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1.发明授权Method and apparatus for finding feature correspondences between images captured in real-world environments 有权用于查找在现实环境中捕获的图像之间的特征对应的方法和装置公开(公告)号：US07356164B2
公开(公告)日：2008-04-08
申请号：US10452019
申请日：2003-05-30
CPC分类号： G06K9/6203 , G06T7/33
摘要： Techniques for computing a globally consistent set of image feature correspondences across a wide range of viewpoints suitable for interactive walkthroughs and visualizations. The inventive approach takes advantage of the redundancy inherent in a dense set of images captured in a plane (or in higher dimensions, e.g., images captured in a volume, images captured over time, etc). The technique may detect features in a set of source images and track the features to neighboring images. When features track to the same position in the same image, they are flagged as potential correspondences. Among the potential correspondences, the technique selects the maximal set using a greedy graph-labeling algorithm (e.g., best-first order). Only correspondences that produce a globally consistent labeling are selected. After globalization is done, a set of features common to a group of images can be quickly found and used to warp and combine the images to produce an interpolated novel view of the environment.
摘要翻译： 用于计算适用于交互式演练和可视化的广泛视点范围内的全局一致的图像特征对应的技术。 本发明的方法利用在平面中捕获的密集图像（或更高维度，例如，在体积中捕获的图像，随时间捕获的图像等）中固有的冗余的冗余。 该技术可以检测一组源图像中的特征并将特征跟踪到相邻图像。 当特征跟踪到相同图像中的相同位置时，它们被标记为潜在的对应关系。 在潜在对应中，该技术使用贪心图标签算法（例如，最佳顺序）来选择最大集合。 仅选择产生全局一致标签的通信。 在完成全球化之后，可以快速找到一组图像所共有的特征，并将其用于扭曲和组合图像以产生环境的内插小说视图。
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2.发明授权Method and apparatus for compressing and decompressing images captured from viewpoints throughout N-dimensional space 失效用于在整个N维空间中从视点压缩和解压缩图像的方法和装置公开(公告)号：US07313285B2
公开(公告)日：2007-12-25
申请号：US10452314
申请日：2003-05-30
CPC分类号： G06T9/20 , G06T9/40 , H04N19/107 , H04N19/137 , H04N19/172 , H04N19/53 , H04N19/54 , H04N19/61 , H04N19/63
摘要： Techniques for compressing and decompressing images captured from viewpoints throughout an n-dimensional space. As opposed to conventional approaches, these techniques exploit image coherence over the entire n-dimensional space, providing quick access to images along arbitrary contiguous viewpoint paths during computer graphics applications. This is accomplished by combining a hierarchical data structure with a compression methodology. Such techniques provide for generating and arranging reference images and residual images into a spatial image hierarchy such as a binary tree structure. Images and residuals may be encoded using intra-image compression. A captured image is extracted via a sequence of image warping and addition operations.
摘要翻译： 用于压缩和解压缩在整个n维空间中从视点捕获的图像的技术。 与传统方法相反，这些技术利用整个n维空间的图像一致性，在计算机图形应用期间沿着任意连续的视点路径快速访问图像。 这是通过将分层数据结构与压缩方法相结合来实现的。 这样的技术提供了将参考图像和残留图像生成并排列到诸如二叉树结构之类的空间图像层级中。 可以使用图像内压缩对图像和残差进行编码。 通过图像翘曲和加法操作的序列提取捕获的图像。
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3.发明授权Method and system for creating interactive walkthroughs of real-world environment from set of densely captured images 有权用于从一组紧密捕获的图像创建现实世界环境的交互式演练的方法和系统公开(公告)号：US07126603B2
公开(公告)日：2006-10-24
申请号：US10452020
申请日：2003-05-30
CPC分类号： G06T15/205
摘要： Techniques for creating interactive walkthroughs or visualizations of real-world environments. Such environments for which interactive walkthroughs may be created may comprise large interior spaces (e.g., buildings), wherein a space may comprise multiple rooms. The interactive walkthroughs may be photorealistic and rendered from arbitrary viewpoints at interactive rates. In one aspect of the invention, a technique for generating a visualization representative of an environment comprises the following steps. A dense set of image data is captured from the environment. The captured image data is compressed for storage. A portion of the compressed image data may then be decompressed so as to render a visualization representative of the environment from a selected novel viewpoint. Another portion of the image data may be prefetched and decompressed such that captured image data surrounding the selected novel viewpoint is available to be rendered. The visualization of the environment may then be rendered from the selected novel viewpoint.
摘要翻译： 用于创建现实环境的交互式演练或可视化的技术。 可以创建交互式演练的这种环境可以包括大的内部空间（例如，建筑物），其中空间可以包括多个房间。 互动演练可能是照片写实的，并以互动率从任意观点呈现。 在本发明的一个方面，一种用于生成表示环境的可视化的技术包括以下步骤。 从环境中捕获一组密集的图像数据。 捕获的图像数据被压缩以便存储。 然后可以对压缩图像数据的一部分进行解压缩，以便从选定的新观点呈现代表环境的可视化。 图像数据的另一部分可以被预取和解压缩，使得围绕所选择的新视点的捕获图像数据可用于呈现。 然后可以从所选择的新观点呈现环境的可视化。
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4.发明授权Method and apparatus for computing error-bounded position and orientation of panoramic cameras in real-world environments 有权用于在现实环境中计算全景摄像机的误差位置和方位的方法和装置公开(公告)号：US08896660B2
公开(公告)日：2014-11-25
申请号：US10449929
申请日：2003-05-30
IPC分类号： H04N7/00 , G08B13/196 , G06T7/00 , G05D1/02
CPC分类号： G06T7/0042 , G05D1/0234 , G05D1/0246 , G06T7/73 , G06T7/80 , G06T2207/30244 , G08B13/19608 , G08B13/19643
摘要： Techniques for computing error-bounded position and orientation (pose) of a panoramic camera in real-world environments. Such environments may include large interior spaces (e.g., buildings) A space may include multiple rooms. For example, a technique for capturing images associated with an environment includes the following steps/operations. First, respective placements of fiducials in the environment are determined so as to satisfy at least one constraint. Images are captured, with an image capture device (e.g., camera), associated with the environment with the fiducials placed therein. A pose estimation of the image capture device is then determined based on projections of the fiducials in the captured images. The pose estimation may be optimized so as to obtain an optimal pose per image. Also, the fiducial placements may be optimized so as to obtain optimal fiducial placements. Then at least one constraint may include a constraint associated with the number of visible fiducials, a constraint associated with a distance from a viewpoint to a fiducial, and/or a constraint associated with an angle subtended by pairs of fiducials.
