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1.发明授权公开(公告)号：US09305361B2
公开(公告)日：2016-04-05
申请号：US13310204
申请日：2011-12-02
申请人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
发明人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.
摘要翻译： 平面物体的两个拍摄图像之间的单应性被分解为至少一种可能的解决方案，并且通常至少两个不明确的解决方案。 使用来自定向传感器的测量，可以消除两种解决方案之间的模糊性，或单个解决方案的验证。 来自定向传感器的测量可以通过将从一个或多个解的相对旋转矩阵导出的偏航，俯仰和/或滚动角中的至少一个与偏航，俯仰和/ 或从取向传感器的测量得出的滚动角度。
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2.发明申请公开(公告)号：US20130063589A1
公开(公告)日：2013-03-14
申请号：US13310204
申请日：2011-12-02
申请人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
发明人： Bolan Jiang , Dheeraj Ahuja , Christopher Brunner
CPC分类号： G06T7/20 , G01B11/022 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： A homography between two captured images of a planar object is decomposed into at least one possible solution, and typically at least two ambiguous solutions. The ambiguity between the two solutions is removed, or a single solution validated, using measurements from orientation sensors. The measurements from orientation sensors may be used by comparing at least one of the yaw, pitch, and/or roll angles derived from a relative rotation matrix for the one or more solutions to a corresponding at least one of the yaw, pitch, and/or roll angles derived from the measurements from the orientation sensors.
摘要翻译： 平面物体的两个拍摄图像之间的单应性被分解为至少一种可能的解决方案，并且通常至少两个不明确的解决方案。 使用来自定向传感器的测量，可以消除两种解决方案之间的模糊性，或单个解决方案的验证。 来自定向传感器的测量可以通过将从一个或多个解的相对旋转矩阵导出的偏航，俯仰和/或滚动角中的至少一个与偏航，俯仰和/ 或从取向传感器的测量得出的滚动角度。
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3.发明授权公开(公告)号：US09013550B2
公开(公告)日：2015-04-21
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译： 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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4.发明授权公开(公告)号：US08638986B2
公开(公告)日：2014-01-28
申请号：US13191340
申请日：2011-07-26
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G01C15/00 , G01S3/7864 , G06T7/75 , G06T2207/10016 , G06T2207/30204 , G06T2207/30244
摘要： A reference patch of an unknown environment is generated on the fly for positioning and tracking. The reference patch is generated using a captured image of a planar object with two perpendicular sets of parallel lines. The planar object is detected in the image and axes of the world coordinate system are defined using the vanishing points for the two sets of parallel lines. The camera rotation is recovered based on the defined axes, and the reference patch of at least a portion of the image of the planar object is generated using the recovered camera rotation. The reference patch can then be used for vision based detection and tracking. The planar object may be detected in the image as sets of parallel lines or as a rectangle.
摘要翻译： 生成一个未知环境的参考补丁，用于定位和跟踪。 使用具有两条垂直平行线的平面物体的捕获图像来生成参考补片。 在图像中检测平面物体，并使用两组平行线的消失点来定义世界坐标系的轴。 基于定义的轴恢复相机旋转，并且使用恢复的相机旋转来生成平面对象的图像的至少一部分的参考补片。 然后，参考补丁可用于基于视觉的检测和跟踪。 平面物体可以在图像中作为一组平行线或矩形检测。
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5.发明申请公开(公告)号：US20120269388A1
公开(公告)日：2012-10-25
申请号：US13191340
申请日：2011-07-26
IPC分类号： G06K9/00
CPC分类号： G01C11/00 , G01C15/00 , G01S3/7864 , G06T7/75 , G06T2207/10016 , G06T2207/30204 , G06T2207/30244
摘要： A reference patch of an unknown environment is generated on the fly for positioning and tracking. The reference patch is generated using a captured image of a planar object with two perpendicular sets of parallel lines. The planar object is detected in the image and axes of the world coordinate system are defined using the vanishing points for the two sets of parallel lines. The camera rotation is recovered based on the defined axes, and the reference patch of at least a portion of the image of the planar object is generated using the recovered camera rotation. The reference patch can then be used for vision based detection and tracking. The planar object may be detected in the image as sets of parallel lines or as a rectangle.
摘要翻译： 生成一个未知环境的参考补丁，用于定位和跟踪。 使用具有两条垂直平行线的平面物体的捕获图像来生成参考补片。 在图像中检测平面物体，并使用两组平行线的消失点来定义世界坐标系的轴。 基于定义的轴恢复相机旋转，并且使用恢复的相机旋转来生成平面对象的图像的至少一部分的参考补片。 然后，参考补丁可用于基于视觉的检测和跟踪。 平面物体可以在图像中作为一组平行线或矩形检测。
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6.发明申请公开(公告)号：US20120062702A1
公开(公告)日：2012-03-15
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译： 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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公开(公告)号：US20120243732A1
公开(公告)日：2012-09-27
申请号：US13235847
申请日：2011-09-19
申请人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
发明人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
CPC分类号： G06T7/246 , G06K9/00671 , G06T7/73 , G06T2207/10004
摘要： A mobile platform efficiently processes sensor data, including image data, using distributed processing in which latency sensitive operations are performed on the mobile platform, while latency insensitive, but computationally intensive operations are performed on a remote server. The mobile platform acquires sensor data, such as image data, and determines whether there is a trigger event to transmit the sensor data to the server. The trigger event may be a change in the sensor data relative to previously acquired sensor data, e.g., a scene change in an image. When a change is present, the sensor data may be transmitted to the server for processing. The server processes the sensor data and returns information related to the sensor data, such as identification of an object in an image or a reference image or model. The mobile platform may then perform reference based tracking using the identified object or reference image or model.
