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    Discriminitive learning for object detection
    2.
    发明授权
    Discriminitive learning for object detection 有权
    对象检测的歧视性学习

    公开(公告)号：US09098741B1

    公开(公告)日：2015-08-04

    申请号：US13837621

    申请日：2013-03-15

    Applicant: Google Inc.

    Inventor： Dragomir Anguelov ,  Alexander Toshkov Toshev ,  Deva K. Ramanan ,  Xiangxin Zhu

    IPC: G06K9/62 ,  G06K9/00

    CPC classification number: G06K9/00536 ,  G06K9/3241 ,  G06K9/4642 ,  G06T7/73 ,  G06T2207/20081

    Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for object detection are disclosed. Methods can include, for each of a plurality of locations in one or more positive images, image filters are identified, each image filter representing visual features of a location in a positive image (e.g., an image that includes a particular object). Positive location feature scores and negative location feature scores are determined for locations within images. A positive location feature score is based on a similarity between the image filter and feature values for a positive image. A negative location feature score is determined based on a similarity between the image filter and feature values for a negative image. A distinctive location is identified based on the positive and negative location feature scores, and distinguishing feature values for identifying the particular object are identified for the distinctive location.

    Abstract translation: 公开了包括在计算机存储介质上编码的用于对象检测的计算机程序的方法，系统和装置。 方法可以包括对于一个或多个正图像中的多个位置中的每一个，识别图像滤波器，每个图像滤波器表示正图像中的位置的视觉特征（例如，包括特定对象的图像）。 确定位置图像中的位置特征得分和负位置特征得分。 正位置特征得分基于图像滤波器和正图像的特征值之间的相似度。 基于图像滤波器和负像的特征值之间的相似度来确定负位置特征得分。 基于正负位置特征得分识别特征位置，识别特定对象的区别特征值用于特征位置。

    ESTIMATION OF PANORAMIC CAMERA ORIENTATION RELATIVE TO A VEHICLE COORDINATE FRAME
    6.
    发明申请
    ESTIMATION OF PANORAMIC CAMERA ORIENTATION RELATIVE TO A VEHICLE COORDINATE FRAME 有权
    相对于车辆坐标框架的全景摄像机方向的估计

    公开(公告)号：US20140192145A1

    公开(公告)日：2014-07-10

    申请号：US14206577

    申请日：2014-03-12

    Applicant: GOOGLE INC.

    Inventor： Dragomir Anguelov ,  Daniel Joseph Filip

    IPC: H04N5/232 ,  H04N5/262

    CPC classification number: H04N5/23296 ,  G06T7/70 ,  G06T2207/30252 ,  H04N5/23238 ,  H04N5/2628

    Abstract: A system and method are presented for estimating the orientation of a panoramic camera mounted on a vehicle relative to the vehicle coordinate frame. An initial pose estimate of the vehicle is determined based on global positioning system data, inertial measurement unit data, and wheel odometry data of the vehicle. Image data from images captured by the camera is processed to obtain one or more tracks, each track including a sequence of matched feature points stemming from a same three-dimensional location. A correction parameter determined from the initial pose estimate and tracks can then be used to correct the orientations of the images captured by the camera. The correction parameter can be optimized by deriving a correction parameter for each of a multitude of distinct subsequences of one or more runs. Statistical analysis can be performed on the determined correction parameters to produce robust estimates.

    Abstract translation: 提出了一种用于估计安装在车辆上的全景相机相对于车辆坐标系的方位的系统和方法。 基于车辆的全球定位系统数据，惯性测量单元数据和车轮测距数据来确定车辆的初始姿态估计。 处理由相机拍摄的图像的图像数据以获得一个或多个轨道，每个轨道包括源自相同三维位置的匹配特征点的序列。 然后可以使用从初始姿态估计和轨迹确定的校正参数来校正由照相机拍摄的图像的取向。 可以通过为一个或多个运行的多个不同子序列中的每一个导出校正参数来优化校正参数。 可以对所确定的校正参数进行统计分析以产生鲁棒的估计。

    Method and apparatus for enabling virtual tags
    7.
    发明授权
    Method and apparatus for enabling virtual tags 有权
    用于启用虚拟标签的方法和装置

    公开(公告)号：US08661053B2

    公开(公告)日：2014-02-25

    申请号：US13674483

    申请日：2012-11-12

    Applicant: Google Inc.

    Inventor： John Flynn ,  Dragomir Anguelov ,  Hartmut Neven ,  Mark Cummins ,  James Philbin ,  Rafael Spring ,  Hartwig Adam ,  Anand Pillai

    IPC: G06F17/30

    CPC classification number: G06F17/30268 ,  G06F17/30247 ,  G06F17/3028

    Abstract: A method and apparatus for enabling virtual tags is described. The method may include receiving a first digital image data and virtual tag data to be associated with a real-world object in the first digital image data, wherein the first digital image data is captured by a first mobile device, and the virtual tag data includes metadata received from a user of the first mobile device. The method may also include generating a first digital signature from the first digital image data that describes the real-world object, and in response to the generation, inserting in substantially real-time the first digital signature into a searchable index of digital images. The method may also include storing, in a tag database, the virtual tag data and an association between the virtual tag data and the first digital signature inserted into the index of digital images.

    Abstract translation: 描述了一种用于启用虚拟标签的方法和装置。 该方法可以包括在第一数字图像数据中接收与真实世界对象相关联的第一数字图像数据和虚拟标签数据，其中第一数字图像数据由第一移动设备捕获，并且虚拟标签数据包括 从第一移动设备的用户接收的元数据。 该方法还可以包括从描述真实世界对象的第一数字图像数据生成第一数字签名，并且响应于生成，基本上实时地将第一数字签名插入到可搜索的数字图像索引中。 该方法还可以包括在标签数据库中存储虚拟标签数据以及虚拟标签数据与插入数字图像索引中的第一数字签名之间的关联。

    System and method of using images to determine correspondence between locations
    10.
    发明授权
    System and method of using images to determine correspondence between locations 有权
    使用图像确定位置之间的对应关系的系统和方法

    公开(公告)号：US08938091B1

    公开(公告)日：2015-01-20

    申请号：US14100175

    申请日：2013-12-09

    Applicant: Google Inc.

    Inventor： Dragomir Anguelov ,  Ehud Rivlin

    IPC: G06K9/00 ,  G06T11/00 ,  G08G1/123

    CPC classification number: G06K9/6212 ,  G06F17/30241 ,  G06K9/0063 ,  G06K9/4647 ,  G06T11/003

    Abstract: In one aspect, a system and method is provided that matches images that are associated with street addresses with images that are associated with locations that are stored with respect to another reference system, such as latitude/longitude. If the images match, the street address is associated with the location. In a further aspect, text contained in the images is extracted and associated with the street address as well.

    Abstract translation: 在一个方面，提供了一种系统和方法，其将与街道地址相关联的图像与与相对于另一参考系统（例如纬度/经度）存储的位置相关联的图像进行匹配。 如果图像匹配，街道地址与该位置相关联。 在另一方面，图像中包含的文本也被提取并与街道地址相关联。

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