公开(公告)号：US20110295469A1

公开(公告)日：2011-12-01

申请号：US12008430

申请日：2008-01-11

申请人： Abbas Rafii ,  Richard New ,  Sunil Acharya ,  Timothy Droz

发明人： Abbas Rafii ,  Richard New ,  Sunil Acharya ,  Timothy Droz

IPC分类号： E05F15/02 ,  G06F17/00

CPC分类号： E05F15/43 ,  E05F2015/434 ,  E05F2015/483 ,  E05Y2900/531 ,  G06T7/254 ,  G06T2207/10028 ,  G06T2207/30248

摘要： Time-of-flight (TOF) three-dimensional sensing systems are deployed on or in a motor vehicle to image contact zones associated with potential contact between an avoidable object and the vehicle or vehicle frame and/or remotely controllable motorized moving door or liftgate. An algorithm processes depth data acquired by each TOF system to determine whether an avoidable object is in the associated contact zone. If present, a control signal issues to halt or reverse the mechanism moving the door. A stored database preferably includes a depth image of the contact zone absent any object, an image of the door, and volume of the door. Database images are compared to newly acquired depth images to identify pixel sensors whose depth values are statistically unlikely to represent background or the door. Pixels within the contact zone so identified are an object, and the control signal is issued.

摘要翻译： 飞行时间（TOF）三维感测系统部署在机动车辆上或机动车辆中，以对与可避免物体与车辆或车辆框架和/或远程可控的电动移动门或升降门之间的潜在接触相关联的图像接触区进行成像。 一种算法处理由每个TOF系统获取的深度数据，以确定一个可避免的对象是否在相关联的接触区域中。 如果存在，则控制信号出现停止或反转移动门的机构。 存储的数据库优选地包括没有任何对象的接触区域的深度图像，门的图像和门的体积。 将数据库图像与新获取的深度图像进行比较，以识别其深度值在统计上不太可能代表背景或门的像素传感器。 所识别的接触区域内的像素是对象，并且发出控制信号。

公开(公告)号：US08589033B2

公开(公告)日：2013-11-19

申请号：US12008430

申请日：2008-01-11

申请人： Abbas Rafii ,  Richard New ,  Sunil Acharya ,  Timothy Droz

发明人： Abbas Rafii ,  Richard New ,  Sunil Acharya ,  Timothy Droz

IPC分类号： E05F15/20 ,  G01C3/00 ,  G05B19/4061 ,  B60J5/00

CPC分类号： E05F15/43 ,  E05F2015/434 ,  E05F2015/483 ,  E05Y2900/531 ,  G06T7/254 ,  G06T2207/10028 ,  G06T2207/30248

摘要： Time-of-flight (TOF) three-dimensional sensing systems are deployed on or in a motor vehicle to image contact zones associated with potential contact between an avoidable object and the vehicle or vehicle frame and/or remotely controllable motorized moving door or liftgate. An algorithm processes depth data acquired by each TOF system to determine whether an avoidable object is in the associated contact zone. If present, a control signal issues to halt or reverse the mechanism moving the door. A stored database preferably includes a depth image of the contact zone absent any object, an image of the door, and volume of the door. Database images are compared to newly acquired depth images to identify pixel sensors whose depth values are statistically unlikely to represent background or the door. Pixels within the contact zone so identified are an object, and the control signal is issued.

摘要翻译： 飞行时间（TOF）三维感测系统部署在机动车辆上或机动车辆中，以对与可避免物体与车辆或车辆框架和/或远程可控的电动移动门或升降门之间的潜在接触相关联的图像接触区进行成像。 一种算法处理由每个TOF系统获取的深度数据，以确定一个可避免的对象是否在相关联的接触区域中。 如果存在，则控制信号出现停止或反转移动门的机构。 存储的数据库优选地包括没有任何对象的接触区域的深度图像，门的图像和门的体积。 将数据库图像与新获取的深度图像进行比较，以识别其深度值在统计上不太可能代表背景或门的像素传感器。 所识别的接触区域内的像素是对象，并且发出控制信号。

