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公开(公告)号：US20150254834A1
公开(公告)日：2015-09-10
申请号：US14639536
申请日：2015-03-05
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
IPC: G06T7/00
CPC classification number: G06T7/0071 , G06T7/20 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/10028
Abstract: Methods and systems for moving object localization include estimating a ground plane in a video frame based on a detected object within the video frame and monocular structure-from-motion (SFM) information; computing object pose for objects in the frame based on the SFM information using dense feature tracking; and determining a three-dimensional location for the detected object based on the estimated ground plane and the computed object pose.
Abstract translation: 用于移动对象定位的方法和系统包括基于视频帧内的检测对象和单目动作（SFM）信息来估计视频帧中的接地平面; 基于使用密集特征跟踪的SFM信息计算帧中对象的物体姿态; 以及基于估计的接地平面和所计算的物体姿态来确定被检测物体的三维位置。
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公开(公告)号：US20140139635A1
公开(公告)日：2014-05-22
申请号：US13858041
申请日：2013-04-06
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
IPC: H04N13/02
CPC classification number: H04N13/204 , G06T7/579 , G06T7/74 , G06T2207/30244 , G06T2207/30252
Abstract: Systems and methods are disclosed for multithreaded navigation assistance by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
Abstract translation: 公开了通过用车上单个摄像机采集的用于多线程导航辅助的系统和方法; 使用2D-3D对应连续姿态估计; 并将姿态估计与2D-2D对极搜索相结合，以补充3D点。
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3.发明授权公开(公告)号：US09189689B2
公开(公告)日：2015-11-17
申请号：US14451280
申请日：2014-08-04
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
CPC classification number: G06K9/00791 , G06K9/46 , G06K2009/4666
Abstract: A method for performing three-dimensional (3D) localization requiring only a single camera including capturing images from only one camera; generating a cue combination from sparse features, dense stereo and object bounding boxes; correcting for scale in monocular structure from motion (SFM) using the cue combination for estimating a ground plane; and performing localization by combining SFM, ground plane and object bounding boxes to produce a 3D object localization.
Abstract translation: 一种用于执行三维（3D）定位的方法，其仅需要单个相机，包括仅从一个相机捕获图像; 从稀疏特征，密集的立体声和物体边界框中产生提示组合; 使用用于估计接地平面的提示组合来校正来自运动的单眼结构（SFM）中的尺度; 并通过组合SFM，地平面和对象边界框来执行定位，以产生3D对象定位。
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公开(公告)号：US09367922B2
公开(公告)日：2016-06-14
申请号：US14639536
申请日：2015-03-05
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
IPC: G06T7/00
CPC classification number: G06T7/0071 , G06T7/20 , G06T7/579 , G06T7/70 , G06T2207/10016 , G06T2207/10028
Abstract: Methods and systems for moving object localization include estimating a ground plane in a video frame based on a detected object within the video frame and monocular structure-from-motion (SFM) information; computing object pose for objects in the frame based on the SFM information using dense feature tracking; and determining a three-dimensional location for the detected object based on the estimated ground plane and the computed object pose.
Abstract translation: 用于移动对象定位的方法和系统包括基于视频帧内的检测对象和单目动作（SFM）信息来估计视频帧中的接地平面; 基于使用密集特征跟踪的SFM信息计算帧中对象的物体姿态; 以及基于估计的接地平面和所计算的物体姿态来确定被检测物体的三维位置。
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公开(公告)号：US20140078258A1
公开(公告)日：2014-03-20
申请号：US13858040
申请日：2013-04-06
Applicant: NEC LABORATORIES AMERICA, INC.
