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    Moving object segmentation using depth images
    1.
    发明授权
    Moving object segmentation using depth images 有权
    使用深度图像移动物体分割

    公开(公告)号：US08401225B2

    公开(公告)日：2013-03-19

    申请号：US13017626

    申请日：2011-01-31

    申请人： Richard Newcombe ,  Shahram Izadi ,  Otmar Hilliges ,  David Kim ,  David Molyneaux ,  Jamie Daniel Joseph Shotton ,  Pushmeet Kohli ,  Andrew Fitzgibbon ,  Stephen Edward Hodges ,  David Alexander Butler

    发明人： Richard Newcombe ,  Shahram Izadi ,  Otmar Hilliges ,  David Kim ,  David Molyneaux ,  Jamie Daniel Joseph Shotton ,  Pushmeet Kohli ,  Andrew Fitzgibbon ,  Stephen Edward Hodges ,  David Alexander Butler

    IPC分类号： G06K9/00

    CPC分类号： G06T7/215 ,  G06T7/194 ,  G06T2207/10028 ,  G06T2207/30244

    摘要： Moving object segmentation using depth images is described. In an example, a moving object is segmented from the background of a depth image of a scene received from a mobile depth camera. A previous depth image of the scene is retrieved, and compared to the current depth image using an iterative closest point algorithm. The iterative closest point algorithm includes a determination of a set of points that correspond between the current depth image and the previous depth image. During the determination of the set of points, one or more outlying points are detected that do not correspond between the two depth images, and the image elements at these outlying points are labeled as belonging to the moving object. In examples, the iterative closest point algorithm is executed as part of an algorithm for tracking the mobile depth camera, and hence the segmentation does not add substantial additional computational complexity.

    摘要翻译： 描述使用深度图像来移动物体分割。 在一个示例中，从从移动深度相机接收的场景的深度图像的背景中分割移动物体。 检索场景的先前深度图像，并使用迭代最近点算法与当前深度图像进行比较。 迭代最近点算法包括对当前深度图像和先前深度图像之间对应的一组点的确定。 在确定点集合期间，检测到一个或多个在两个深度图像之间不对应的离开点，并且将这些离散点处的图像元素标记为属于移动对象。 在示例中，迭代最近点算法作为用于跟踪移动深度相机的算法的一部分被执行，因此分割不会增加实质的额外的计算复杂度。

    Reducing Interference Between Multiple Infra-Red Depth Cameras
    3.
    发明申请
    Reducing Interference Between Multiple Infra-Red Depth Cameras 有权
    减少多个红外深度相机之间的干扰

    公开(公告)号：US20120194650A1

    公开(公告)日：2012-08-02

    申请号：US13017518

    申请日：2011-01-31

    申请人： Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    发明人： Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    IPC分类号： H04N13/02

    CPC分类号： G06T7/55 ,  G01B9/08 ,  G01B11/22 ,  H04N5/23229 ,  H04N5/247 ,  H04N5/33 ,  H04N5/332 ,  H04N13/271

    摘要： Systems and methods for reducing interference between multiple infra-red depth cameras are described. In an embodiment, the system comprises multiple infra-red sources, each of which projects a structured light pattern into the environment. A controller is used to control the sources in order to reduce the interference caused by overlapping light patterns. Various methods are described including: cycling between the different sources, where the cycle used may be fixed or may change dynamically based on the scene detected using the cameras; setting the wavelength of each source so that overlapping patterns are at different wavelengths; moving source-camera pairs in independent motion patterns; and adjusting the shape of the projected light patterns to minimize overlap. These methods may also be combined in any way. In another embodiment, the system comprises a single source and a mirror system is used to cast the projected structured light pattern around the environment.