公开(公告)号：US09325973B1

公开(公告)日：2016-04-26

申请号：US14788795

申请日：2015-07-01

申请人： Aryan Hazeghi ,  Carlo Dal Mutto ,  Abbas Rafii ,  David Demirdjian

发明人： Aryan Hazeghi ,  Carlo Dal Mutto ,  Abbas Rafii ,  David Demirdjian

IPC分类号： H04N13/02 ,  G06K9/00

CPC分类号： H04N13/271 ,  G01B11/2513 ,  G01B11/2545 ,  G02B27/4227 ,  G02B27/4272 ,  G06K9/00335 ,  G06K9/00375 ,  G06K9/2036 ,  G06T7/521 ,  G06T2207/10028 ,  H04N5/332 ,  H04N13/239 ,  H04N13/254 ,  H04N13/296

摘要： Dynamic projection of at least first and second patterns contributes detectable disparity onto a scene that includes a target object. The scene is imaged with two-dimensional cameras whose acquired imagery includes disparity contributions whose presence enable a three-dimensional reconstruction depth map to be rapidly and accurately generated. In one embodiment coherent light is input to a first DOE within whose near range output is disposed a second DOE, whose far range output projects an image. Electronically varying effective optical distance between the two DOEs varies the pattern projected from the second DOE. A processor system and algorithms enable dynamic intelligent selection of projected patterns to more readily discern target object characteristics: shape, size, velocity. Patterns can implement spatio-temporal depth reconstruction, spatio-temporal depth reconstruction, and even single-camera spatio-temporal light coding reconstruction. Target objects may be scanned or may make gestures that are rapidly detected and recognized by the system and method.

公开(公告)号：US08134637B2

公开(公告)日：2012-03-13

申请号：US11444947

申请日：2006-06-01

申请人： Christopher J. Rossbach ,  Abbas Rafii ,  Peiqian Zhao

发明人： Christopher J. Rossbach ,  Abbas Rafii ,  Peiqian Zhao

IPC分类号： G03B13/00 ,  H04N9/07 ,  H04N5/225 ,  H04N13/02 ,  G01C3/08

CPC分类号： H04N9/045 ,  G01S17/89 ,  G01S17/936 ,  H04N5/2355 ,  H04N13/128

摘要： An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.

摘要翻译： 成像系统基本上同时从第一传感器获取z深度和亮度数据，并且从第二传感器获取更高分辨率的RGB数据，并且将来自第一和第二传感器的数据融合以对分辨率可以高达分辨率的RGBZ图像进行建模 第二传感器。 来自第一和第二传感器的捕获数据的时间相关性与捕获的图像数据相关联，其允许两个数据源之间的任意映射，范围从1：多到多：1。 优选地对映射相同目标点的每组传感器的像素进行映射。 许多z深度传感器设置可用于创建静态环境模型。 进行非相关和相关滤波，并且发生上采样以增加z分辨率，使用配准和校准数据构建三维模型。

公开(公告)号：US07741961B1

公开(公告)日：2010-06-22

申请号：US11906046

申请日：2007-09-28

申请人： Abbas Rafii ,  Colin Tracey ,  Stephen Charles Hsu

发明人： Abbas Rafii ,  Colin Tracey ,  Stephen Charles Hsu

IPC分类号： B60Q1/00

CPC分类号： B60Q9/008 ,  B60Q9/005 ,  B60R1/00 ,  B60R2300/107 ,  B60R2300/301 ,  B60R2300/305 ,  B60R2300/307 ,  B60R2300/70 ,  B60R2300/8093 ,  G06T7/20 ,  G06T7/70 ,  G06T2207/30252

摘要： An obstacle detection and tracking system identifies objects in the path of a vehicle equipped with the system and issues a visual, audible, and/or control system warning. The system includes a depth imaging system that acquires depth data from objects in the field of view of a detection zone encompassing at least a portion of the road to be driven upon. It is assumed most of the acquired data represents road plane information. Statistical analysis of the depth image data identifies in (X,Y,Z) space at least one plane of the road being driven, after which identification threshold normal heights above and below the road plane are defined. Imaged objects within the detection zone that are higher or lower than a threshold normal are deemed of potential concern and will generate a warning to the vehicle operator or vehicle.