Inventor： Manmohan Chandraker , Shiyu Song
IPC: H04N13/02
CPC classification number: H04N13/204 , G06T7/579 , G06T7/74 , G06T2207/30244 , G06T2207/30252
Abstract: Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
Abstract translation: 公开了通过用车上单个摄像机采集的用于多线程视觉测距的系统和方法; 使用2D-3D对应连续姿态估计; 并将姿态估计与2D-2D对极搜索相结合，以补充3D点。
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Patent Agency Ranking
公开(公告)号：US10706582B2
公开(公告)日：2020-07-07
申请号：US15965480
申请日：2018-04-27
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
Abstract: Systems and methods are described for multithreaded navigation assistance by acquired with a single camera on-board a vehicle, using 2D-3D correspondences for continuous pose estimation, and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
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7.发明申请公开(公告)号：US20150117709A1
公开(公告)日：2015-04-30
申请号：US14451280
申请日：2014-08-04
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
CPC classification number: G06K9/00791 , G06K9/46 , G06K2009/4666
Abstract: A method for performing three-dimensional (3D) localization requiring only a single camera including capturing images from only one camera; generating a cue combination from sparse features, dense stereo and object bounding boxes; correcting for scale in monocular structure from motion (SFM) using the cue combination for estimating a ground plane; and performing localization by combining SFM, ground plane and object bounding boxes to produce a 3D object localization.
Abstract translation: 一种用于执行三维（3D）定位的方法，其仅需要单个相机，包括仅从一个相机捕获图像; 从稀疏特征，密集的立体声和物体边界框中产生提示组合; 使用用于估计接地平面的提示组合来校正来自运动的单眼结构（SFM）中的尺度; 并通过组合SFM，地平面和对象边界框来执行定位，以产生3D对象定位。
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公开(公告)号：US20180247429A1
公开(公告)日：2018-08-30
申请号：US15965480
申请日：2018-04-27
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
CPC classification number: G06T7/74 , G05D1/0088 , G05D1/0251 , G05D1/0253 , G05D2201/0213 , G06K9/00664 , G06K9/00791 , G06K9/00798 , G06T7/277 , G06T7/579 , G06T7/73 , G06T2207/10012 , G06T2207/10016 , G06T2207/20081 , G06T2207/20164 , G06T2207/30244 , G06T2207/30252 , G06T2207/30256
Abstract: Systems and methods are described for multithreaded navigation assistance by acquired with a single camera on-board a vehicle, using 2D-3D correspondences for continuous pose estimation, and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
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公开(公告)号：US09148650B2
公开(公告)日：2015-09-29
申请号：US13858040
申请日：2013-04-06
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song
CPC classification number: H04N13/204 , G06T7/579 , G06T7/74 , G06T2207/30244 , G06T2207/30252
Abstract: Systems and methods are disclosed for multithreaded visual odometry by acquired with a single camera on-board a vehicle; using 2D-3D correspondences for continuous pose estimation; and combining the pose estimation with 2D-2D epipolar search to replenish 3D points.
Abstract translation: 公开了通过用车上单个摄像机采集的用于多线程视觉测距的系统和方法; 使用2D-3D对应连续姿态估计; 并将姿态估计与2D-2D对极搜索相结合，以补充3D点。
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公开(公告)号：US09070202B2
公开(公告)日：2015-06-30
申请号：US14184766
申请日：2014-02-20
Applicant: NEC Laboratories America, Inc.
Inventor： Manmohan Chandraker , Shiyu Song , Yuanqing Lin , Xiaoyu Wang
CPC classification number: G06T7/2033 , G06K9/00805 , G06T7/246 , G06T7/277 , G06T7/579 , G06T7/73 , G06T2207/10016 , G06T2207/20076 , G06T2207/20081 , G06T2207/30252
Abstract: Systems and methods are disclosed for autonomous driving with only a single camera by moving object localization in 3D with a real-time framework that harnesses object detection and monocular structure from motion (SFM) through the ground plane estimation; tracking feature points on moving cars a real-time framework to and use the feature points for 3D orientation estimation; and correcting scale drift with ground plane estimation that combines cues from sparse features and dense stereo visual data.
Abstract translation: 公开的系统和方法仅用单个摄像机进行自主驾驶，通过利用来自运动（SFM）的对象检测和单目结构通过接地平面估计的实时框架来移动3D物体定位; 跟踪移动汽车上的特征点实时框架并使用特征点进行3D定位估计; 并且通过地面平面估计来校正尺度漂移，其结合来自稀疏特征和密集立体视觉数据的线索。
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