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    Robotic texture
    1.
    发明授权
    Robotic texture 有权
    机器人纹理

    公开(公告)号：US09067320B2

    公开(公告)日：2015-06-30

    申请号：US13458875

    申请日：2012-04-27

    申请人： Paul Beardsley ,  Javier Alonso Mora ,  Andreas Breitenmoser ,  Federico Perazzi ,  Alexander Hornung

    发明人： Paul Beardsley ,  Javier Alonso Mora ,  Andreas Breitenmoser ,  Federico Perazzi ,  Alexander Hornung

    IPC分类号： G09G5/00 ,  B25J9/16 ,  G06T11/00

    CPC分类号： B25J9/1666 ,  G06T11/001

    摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.

    摘要翻译： 公开了用于控制机器人像素以显示真实世界视频纹理的视觉表示的技术。 具有可控色彩的移动机器人可能产生现实世界视频纹理的视觉表示，以产生如火，阳光在水中，阳光下飘飘的小麦，风中摇摆的麦田，繁忙城市的群众流动，以及云中的云彩 天空。 机器人像素用作用于机器人像素的给定分配的显示装置。 还公开了在多个非完整和完整的机器人之间进行分布式碰撞避免的技术，以保证平稳无碰撞的运动。

    Visual saliency estimation for images and video
    2.
    发明授权
    Visual saliency estimation for images and video 有权
    图像和视频的视觉显着性估计

    公开(公告)号：US09025880B2

    公开(公告)日：2015-05-05

    申请号：US13598084

    申请日：2012-08-29

    申请人： Federico Perazzi ,  Alexander Hornung ,  Philipp Krähenbühl ,  Yael Pritch

    发明人： Federico Perazzi ,  Alexander Hornung ,  Philipp Krähenbühl ,  Yael Pritch

    IPC分类号： G06K9/46 ,  H04N19/117

    CPC分类号： G06K9/4676 ,  G06K9/4652 ,  G06K9/4671 ,  G06K9/6212 ,  G06K9/6215 ,  G06T7/11 ,  G06T7/194 ,  G06T7/246 ,  G06T7/44 ,  G06T7/90 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/10024 ,  H04N19/117

    摘要： Methods and apparatus for visual saliency estimation for images and video are described. In an embodiment, a process includes decomposing, by a processor, an image into elements, wherein each element includes at least one pixel. The processor then calculates a first image measure indicative of each element's uniqueness in the image on a per element basis, and a second image measure indicative of each element's spatial distribution in the image on a per element basis. A per element saliency measure is provided by combining the first image measure and the second image measure, or by utilizing the first image measure, or by utilizing the second image measure.

    摘要翻译： 描述了用于图像和视频的视觉显着性估计的方法和装置。 在一个实施例中，过程包括由处理器将图像分解为元素，其中每个元素包括至少一个像素。 然后，处理器计算指示每个元素基于每个元素的每个元素在图像中的唯一性的第一图像测量，以及基于每个元素的图像中的每个元素的空间分布的第二图像测量。 通过组合第一图像测量和第二图像测量，或通过利用第一图像测量，或通过利用第二图像测量来提供每个元素显着性度量。

    Optimized Stereoscopic Camera for Real-Time Applications
    7.
    发明申请
    Optimized Stereoscopic Camera for Real-Time Applications 有权
    用于实时应用的优化立体相机

    公开(公告)号：US20130176397A1

    公开(公告)日：2013-07-11

    申请号：US13347537

    申请日：2012-01-10

    申请人： Thomas Oskam ,  Alexander Hornung ,  Huw Bowles ,  Kenny Mitchell ,  Markus Gross

    发明人： Thomas Oskam ,  Alexander Hornung ,  Huw Bowles ,  Kenny Mitchell ,  Markus Gross

    IPC分类号： H04N7/18 ,  H04N13/02

    CPC分类号： H04N13/111 ,  H04N13/128 ,  H04N13/332

    摘要： A method is provided for an optimized stereoscopic camera with low processing overhead, especially suitable for real-time applications. By constructing a viewer-centric and scene-centric model, the mapping of scene depth to perceived depth may be defined as an optimization problem, for which a solution is analytically derived based on constraints to stereoscopic camera parameters including interaxial separation and convergence distance. The camera parameters may thus be constrained prior to rendering to maintain a desired perceived depth volume around a stereoscopic display, for example to ensure user comfort or provide artistic effects. To compensate for sudden scene depth changes due to unpredictable camera or object movements, as may occur with real-time applications such as video games, the constraints may also be temporally interpolated to maintain a linearly corrected and approximately constant perceived depth range over time.