摘要翻译： 在现实环境中计算全景摄像机的误差位置和方向（姿态）的技术。 这样的环境可以包括大的内部空间（例如，建筑物）。空间可以包括多个房间。 例如，用于捕获与环境相关联的图像的技术包括以下步骤/操作。 首先，确定环境中基准的各自的布置以便满足至少一个约束。 拍摄与被放置在其中的基准相关联的环境的图像拍摄装置（例如，照相机）的图像。 然后基于拍摄图像中的基准的投影来确定图像拍摄装置的姿态估计。 可以优化姿态估计，以获得每个图像的最佳姿势。 此外，可以优化基准位置以获得最佳的基准位置。 然后，至少一个约束可以包括与可见基准的数量相关联的约束，与从视点到基准的距离相关联的约束和/或与由基准对成对的角度相关联的约束。
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5.发明授权Method and system for reconstructing 3D interactive walkthroughs of real-world environments 有权重建现实世界环境的3D交互式演练的方法和系统公开(公告)号：US06831643B2
公开(公告)日：2004-12-14
申请号：US10122337
申请日：2002-04-16
IPC分类号： G06T1500
CPC分类号： G06K9/209 , G06K2009/2045 , G06T15/205 , G06T19/003
摘要： An omnidirectional video camera captures images of the environment while moving along several intersecting paths forming an irregular grid. These paths define the boundaries of a set of image loops within the environment. For arbitrary viewpoints within each image loop, a 4D plenoptic function may be reconstructed from the group of images captured at the loop boundary. For an observer viewpoint, a strip of pixels is extracted from an image in the loop in front of the observer and paired with a strip of pixels extracted from another image on the opposite side of the image loop. A new image is generated for an observer viewpoint by warping pairs of such strips of pixels according to the 4D plenoptic function, blending each pair, and then stitching the resulting strips of pixels together.
摘要翻译： 全方向摄像机在沿着形成不规则格栅的几个相交路径移动的同时拍摄环境的图像。 这些路径定义了环境中一组图像循环的边界。 对于每个图像循环中的任意视点，可以从在循环边界处捕获的图像组重建4D全视角函数。 对于观察者观点，从观察者前面的循环中的图像中提取像素条，并与从图像环的相对侧的另一图像提取的像素条配对。 通过根据4D全息函数对这样的像素条对进行扭曲来对观察者视点生成新图像，混合每对，然后将所得到的像素条拼接在一起。
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6.发明授权Camera model and calibration procedure for omnidirectional paraboloidal catadioptric cameras 失效全向抛物面反射折射照相机的相机模型和校准程序公开(公告)号：US07362969B2
公开(公告)日：2008-04-22
申请号：US10156189
申请日：2002-05-29
摘要： A paraboloidal catadioptric camera is calibrated by relaxing the assumption of an ideal system to account for perspective projection, radial distortion, and mirror misalignment occurring within the camera system. Calibration points, which are small and visually distinct objects, are distributed at fixed locations within an environment. Omnidirectional images are captured by the catadioptric camera at different locations of the environment. Data points are obtained by identifying the location of the calibration points in each captured image. An optimization algorithm best-fits the data points to a perspective camera model in order to derive parameters, which are used to calibrate the catadioptric camera.
摘要翻译： 抛物面反折射相机通过放松理想系统的假设来校准，以考虑在相机系统内发生的透视投影，径向失真和镜面未对准。 校准点是小且视觉上不同的对象，分布在环境中的固定位置。 反射折射摄像机在环境的不同位置捕获全方位图像。 通过识别每个捕获图像中的校准点的位置来获得数据点。 优化算法最适合数据点到透视相机模型，以便导出用于校准反折射相机的参数。
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7.发明授权公开(公告)号：US07027049B2
公开(公告)日：2006-04-11
申请号：US10840402
申请日：2004-05-07
IPC分类号： G06T15/20
CPC分类号： G06K9/209 , G06K2009/2045 , G06T15/205 , G06T19/003
摘要： An omnidirectional video camera captures images of the environment while moving along several intersecting paths forming an irregular grid. These paths define the boundaries of a set of image loops within the environment. For arbitrary viewpoints within each image loop, a 4D plenoptic function may be reconstructed from the group of images captured at the loop boundary. For an observer viewpoint, a strip of pixels is extracted from an image in the loop in front of the observer and paired with a strip of pixels extracted from another image on the opposite side of the image loop. A new image is generated for an observer viewpoint by warping pairs of such strips of pixels according to the 4D plenoptic function, blending each pair, and then stitching the resulting strips of pixels together.
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