    摘要翻译： 描述了用于减少多个红外深度摄像机之间的干扰的系统和方法。 在一个实施例中，系统包括多个红外源，每个红外源将结构化的光图案投射到环境中。 控制器用于控制源，以减少由重叠的光图案引起的干扰。 描述了各种方法，包括：在不同的源之间循环，其中使用的周期可以是固定的，或者可以基于使用相机检测的场景动态地改变; 设置每个源的波长，使得重叠图案处于不同的波长; 以独立运动模式移动源摄像机对; 并调整投影光图案的形状以最小化重叠。 这些方法也可以以任何方式组合。 在另一个实施例中，系统包括单个源，并且使用镜子系统将投射的结构化光图案围绕环境投射。

    Generating computer models of 3D objects
    4.
    发明授权
    Generating computer models of 3D objects 有权
    生成3D对象的计算机模型

    公开(公告)号：US09053571B2

    公开(公告)日：2015-06-09

    申请号：US13154288

    申请日：2011-06-06

    申请人： Jamie Daniel Joseph Shotton ,  Shahram Izadi ,  Otmar Hilliges ,  David Kim ,  David Molyneaux ,  Pushmeet Kohli ,  Andrew Fitzgibbon ,  Stephen Edward Hodges

    发明人： Jamie Daniel Joseph Shotton ,  Shahram Izadi ,  Otmar Hilliges ,  David Kim ,  David Molyneaux ,  Pushmeet Kohli ,  Andrew Fitzgibbon ,  Stephen Edward Hodges

    IPC分类号： G06T17/00 ,  G06T15/00 ,  G06T17/10 ,  G06T7/20

    CPC分类号： G06T7/251 ,  G06T17/10 ,  G06T2200/08 ,  G06T2207/10028

    摘要： Generating computer models of 3D objects is described. In one example, depth images of an object captured by a substantially static depth camera are used to generate the model, which is stored in a memory device in a three-dimensional volume. Portions of the depth image determined to relate to the background are removed to leave a foreground depth image. The position and orientation of the object in the foreground depth image is tracked by comparison to a preceding depth image, and the foreground depth image is integrated into the volume by using the position and orientation to determine where to add data derived from the foreground depth image into the volume. In examples, the object is hand-rotated by a user before the depth camera. Hands that occlude the object are integrated out of the model as they do not move in sync with the object due to re-gripping.

    摘要翻译： 描述生成3D对象的计算机模型。 在一个示例中，使用由基本上静态的深度相机拍摄的对象的深度图像来生成存储在三维体积中的存储器设备中的模型。 确定与背景相关的深度图像的部分被去除以留下前景深度图像。 通过与前一个深度图像进行比较来跟踪前景深度图像中的对象的位置和方向，并且通过使用位置和方向来将前景深度图像集成到卷中，以确定在哪里添加从前景深度图像导出的数据 进入卷。 在示例中，该对象在深度相机之前由用户手动旋转。 闭合对象的手从模型中集成出来，因为它们不会因为重新抓取而与对象同步移动。

    Three-dimensional environment reconstruction
    7.
    发明授权
    Three-dimensional environment reconstruction 有权
    三维环境重建

    公开(公告)号：US08587583B2

    公开(公告)日：2013-11-19

    申请号：US13017690

    申请日：2011-01-31

    申请人： Richard Newcombe ,  Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    发明人： Richard Newcombe ,  Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    IPC分类号： G06T17/05 ,  G06T19/00

    CPC分类号： G06T17/00 ,  G06T2200/08

    摘要： Three-dimensional environment reconstruction is described. In an example, a 3D model of a real-world environment is generated in a 3D volume made up of voxels stored on a memory device. The model is built from data describing a camera location and orientation, and a depth image with pixels indicating a distance from the camera to a point in the environment. A separate execution thread is assigned to each voxel in a plane of the volume. Each thread uses the camera location and orientation to determine a corresponding depth image location for its associated voxel, determines a factor relating to the distance between the associated voxel and the point in the environment at the corresponding location, and updates a stored value at the associated voxel using the factor. Each thread iterates through an equivalent voxel in the remaining planes of the volume, repeating the process to update the stored value.