摘要翻译： 障碍物检测和跟踪系统识别配备有系统的车辆的路径中的物体，并发出视觉，听觉和/或控制系统警告。 该系统包括深度成像系统，该深度成像系统从包含要驱动的道路的至少一部分的检测区域的视场中获取来自物体的深度数据。 假设所获取的大部分数据表示道路平面信息。 深度图像数据的统计分析在（X，Y，Z）空间中识别正在被驱动的道路的至少一个平面，之后定义道路平面上方和下方的识别阈值正常高度。 高于或低于阈值正常的检测区内的成像物体被认为是潜在的关注点，并且将向车辆操作者或车辆产生警告。

公开(公告)号：US07379100B2

公开(公告)日：2008-05-27

申请号：US11058028

申请日：2005-02-14

申请人： Salih Burak Gokturk ,  Abbas Rafii

发明人： Salih Burak Gokturk ,  Abbas Rafii

IPC分类号： H04N5/235

CPC分类号： G01S17/89 ,  G01S7/4865 ,  G01S7/4868 ,  G01S7/487 ,  G01S17/10 ,  H04N5/2355

摘要： Dynamic range of photodetector sensors useable in a TOF system is enhanced by capturing images of an object using multiple exposure time settings. Longer exposure settings more appropriately capture non-reflective and/or distant objects, while shorter exposure settings more appropriately capture reflective and/or closer objects. During parallel mode operation, detection signal readouts are taken from each photodetector at different time intervals within an overall exposure time. In sequential mode operation, detection signal readouts are taken and stored for each photodetector at the end of a first exposure time interval and the photodetectors are reset. After a second, different exposure time interval readouts are taken and stored, and the photodetectors reset, etc. In these modes one of the time exposure intervals will be relatively optimum for enhanced dynamic range operation. Once images with multiple exposure settings are obtained, best effort brightness and range images can be obtained, and motion artifacts can be reduced.

摘要翻译： 在TOF系统中可用的光电检测器传感器的动态范围通过使用多个曝光时间设置捕获物体的图像来增强。 较长的曝光设置更适当地捕获非反射和/或远距离的物体，而较短的曝光设置更适当地捕获反射和/或更近的物体。 在并行模式操作期间，在整个曝光时间内以不同的时间间隔从每个光电检测器获取检测信号读出。 在顺序模式操作中，在第一曝光时间间隔结束时对每个光电检测器采集和存储检测信号读出，并且光电检测器被复位。 一秒钟后，拍摄和存储不同的曝光时间间隔读数，并且光电探测器复位等。在这些模式中，对于增强的动态范围操作，时间曝光间隔之一将是相对最佳的。 一旦获得具有多个曝光设置的图像，就可以获得尽力而为的亮度和范围图像，并且可以减少运动伪影。

公开(公告)号：US07203356B2

公开(公告)日：2007-04-10

申请号：US10411674

申请日：2003-04-11

申请人： Salih Burak Gokturk ,  Abbas Rafii

发明人： Salih Burak Gokturk ,  Abbas Rafii

IPC分类号： G06K9/00

CPC分类号： G06K9/00228 ,  G06T9/001 ,  H04N19/23

摘要： Three-dimensional position information is used to segment objects in a scene viewed by a three dimensional camera. At one or more instances of an interval, the head location of the user is determined. Object-based compression schemes are applied on the segmented objects and the detected head.

摘要翻译： 三维位置信息用于分割由三维相机观看的场景中的物体。 在间隔的一个或多个情况下，确定用户的头部位置。 基于对象的压缩方案应用于分段对象和检测到的头部。

公开(公告)号：US20060241371A1

公开(公告)日：2006-10-26

申请号：US11349312

申请日：2006-02-06

申请人： Abbas Rafii ,  Salih Gokturk

发明人： Abbas Rafii ,  Salih Gokturk

IPC分类号： A61B5/05

CPC分类号： G01S17/89 ,  G01S7/497

摘要： A method and system corrects motion blur in time-of-flight (TOF) image data in which acquired consecutive images may evidence relative motion between the TOF system and the imaged object or scene. Motion is deemed global if associated with movement of the TOF sensor system, and motion is deemed local if associated with movement in the target or scene being imaged. Acquired images are subjected to global and then to local normalization, after which coarse motion detection is applied. Correction is made to any detected global motion, and then to any detected local motion. Corrective compensation results in distance measurements that are substantially free of error due to motion-blur.