    摘要翻译： 为具有低处理开销的优化立体相机提供了一种方法，特别适用于实时应用。 通过构建以观众为中心和以场景为中心的模型，场景深度与感知深度的映射可以被定义为优化问题，基于对包括轴间分离和收敛距离的立体摄像机参数的约束，分析地导出解决方案。 因此，在渲染之前可以约束相机参数以在立体显示器周围保持期望的感知深度体积，例如以确保用户舒适度或提供艺术效果。 为了补偿由于不可预测的相机或物体移动引起的突发场景深度变化，如可能在诸如视频游戏的实时应用中可能发生的，约束也可以在时间上被内插以保持随时间的线性校正和近似恒定的感知深度范围。

    METHOD FOR ESTIMATING A POSE OF AN ARTICULATED OBJECT MODEL
    8.
    发明申请
    METHOD FOR ESTIMATING A POSE OF AN ARTICULATED OBJECT MODEL 有权
    估计对象对象模型的方法

    公开(公告)号：US20110267344A1

    公开(公告)日：2011-11-03

    申请号：US13096488

    申请日：2011-04-28

    申请人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

    发明人： Marcel Germann ,  Stephan Wuermlin Stadler ,  Richard Keiser ,  Remo Ziegler ,  Christoph Niederberger ,  Alexander Hornung ,  Marcus Gross

    IPC分类号： G06K9/00 ,  G06T17/00

    CPC分类号： G06T15/205 ,  G06K9/00201 ,  G06T7/74 ,  G06T2207/10021 ,  G06T2207/30196

    摘要： A computer-implemented method for estimating a pose of an articulated object model (4), wherein the articulated object model (4) is a computer based 3D model (1) of a real world object (14) observed by one or more source cameras (9), and wherein the pose of the articulated object model (4) is defined by the spatial location of joints (2) of the articulated object model (4), comprises the steps of obtaining a source image (10) from a video stream; processing the source image (10) to extract a source image segment (13); maintaining, in a database, a set of reference silhouettes, each being associated with an articulated object model (4) and a corresponding reference pose; comparing the source image segment (13) to the reference silhouettes and selecting reference silhouettes by taking into account, for each reference silhouette, a matching error that indicates how closely the reference silhouette matches the source image segment (13) and/or a coherence error that indicates how much the reference pose is consistent with the pose of the same real world object (14) as estimated from a preceding source image (10); retrieving the corresponding reference poses of the articulated object models (4); and computing an estimate of the pose of the articulated object model (4) from the reference poses of the selected reference silhouettes.

    摘要翻译： 一种用于估计铰接对象模型（4）的姿态的计算机实现的方法，其中所述铰接对象模型（4）是由一个或多个源摄像机观察到的真实世界对象（14）的基于计算机的3D模型（1） （9），并且其中所述铰接对象模型（4）的姿态由所述铰接对象模型（4）的关节（2）的空间位置定义，包括以下步骤：从视频获得源图像（10） 流; 处理源图像（10）以提取源图像段（13）; 在数据库中维护一组参考轮廓，每个参考轮廓与铰接对象模型（4）和相应的参考姿势相关联; 将源图像段（13）与参考轮廓进行比较，并且通过考虑每个参考轮廓来选择参考轮廓，该匹配误差指示参考轮廓与源图像段（13）的匹配和/或相干误差 其指示参考姿势与从先前的源图像（10）估计的相同的真实世界对象（14）的姿态一致; 检索关节对象模型（4）的相应参考姿势; 以及从所选择的参考轮廓的参考姿势中计算所述铰接对象模型（4）的姿态的估计。

    VECTORIZATION OF LINE DRAWINGS USING GLOBAL TOPOLOGY AND STORING IN HYBRID FORM
    9.
    发明申请
    VECTORIZATION OF LINE DRAWINGS USING GLOBAL TOPOLOGY AND STORING IN HYBRID FORM 有权
    使用全局拓扑和混合形式存储的线图的展示