摘要翻译： 移动平台使用在移动平台上执行延迟敏感操作的分布式处理来有效地处理包括图像数据的传感器数据，而延迟不敏感，但在远程服务器上执行计算密集型操作。 移动平台获取诸如图像数据的传感器数据，并且确定是否存在将传感器数据传送到服务器的触发事件。 触发事件可以是传感器数据相对于先前获取的传感器数据的变化，例如图像中的场景变化。 当存在变化时，传感器数据可以被发送到服务器进行处理。 服务器处理传感器数据并返回与传感器数据相关的信息，例如图像中的对象或参考图像或模型的识别。 然后，移动平台可以使用所识别的对象或参考图像或模型来执行基于参考的跟踪。
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公开(公告)号：US20120075440A1
公开(公告)日：2012-03-29
申请号：US12892764
申请日：2010-09-28
申请人： Disha Ahuja , I-Ting Fang , Bolan Jiang , Aditya Sharma
发明人： Disha Ahuja , I-Ting Fang , Bolan Jiang , Aditya Sharma
CPC分类号： G06T7/44 , G06T7/11 , G06T7/136 , G06T7/143 , G06T2207/10004 , G06T2207/20036
摘要： Entropy based image segmentation determines entropy values for pixels in an image based on intensity or edge orientation. One or more threshold values are determined as a fraction of the entropy distribution over the image. For example, high and/or low thresholds may be generated to identify regions in the image associated with trees or sky, respectively. The entropy values are compared to the threshold(s) from which regions within the image can be segmented. Intensity based entropy has no structural information, and thus, proximity based clustering and pruning of the entropy points is performed. A mask may be applied to the segmented regions to remove the regions from the image, which is useful in, e.g., objection recognition processes. Additionally, separate buildings may be identified and segmented using edge orientation entropy with clustering and pruning.
摘要翻译： 基于熵的图像分割基于强度或边缘方向确定图像中的像素的熵值。 一个或多个阈值被确定为图像上的熵分布的分数。 例如，可以产生高和/或低阈值，以分别识别与树或天空相关联的图像中的区域。 将熵值与可以分割图像内的区域的阈值进行比较。 基于强度的熵没有结构信息，因此进行熵点的邻近聚类和修剪。 可以将掩模应用于分割区域以从图像中去除区域，这在例如异常识别过程中是有用的。 另外，可以使用具有聚类和修剪的边缘定向熵来识别和分割单独的建筑物。
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公开(公告)号：US09495760B2
公开(公告)日：2016-11-15
申请号：US13235847
申请日：2011-09-19
申请人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
发明人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
CPC分类号： G06T7/246 , G06K9/00671 , G06T7/73 , G06T2207/10004
摘要： A mobile platform efficiently processes sensor data, including image data, using distributed processing in which latency sensitive operations are performed on the mobile platform, while latency insensitive, but computationally intensive operations are performed on a remote server. The mobile platform acquires sensor data, such as image data, and determines whether there is a trigger event to transmit the sensor data to the server. The trigger event may be a change in the sensor data relative to previously acquired sensor data, e.g., a scene change in an image. When a change is present, the sensor data may be transmitted to the server for processing. The server processes the sensor data and returns information related to the sensor data, such as identification of an object in an image or a reference image or model. The mobile platform may then perform reference based tracking using the identified object or reference image or model.
摘要翻译： 移动平台使用在移动平台上执行延迟敏感操作的分布式处理来有效地处理包括图像数据的传感器数据，而延迟不敏感，但在远程服务器上执行计算密集型操作。 移动平台获取诸如图像数据的传感器数据，并且确定是否存在将传感器数据传送到服务器的触发事件。 触发事件可以是传感器数据相对于先前获取的传感器数据的变化，例如图像中的场景变化。 当存在变化时，传感器数据可以被发送到服务器进行处理。 服务器处理传感器数据并返回与传感器数据相关的信息，例如图像中的对象或参考图像或模型的识别。 然后，移动平台可以使用所识别的对象或参考图像或模型来执行基于参考的跟踪。
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10.发明授权公开(公告)号：US08427536B2
公开(公告)日：2013-04-23
申请号：US12622313
申请日：2009-11-19
申请人： Bolan Jiang , Serafin Diaz Spindola
发明人： Bolan Jiang , Serafin Diaz Spindola
IPC分类号： H04N7/18
CPC分类号： H04L67/18 , G06T7/74 , G06T2207/30244 , H04W4/026
摘要： A mobile station determines its orientation using an image of an object produced by the mobile station and a top view of that object obtained from an online server. The mobile station image is analyzed to identify lines on the object and to determine the direction of the lines with respect to the mobile station. The top view image, which may be a satellite image, is also analyzed to identify lines on the object that correspond to the lines identified in the mobile station image. The direction of the lines in the top view image are compared to the direction of lines in the mobile station image and based on their relative orientation the orientation of the mobile station may be determined. For example, the difference between the preliminary and corrected orientations may be stored as a calibration factor and used to correct subsequent orientation measurements from orientation sensors.
摘要翻译： 移动台使用由移动台产生的对象的图像和从在线服务器获得的该对象的顶视图来确定其定向。 分析移动台图像以识别对象上的线并且确定相对于移动台的线的方向。 还可以分析可以是卫星图像的顶视图，以识别与移动台图像中识别的线对应的对象上的线。 将顶视图中的线的方向与移动台图像中的线的方向进行比较，并且基于它们的相对定向，可以确定移动台的取向。 例如，预备方向和校正方向之间的差可以存储为校正因子，并且用于校正来自定位传感器的后续取向测量。
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