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公开(公告)号：US20080291282A1
公开(公告)日：2008-11-27
申请号：US11751932
申请日：2007-05-22
IPC分类号： H04N17/00
CPC分类号： H04N17/002 , G06K9/209
摘要： Online camera calibration methods have been proposed whereby calibration information is extracted from the images that the system captures during normal operation and is used to continually update system parameters. However, such existing methods do not cope well with structure-poor scenes having little texture and/or 3D structure such as in a home or office environment. By considering camera families (a set of cameras that are manufactured at least partially in a common manner) it is possible to provide calibration methods which are suitable for use with structure-poor scenes. A prior distribution of camera parameters for a family of cameras is estimated and used to obtain accurate calibration results for individual cameras of the camera family even where the calibration is carried out online, in an environment which is structure-poor.
摘要翻译： 已经提出在线摄像机校准方法，其中从正常操作期间系统捕获的图像中提取校准信息，并用于不断地更新系统参数。 然而，这样的现有方法不能很好地解决具有很少纹理和/或3D结构的结构差的场景，例如在家庭或办公环境中。 通过考虑相机系列（一组至少部分以一般方式制造的相机），可以提供适合与结构不良的场景一起使用的校准方法。 对于一系列相机的相机参数的事先分配被估计并用于获得相机系列的各个照相机的精确校准结果，即使在结构差的环境中在线执行校准。
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公开(公告)号：US07671891B2
公开(公告)日：2010-03-02
申请号：US11751932
申请日：2007-05-22
IPC分类号： H04N17/00
CPC分类号： H04N17/002 , G06K9/209
摘要： Online camera calibration methods have been proposed whereby calibration information is extracted from the images that the system captures during normal operation and is used to continually update system parameters. However, such existing methods do not cope well with structure-poor scenes having little texture and/or 3D structure such as in a home or office environment. By considering camera families (a set of cameras that are manufactured at least partially in a common manner) it is possible to provide calibration methods which are suitable for use with structure-poor scenes. A prior distribution of camera parameters for a family of cameras is estimated and used to obtain accurate calibration results for individual cameras of the camera family even where the calibration is carried out online, in an environment which is structure-poor.
摘要翻译： 已经提出在线摄像机校准方法，其中从正常操作期间系统捕获的图像中提取校准信息，并用于不断地更新系统参数。 然而，这样的现有方法不能很好地解决具有很少纹理和/或3D结构的结构差的场景，例如在家庭或办公环境中。 通过考虑相机系列（一组至少部分以一般方式制造的相机），可以提供适合与结构不良的场景一起使用的校准方法。 对于一系列相机的相机参数的事先分配被估计并用于获得相机系列的各个照相机的精确校准结果，即使在结构差的环境中在线执行校准。
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公开(公告)号：US08908913B2
公开(公告)日：2014-12-09
申请号：US13329493
申请日：2011-12-19
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T7/521 , G06T2207/30108 , G06T2207/30164
摘要： A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
摘要翻译： 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。
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公开(公告)号：US08442305B2
公开(公告)日：2013-05-14
申请号：US12824828
申请日：2010-06-28
申请人： Srikumar Ramalingam
发明人： Srikumar Ramalingam
IPC分类号： G06K9/00
CPC分类号： G01C21/3602 , G06K9/00704 , G06T7/75 , G06T2207/30164 , H04N7/18
摘要： A three-dimensional (3D) pose of a 3D object in an environment is determined by extracting features from an image acquired of the environment by a camera. The features are matched to a 3D model of the environment to determine correspondences. A camera reference frame of the image and a world reference frame of the environment are transformed to a corresponding intermediate camera reference frame and a corresponding world reference frame using the correspondences. Geometrical constraints are applied to the intermediate camera reference frame and the intermediate world reference frame to obtain a constrained intermediate world reference frame and a constrained world reference frame. The 3D pose is then determined from parameters of the constrained intermediate world reference frame and the constrained world reference frame.
摘要翻译： 通过从摄像机获取的环境图像中提取特征来确定环境中3D对象的三维（3D）姿态。 这些特征与环境的3D模型相匹配，以确定对应关系。 图像的相机参考帧和环境的世界参考帧被使用对应关系变换到对应的中间摄像机参考帧和对应的世界参考帧。 将几何约束应用于中间摄像机参考帧和中间世界参考帧，以获得受约束的中间世界参考帧和受约束的世界参考帧。 然后，从受约束的中间世界参考帧和受约束的世界参考帧的参数确定3D姿态。
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5.发明申请Method for Determining a Location From Images Acquired of an Environment with an Omni-Directional Camera 有权用于通过全向摄像机确定获取环境的图像的位置的方法公开(公告)号：US20100329542A1
公开(公告)日：2010-12-30
申请号：US12495655
申请日：2009-06-30
CPC分类号： G06K9/00704 , G01C21/3602 , G06K9/00208 , G06T7/162 , G06T7/194 , G06T7/80 , G06T2207/20016 , G06T2207/30244
摘要： A location and orientation in an environment is determined by first acquiring a real omni-directional image of an unknown skyline in the environment. A set of virtual omni-directional images of known skylines are synthesized from a 3D model of the environment, wherein each virtual omni-directional image is associated with a known location and orientation. The real omni-directional image with each virtual omni-directional images to determine a best matching virtual omni-directional image with the associated known location and orientation.