    公开(公告)号：US20110175916A1

    公开(公告)日：2011-07-21

    申请号：US12843822

    申请日：2010-07-26

    申请人： Gioacchino Noris ,  Alexander Hornung ,  Robert Sumner ,  Maryann Simmons ,  Markus Gross

    发明人： Gioacchino Noris ,  Alexander Hornung ,  Robert Sumner ,  Maryann Simmons ,  Markus Gross

    IPC分类号： G06T11/20

    CPC分类号： G06K9/481 ,  G06K9/00416

    摘要： An animation system can vectorize an image by generating, from an input drawing, a dataset corresponding to vector and digital representations of the input drawing such that a rendering engine could render an image having features in common with the input drawing from the representations, as a collection of strokes and/or objects rather than merely a collection of pixels having pixel color values. A vectorizer might receive an input image, generate a particle clustering data structure from a digitization of the input image, generate a stroke list, wherein strokes in the stroke list correspond to clusters of particles represented in the particle clustering data structure, generate a graph structure that represents connections between strokes on the stroke list, and determine additional characteristics of a stroke beyond the path of the stroke, additional characteristics being stored such that they correspond to strokes. The strokes might be generated using global topology information.

    摘要翻译： 动画系统可以通过从输入图形生成对应于输入图形的向量和数字表示的数据集来矢量化图像，使得渲染引擎可以从表示形式呈现具有与输入图形共同的特征的图像，作为 笔画和/或对象的集合，而不仅仅是具有像素颜色值的像素的集合。 向量化器可以接收输入图像，从输入图像的数字化生成粒子聚类数据结构，生成笔画列表，其中笔画列表中的笔画对应于在粒子聚类数据结构中表示的粒子簇，生成图形结构 其表示笔划列表上的笔画之间的连接，并且确定笔划的额外特征超出笔画的路径，附加特征被存储使得它们对应于笔画。 可以使用全局拓扑信息生成笔画。

    Optimized stereoscopic camera for real-time applications
    10.
    发明授权
    Optimized stereoscopic camera for real-time applications 有权
    优化的立体相机用于实时应用

    公开(公告)号：US08885021B2

    公开(公告)日：2014-11-11

    申请号：US13347537

    申请日：2012-01-10

    申请人： Thomas Oskam ,  Alexander Hornung ,  Huw Bowles ,  Kenny Mitchell ,  Markus Gross

    发明人： Thomas Oskam ,  Alexander Hornung ,  Huw Bowles ,  Kenny Mitchell ,  Markus Gross

    IPC分类号： H04N13/00

    CPC分类号： H04N13/111 ,  H04N13/128 ,  H04N13/332

    摘要： A method is provided for an optimized stereoscopic camera with low processing overhead, especially suitable for real-time applications. By constructing a viewer-centric and scene-centric model, the mapping of scene depth to perceived depth may be defined as an optimization problem, for which a solution is analytically derived based on constraints to stereoscopic camera parameters including interaxial separation and convergence distance. The camera parameters may thus be constrained prior to rendering to maintain a desired perceived depth volume around a stereoscopic display, for example to ensure user comfort or provide artistic effects. To compensate for sudden scene depth changes due to unpredictable camera or object movements, as may occur with real-time applications such as video games, the constraints may also be temporally interpolated to maintain a linearly corrected and approximately constant perceived depth range over time.

    摘要翻译： 为具有低处理开销的优化立体相机提供了一种方法，特别适用于实时应用。 通过构建以观众为中心和以场景为中心的模型，场景深度与感知深度的映射可以被定义为优化问题，基于对包括轴间分离和收敛距离的立体摄像机参数的约束，分析地导出解决方案。 因此，在渲染之前可以约束相机参数以在立体显示器周围保持期望的感知深度体积，例如以确保用户舒适度或提供艺术效果。 为了补偿由于不可预测的相机或物体移动引起的突发场景深度变化，如可能在诸如视频游戏的实时应用中可能发生的，约束也可以在时间上被内插以保持随时间的线性校正和近似恒定的感知深度范围。