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公开(公告)号：US20140064601A1
公开(公告)日：2014-03-06
申请号：US13604470
申请日：2012-09-05
申请人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
发明人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
IPC分类号： G06K9/00
CPC分类号： B25J9/1697 , G05B2219/36488 , G05B2219/39449
摘要： Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.
摘要翻译： 使用移动设备的基于视觉的跟踪来远程控制机器人。 例如，由诸如视频流中的移动设备捕获的图像被用于相对于成像环境的基于视觉的跟踪移动设备姿态。 确定移动设备的姿态，即移动设备的轨迹的变化，并将其转换为远离移动设备的机器人的期望运动。 然后控制机器人以期望的运动移动。 使用通过反转手眼校准变换产生的变换将移动设备的轨迹转换为机器人的期望运动。
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公开(公告)号：US09025856B2
公开(公告)日：2015-05-05
申请号：US13604470
申请日：2012-09-05
申请人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
发明人： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Abhishek Tyagi , Murali Ramaswamy Chari
CPC分类号： B25J9/1697 , G05B2219/36488 , G05B2219/39449
摘要： Vision based tracking of a mobile device is used to remotely control a robot. For example, images captured by a mobile device, e.g., in a video stream, are used for vision based tracking of the pose of the mobile device with respect to the imaged environment. Changes in the pose of the mobile device, i.e., the trajectory of the mobile device, are determined and converted to a desired motion of a robot that is remote from the mobile device. The robot is then controlled to move with the desired motion. The trajectory of the mobile device is converted to the desired motion of the robot using a transformation generated by inverting a hand-eye calibration transformation.
摘要翻译： 使用移动设备的基于视觉的跟踪来远程控制机器人。 例如，由诸如视频流中的移动设备捕获的图像被用于相对于成像环境的基于视觉的跟踪移动设备姿态。 确定移动设备的姿态，即移动设备的轨迹的变化，并将其转换为远离移动设备的机器人的期望运动。 然后控制机器人以期望的运动移动。 使用通过反转手眼校准变换产生的变换将移动设备的轨迹转换为机器人的期望运动。
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公开(公告)号：US20130335562A1
公开(公告)日：2013-12-19
申请号：US13523634
申请日：2012-06-14
申请人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
发明人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
CPC分类号： G06T7/2053 , G01S3/786 , G06T7/254 , G06T2207/10016
摘要： A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
摘要翻译： 移动设备使用视觉辅助惯性导航系统（VINS）跟踪摄像机和目标之间的相对姿态，其包括来自惯性传感器测量的贡献以及基于视觉的测量的贡献。 当移动设备检测到目标的移动时，减少或消除了惯性传感器测量对跟踪相机和目标之间的相对姿势的贡献。 可以通过仅从仅捕获图像的测量值和基于惯量的测量结果来比较目标的移动是否存在指示目标已移动的差异，来检测目标的移动。 附加地或替代地，可以使用从捕获的图像提取的特征向量的投影来检测目标的移动。
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公开(公告)号：US09123135B2
公开(公告)日：2015-09-01
申请号：US13523634
申请日：2012-06-14
申请人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
发明人： Arvind Ramanandan , Christopher Brunner , Mahesh Ramachandran , Abhishek Tyagi , Daniel Knoblauch , Murali Ramaswamy Chari
CPC分类号： G06T7/2053 , G01S3/786 , G06T7/254 , G06T2207/10016
摘要： A mobile device tracks a relative pose between a camera and a target using Vision aided Inertial Navigation System (VINS), that includes a contribution from inertial sensor measurements and a contribution from vision based measurements. When the mobile device detects movement of the target, the contribution from the inertial sensor measurements to track the relative pose between the camera and the target is reduced or eliminated. Movement of the target may be detected by comparing vision only measurements from captured images and inertia based measurements to determine if a discrepancy exists indicating that the target has moved. Additionally or alternatively, movement of the target may be detected using projections of feature vectors extracted from captured images.
摘要翻译： 移动设备使用视觉辅助惯性导航系统（VINS）跟踪摄像机和目标之间的相对姿态，其包括来自惯性传感器测量的贡献以及基于视觉的测量的贡献。 当移动设备检测到目标的移动时，减少或消除了惯性传感器测量对跟踪相机和目标之间的相对姿势的贡献。 可以通过仅从仅捕获图像的测量值和基于惯量的测量结果来比较目标的移动是否存在指示目标已移动的差异，来检测目标的移动。 附加地或替代地，可以使用从捕获的图像提取的特征向量的投影来检测目标的移动。
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公开(公告)号：US09116001B2
公开(公告)日：2015-08-25
申请号：US13523638
申请日：2012-06-14
CPC分类号： G01C21/16 , H04N5/23254 , H04N5/23258 , H04N17/002
摘要： A mobile device compensates for a lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.