摘要翻译： 方法和系统校正飞行时间（TOF）图像数据中的运动模糊，其中所获得的连续图像可以证明TOF系统和成像对象或场景之间的相对运动。 如果与TOF传感器系统的移动相关联，运动被认为是全局的，并且如果与被成像的目标或场景中的运动相关联，则运动被认为是局部的。 获取的图像经受全局然后进行局部归一化，之后应用粗略运动检测。 对任何检测到的全局运动进行校正，然后进行任何检测到的局部运动。 校正补偿导致由于运动模糊而基本上没有错误的距离测量。

公开(公告)号：US20060176467A1

公开(公告)日：2006-08-10

申请号：US11349310

申请日：2006-02-06

申请人： Abbas Rafii ,  Salih Gokturk

发明人： Abbas Rafii ,  Salih Gokturk

IPC分类号： G01C3/08

CPC分类号： G01C3/08

摘要： Performance of pixel detectors in a TOF imaging system is dynamically adjusted to improve dynamic range to maximize the number of pixel detectors that output valid data. The invention traverses the system-acquired z depth, the brightness, and the active brightness images, and assigns each pixel a quantized value. Quantization values encompass pixels receiving too little light, normal light, to too much light. Pixels are grouped into quantized category groups, whose populations are represented by a histogram. If the number of pixels in the normal category exceeds a threshold, no immediate corrective action is taken. If the number of pixel receiving too little (or too much) light exceeds those receiving too much (or too little) light, the invention commands at least one system parameter change to increase (or decrease) light reaching the pixels. Controllable TOF system parameters can include exposure time, common mode resets, video gain, among others.

公开(公告)号：US08840466B2

公开(公告)日：2014-09-23

申请号：US13506474

申请日：2012-04-20

申请人： Nazim Kareemi ,  Abbas Rafii

发明人： Nazim Kareemi ,  Abbas Rafii

IPC分类号： A63F9/24 ,  A63F13/40

CPC分类号： A63F13/573 ,  A63F13/10 ,  A63F13/211 ,  A63F13/213 ,  A63F13/42 ,  A63F13/52 ,  A63F13/56 ,  A63F2300/105 ,  A63F2300/1075 ,  A63F2300/1093 ,  A63F2300/204 ,  A63F2300/6045 ,  A63F2300/646

摘要： Natural three-dimensional (xw, yw, zw, tw) gesture player interaction with a two-dimensional game application rendered on a two or three dimensional display includes mapping acquired (xw, yw, zw, tw) gesture data to virtual game-world (xv, yv, zv, tv) coordinates or vice versa, and scaling if needed. The game application is caused to render at least one image on the display responsive to the mapped and scaled (xw, yw, zw) data, where the display and game interaction is rendered from the player's perception viewpoint. The (xw, yw, zw) data preferably is acquired using spaced-apart two-dimensional cameras coupled to software to reduce the acquired images to a relatively small number of landmark points, from which player gestures may be recognized. The invention may be implemented in a handheld device such as a smart phone or tablet, which device may include a gyroscope and/or accelerometer.

摘要翻译： 与二维或三维显示器上呈现的二维游戏应用程序的自然三维（xw，yw，zw，tw）手势玩家交互包括将获取的（xw，yw，zw，tw）手势数据映射到虚拟游戏世界 （xv，yv，zv，tv）坐标，反之亦然，如果需要缩放。 导致游戏应用程序响应于映射和缩放（xw，yw，zw）数据而在显示器上呈现至少一个图像，其中从玩家的感知观点呈现显示和游戏交互。 （xw，yw，zw）数据优选地是使用耦合到软件的间隔开的二维相机来获取的，以将所获取的图像减少到相对较少数量的地标点，玩家手势可从该地图点识别。 本发明可以在诸如智能电话或平板电脑的手持设备中实现，该设备可以包括陀螺仪和/或加速度计。