    摘要翻译： 描述了三维环境重建。 在一个示例中，在由存储在存储器件上的体素组成的3D体积中生成真实世界环境的3D模型。 该模型是从描述相机位置和方向的数据构建的，以及具有指示从相机到环境中的点的距离的像素的深度图像。 单独的执行线程被分配给卷的平面中的每个体素。 每个线程使用摄像机位置和方向来确定其相关体素的相应深度图像位置，确定与相关体素和相应位置处的环境中的点之间的距离有关的因子，并更新相关联的体素的存储值 体素使用因子。 每个线程遍历卷的剩余平面中的等效体素，重复更新存储值的过程。

    Three-Dimensional Environment Reconstruction
    9.
    发明申请
    Three-Dimensional Environment Reconstruction 有权
    三维环境重建

    公开(公告)号：US20120194516A1

    公开(公告)日：2012-08-02

    申请号：US13017690

    申请日：2011-01-31

    申请人： Richard Newcombe ,  Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    发明人： Richard Newcombe ,  Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    IPC分类号： G06T17/00

    CPC分类号： G06T17/00 ,  G06T2200/08

    摘要： Three-dimensional environment reconstruction is described. In an example, a 3D model of a real-world environment is generated in a 3D volume made up of voxels stored on a memory device. The model is built from data describing a camera location and orientation, and a depth image with pixels indicating a distance from the camera to a point in the environment. A separate execution thread is assigned to each voxel in a plane of the volume. Each thread uses the camera location and orientation to determine a corresponding depth image location for its associated voxel, determines a factor relating to the distance between the associated voxel and the point in the environment at the corresponding location, and updates a stored value at the associated voxel using the factor. Each thread iterates through an equivalent voxel in the remaining planes of the volume, repeating the process to update the stored value.

    摘要翻译： 描述了三维环境重建。 在一个示例中，在由存储在存储器件上的体素组成的3D体积中生成真实世界环境的3D模型。 该模型是从描述相机位置和方向的数据构建的，以及具有指示从相机到环境中的点的距离的像素的深度图像。 单独的执行线程被分配给卷的平面中的每个体素。 每个线程使用摄像机位置和方向来确定其相关体素的相应深度图像位置，确定与相关体素和相应位置处的环境中的点之间的距离有关的因子，并更新相关联的体素的存储值 体素使用因素。 每个线程遍历卷的剩余平面中的等效体素，重复更新存储值的过程。

    Reducing interference between multiple infra-red depth cameras
    10.
    发明授权
    Reducing interference between multiple infra-red depth cameras 有权
    降低多个红外深度摄像机之间的干扰

    公开(公告)号：US09247238B2

    公开(公告)日：2016-01-26

    申请号：US13017518

    申请日：2011-01-31

    申请人： Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    发明人： Shahram Izadi ,  David Molyneaux ,  Otmar Hilliges ,  David Kim ,  Jamie Daniel Joseph Shotton ,  Stephen Edward Hodges ,  David Alexander Butler ,  Andrew Fitzgibbon ,  Pushmeet Kohli

    IPC分类号： H04N13/02 ,  H04N5/33

    CPC分类号： G06T7/55 ,  G01B9/08 ,  G01B11/22 ,  H04N5/23229 ,  H04N5/247 ,  H04N5/33 ,  H04N5/332 ,  H04N13/271

    摘要： Systems and methods for reducing interference between multiple infra-red depth cameras are described. In an embodiment, the system comprises multiple infra-red sources, each of which projects a structured light pattern into the environment. A controller is used to control the sources in order to reduce the interference caused by overlapping light patterns. Various methods are described including: cycling between the different sources, where the cycle used may be fixed or may change dynamically based on the scene detected using the cameras; setting the wavelength of each source so that overlapping patterns are at different wavelengths; moving source-camera pairs in independent motion patterns; and adjusting the shape of the projected light patterns to minimize overlap. These methods may also be combined in any way. In another embodiment, the system comprises a single source and a mirror system is used to cast the projected structured light pattern around the environment.

    摘要翻译： 描述了用于减少多个红外深度摄像机之间的干扰的系统和方法。 在一个实施例中，系统包括多个红外源，每个红外源将结构化的光图案投射到环境中。 控制器用于控制源，以减少由重叠的光图案引起的干扰。 描述了各种方法，包括：在不同的源之间循环，其中使用的周期可以是固定的，或者可以基于使用相机检测的场景动态地改变; 设置每个源的波长，使得重叠图案处于不同的波长; 以独立运动模式移动源摄像机对; 并调整投影光图案的形状以最小化重叠。 这些方法也可以以任何方式组合。 在另一个实施例中，系统包括单个源，并且使用镜子系统将投射的结构化光图案围绕环境投射。