像获得多个描述符，每个描述符在多维描述符空间内定义。 多个描述符被划分为树数据结构的节点，其中这种分区中的节点数是多个描述符中的描述符的数量的函数。 具有多于两个描述符的节点可以被子划分为树数据结构的子节点，直到每个子节点保持两个或更少的描述符，其中这样的子分区是剩余在每个这样的节点中的描述符的数量的函数 和/或这样的描述符的维度。

公开(公告)号：US20130039566A1

公开(公告)日：2013-02-14

申请号：US13229654

申请日：2011-09-09

申请人： Yuriy Reznick ,  Onur C. Hamsici ,  Sundeep Vaddadi ,  John H. Hong ,  Chong U. Lee

发明人： Yuriy Reznick ,  Onur C. Hamsici ,  Sundeep Vaddadi ,  John H. Hong ,  Chong U. Lee

IPC分类号： G06K9/36 ,  G06K9/00

CPC分类号： G06T9/00 ,  G06F17/18 ,  G06F17/30247 ,  G06K9/4671 ,  G06K2009/226 ,  G06T9/005

摘要： Methods and devices for coding of feature locations are disclosed. In one embodiment, a method of coding feature location information of an image includes generating a hexagonal grid, where the hexagonal grid includes a plurality of hexagonal cells, quantizing feature locations of an image using the hexagonal grid, generating a histogram to record occurrences of feature locations in each hexagonal cell, and encoding the histogram in accordance with the occurrences of feature locations in each hexagonal cell. The method of encoding the histogram includes applying context information of neighboring hexagonal cells to encode information of a subsequent hexagonal cell to be encoded in the histogram, where the context information includes context information from first order neighbors and context information from second order neighbors of the subsequent hexagonal cell to be encoded.

摘要翻译： 公开了用于编码特征位置的方法和装置。 在一个实施例中，一种编码图像的特征位置信息的方法包括生成六边形网格，其中六边形网格包括多个六边形单元格，使用六边形网格量化图像的特征位置，生成直方图以记录特征的出现 每个六边形单元格中的位置，并根据每个六边形单元格中特征位置的出现来对直方图进行编码。 对直方图进行编码的方法包括应用相邻六边形单元格的上下文信息来编码在直方图中要编码的随后的六边形单元格的信息，其中上下文信息包括来自一阶邻居的上下文信息和来自第二阶邻居的上下文信息 六角形单元格进行编码。

公开(公告)号：US20110170780A1

公开(公告)日：2011-07-14

申请号：US12986607

申请日：2011-01-07

申请人： Sundeep Vaddadi ,  John H. Hong ,  Onur C. Hamsici ,  Chong U. Lee

发明人： Sundeep Vaddadi ,  John H. Hong ,  Onur C. Hamsici ,  Chong U. Lee

IPC分类号： G06K9/46

CPC分类号： G06K9/4671

摘要： A normalization process is implemented at a difference of scale space to completely or substantially reduce the effect that illumination changes has on feature/keypoint detection in an image. An image may be processed by progressively blurring the image using a smoothening function to generate a smoothened scale space for the image. A difference of scale space may be generated by taking the difference between two different smoothened versions of the image. A normalized difference of scale space image may be generated by dividing the difference of scale space image by a third smoothened version of the image, where the third smoothened version of the image that is as smooth or smoother than the smoothest of the two different smoothened versions of the image. The normalized difference of scale space image may then be used to detect one or more features/keypoints for the image.

摘要翻译： 在尺度空间的差异上实现归一化过程以完全或基本上减少照明变化对图像中的特征/关键点检测的影响。 可以通过使用平滑函数逐渐模糊图像来生成图像来生成图像，以生成平滑的图像尺度空间。 可以通过获取图像的两个不同平滑版本之间的差异来产生比例空间的差异。 尺度空间图像的归一化差异可以通过将尺度空间图像的差除以图像的第三平滑版本而生成，其中图像的第三平滑版本比两个不同平滑版本中最平滑的平滑或平滑 的图像。 尺度空间图像的归一化差异可以用于检测图像的一个或多个特征/关键点。