摘要翻译： 通过首先在环境中获取未知天际线的真正全方位图像来确定环境中的位置和方位。 已知天际线的一组虚拟全方向图像是从环境的3D模型合成的，其中每个虚拟全向图像与已知的位置和取向相关联。 使用每个虚拟全方位图像的真正全方位图像，以确定与相关联的已知位置和方向的最佳匹配虚拟全方位图像。
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6.发明申请Method and System for Determining Poses of Vehicle-Mounted Cameras for In-Road Obstacle Detection 有权确定车载摄像机姿态的方法和系统，用于道路障碍物检测公开(公告)号：US20140037136A1
公开(公告)日：2014-02-06
申请号：US13563925
申请日：2012-08-01
IPC分类号： G06K9/62
CPC分类号： G06T7/579 , G06T7/73 , G06T2200/08 , G06T2207/10016 , G06T2207/20076 , G06T2207/30244 , G06T2207/30261
摘要： Poses of a movable camera relative to an environment are obtained by determining point correspondences from a set of initial images and then applying 2-point motion estimation to the point correspondences to determine a set of initial poses of the camera. A point cloud is generated from the set of initial poses and the point correspondences. Then, for each next image, the point correspondences and corresponding poses are determined, while updating the point cloud.
摘要翻译： 通过确定来自一组初始图像的点对应性，然后将2点运动估计应用于点对应，以确定相机的初始姿势的集合，获得可移动相机相对于环境的姿势。 从一组初始姿势和点对应产生点云。 然后，对于每个下一个图像，在更新点云时确定点对应和相应姿势。
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7.发明申请公开(公告)号：US20120275702A1
公开(公告)日：2012-11-01
申请号：US13097551
申请日：2011-04-29
IPC分类号： G06K9/34
CPC分类号： G06T7/162 , G06T7/11 , G06T2207/10004
摘要： An image is segmented into superpixels by constructing a graph with vertices connected by edges, wherein each vertex corresponds to a pixel in the image, and each edge is associated with a weight indicating a similarity of the corresponding pixels, A subset of edges in the graph are selected to segment the graph into subgraphs, wherein the selecting maximizes an objective function based on an entropy rate and a balancing term. The edges with maximum gains are added to the graph until a number of subgraphs is equal to some threshold.
摘要翻译： 通过构造具有由边缘连接的顶点的图形将图像分割成超像素，其中每个顶点对应于图像中的像素，并且每个边缘与指示相应像素的相似度的权重相关联。图中的边缘子集 被选择为将图形分割为子图，其中所述选择基于熵速率和平衡项来最大化目标函数。 具有最大增益的边缘被添加到图形中，直到一些子图等于某个阈值。
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8.发明申请Method and System for Determining Projections in Non-Central Catadioptric Optical Systems 失效用于确定非中央反射折射光学系统中的投影的方法和系统公开(公告)号：US20120250977A1
公开(公告)日：2012-10-04
申请号：US13077810
申请日：2011-03-31
IPC分类号： G06K9/00
摘要： A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.
摘要翻译： 确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。 反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。 反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在 反射点与对称轴。
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9.发明授权Method and system for determining projections in non-central catadioptric optical systems 有权用于确定非中心反射折射光学系统中的投影的方法和系统公开(公告)号：US08134786B2
公开(公告)日：2012-03-13
申请号：US12826823
申请日：2010-06-30
CPC分类号： G02B17/08 , G02B27/0012
摘要： Embodiment of invention discloses a system and a method for determining a three-dimensional (3D) location of a folding point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system. One embodiment maps the catadioptric system, including 3D locations of the PS and the COP on a two-dimensional (2D) plane defined by an axis of symmetry of a folding optical element and the PS to produce a conic and 2D locations of the PS and COP on the 2D plane, and determines a 2D location of the folding point on the 2D plane based on the conic, the 2D locations of the PS and the COP. Next, the embodiment determines the 3D location of the folding point from the 2D location of the folding point on the 2D plane.
摘要翻译： 发明的实施方式公开了一种用于确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的折叠点的三维（3D）位置的系统和方法 。 一个实施例将反射折射系统（包括PS和COP的3D位置）映射在由折叠光学元件和PS的对称轴限定的二维（2D）平面上，以产生PS的圆锥和2D位置， COP在2D平面上，并且基于二次曲线，PS和COP的2D位置来确定2D平面上的折叠点的2D位置。 接下来，该实施例从2D平面上的折叠点的2D位置确定折叠点的3D位置。
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10.发明授权Method for registering points and planes of 3D data in multiple coordinate systems 有权在多个坐标系中记录3D数据的点和平面的方法公开(公告)号：US09183631B2
公开(公告)日：2015-11-10
申请号：US13539060
申请日：2012-06-29
申请人： Yuichi Taguchi , Srikumar Ramalingam , Yong-Dian Jian , Chen Feng
发明人： Yuichi Taguchi , Srikumar Ramalingam , Yong-Dian Jian , Chen Feng
CPC分类号： G06T7/344 , G06T7/579 , G06T7/75 , G06T2207/10028 , G06T2207/30244
摘要： Three-dimensional data are registered by selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least one plane, at least one point, and a third primitive that is either a point or a plane, and selecting a second set of primitives from the data in a second coordinate system, wherein the second set of primitives includes at least one plane, at least one point, and a third primitive corresponding to the third primitive in the first set of primitives. Then, the planes are registered with each other, as are the points, to obtain registered primitives.
摘要翻译： 通过从第一坐标系中的数据中选择第一组图元来注册三维数据，其中第一组图元包括至少一个平面，至少一个点和第三基元，其是点或 并且从第二坐标系中的数据中选择第二组图元，其中所述第二组图元包括与所述第一组图元中的所述第三图元对应的至少一个平面，至少一个点和第三图元 。 然后，如同点一样，飞机相互注册，以获得注册的原语。
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