摘要翻译： 当通过估计帧时间戳等待时间来捕获图像帧时，移动设备补偿缺少时间戳。 移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。 基于视觉的旋转由一对帧确定。 基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。 确定的旋转可以是关于相机的光轴。 将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。 可以使用使用不同帧对确定的中值等待时间。
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公开(公告)号：US20130335554A1
公开(公告)日：2013-12-19
申请号：US13523638
申请日：2012-06-14
IPC分类号： H04N7/18
CPC分类号： G01C21/16 , H04N5/23254 , H04N5/23258 , H04N17/002
摘要： A mobile device compensates for a lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.
摘要翻译： 当通过估计帧时间戳等待时间来捕获图像帧时，移动设备补偿缺少时间戳。 移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。 基于视觉的旋转由一对帧确定。 基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。 确定的旋转可以是关于相机的光轴。 将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。 可以使用使用不同帧对确定的中值等待时间。
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7.发明申请FRAMEWORK FOR REFERENCE-FREE DRIFT-CORRECTED PLANAR TRACKING USING LUCAS-KANADE OPTICAL FLOW 有权使用LUCAS-KANADE光学流量的无参考无差错校正平面跟踪的框架公开(公告)号：US20130076915A1
公开(公告)日：2013-03-28
申请号：US13247939
申请日：2011-09-28
CPC分类号： G06T7/2066 , G06T7/207 , G06T7/269 , G06T2207/10016 , G06T2207/20016 , G06T2207/30244
摘要： Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.
摘要翻译： 使用平面表面的图像来执行移动平台对位置的自由跟踪。 跟踪是执行光流技术，例如具有多级分辨率的锥形Lucas-Kanade光流，其中以较低分辨率的像素精度和全分辨率的子像素精度确定位移，这改善了实时性能的计算时间。 通过匹配当前帧和关键帧之间的特征来执行周期漂移校正。 关键帧可以用漂移校正的当前图像代替。
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8.发明授权Method, system, and apparatus for distributing and using computer-based applications over a network 失效用于通过网络分发和使用基于计算机的应用程序的方法，系统和装置公开(公告)号：US06711619B1
公开(公告)日：2004-03-23
申请号：US09464351
申请日：1999-12-15
IPC分类号： G06F1516
CPC分类号： H04L29/06 , H04L67/34 , H04L67/42 , H04L69/329
摘要： A method, system, and apparatus for distributing and using portions of a computer-based application over a network, such as the internet. The present embodiment executes streamed chunks of code associated with an application on demand by binary emulation. Therefore the present invention enables execution of applications on network-based computer systems thereby enabling flexible distribution and use of executable code over a network. By streaming the transmission of non-sequentially ordered code chunks the present embodiment enables overlapping of streaming and execution of code chunks and reduces network latency effects of the past. The present embodiment may also speculatively stream the code chunks associated with the application to further reduce network latency effects associated with transmission of the code chunks.
摘要翻译： 一种用于通过诸如因特网的网络分发和使用基于计算机的应用的部分的方法，系统和装置。 本实施例通过二进制仿真来执行与应用程序相关联的码流。 因此，本发明使得能够在基于网络的计算机系统上执行应用，从而使得能够在网络上灵活地分配和使用可执行代码。 通过流传输非顺序排序的代码块的传输，本实施例使码流和码块的执行重叠，并减少过去的网络延迟效应。 本实施例还可以推测性地流式传输与应用相关联的代码块，以进一步减少与代码块的传输相关联的网络延迟效应。
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9.发明授权Framework for reference-free drift-corrected planar tracking using Lucas-Kanade optical flow 有权使用Lucas-Kanade光流的无参考漂移校正平面跟踪框架公开(公告)号：US09014421B2
公开(公告)日：2015-04-21
申请号：US13247939
申请日：2011-09-28
IPC分类号： G06T7/20
CPC分类号： G06T7/2066 , G06T7/207 , G06T7/269 , G06T2207/10016 , G06T2207/20016 , G06T2207/30244
摘要： Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.
摘要翻译： 使用平面表面的图像来执行移动平台对位置的自由跟踪。 跟踪是执行光流技术，例如具有多级分辨率的锥形Lucas-Kanade光流，其中以较低分辨率的像素精度和全分辨率的子像素精度确定位移，这改善了实时性能的计算时间。 通过匹配当前帧和关键帧之间的特征来执行周期漂移校正。 关键帧可以用漂移校正的当前图像代替。
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