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公开(公告)号：US08174568B2
公开(公告)日：2012-05-08
申请号：US11949433
申请日：2007-12-03
申请人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
发明人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
CPC分类号： G06K9/00791 , B60R1/00 , G01C21/005 , G01C21/165 , G06K9/3216 , G06K9/4642 , G06K9/52 , G06K9/6215 , G06T7/74 , H04N13/239 , H04N2013/0081
摘要： A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
摘要翻译： 一种用于使用由多个摄像机捕获的视频信息有效地定位目标场景中的感兴趣对象的系统和方法。 该系统和方法提供多摄像机视觉测距，其中由多摄像机配置中的所有摄像机为每个摄像机生成姿态估计。 此外，系统和方法可以使用多摄像机配置中的任何摄像机来定位和识别目标场景中的突出地标，并将识别的地标与先前识别的地标的数据库进行比较。 另外，该系统和方法提供了基于视频的姿势估计与由一个或多个二次测量传感器捕获的位置测量数据的集成，例如惯性测量单元（IMU）和全球定位系统（GPS）单元 。
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2.发明授权Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion 有权使用多模式传感器融合产生三维姿势的方法和装置公开(公告)号：US09031809B1
公开(公告)日：2015-05-12
申请号：US13182987
申请日：2011-07-14
申请人： Rakesh Kumar , Supun Samarasekera , Han-Pang Chiu , Zhiwei Zhu , Taragay Oskiper , Lu Wang , Raia Hadsell
发明人： Rakesh Kumar , Supun Samarasekera , Han-Pang Chiu , Zhiwei Zhu , Taragay Oskiper , Lu Wang , Raia Hadsell
CPC分类号： G01C21/165 , G01C21/005 , G01S1/00 , G01S5/163 , G06F3/012 , G06F3/017 , G06F3/0304 , G06K9/00671 , G06T7/246 , G06T7/277 , G06T7/285 , G06T2207/10021 , G06T2207/30244
摘要： A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.
摘要翻译： 一种用于为节点提供三维导航的方法和装置，包括用于提供陀螺仪，加速度和速度信息（统称IMU信息）的惯性测量单元; 测距单元，用于相对于至少一个参考节点提供距离信息; 至少一个视觉传感器，用于提供围绕该节点的环境的图像; 耦合到惯性测量单元，测距单元和多个视觉传感器的预处理器，用于产生IMU信息，距离信息和图像的误差状态; 以及耦合到所述预处理器的错误状态预测滤波器，用于处理所述错误状态以产生所述节点的三维姿态。
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公开(公告)号：US09121713B2
公开(公告)日：2015-09-01
申请号：US13451037
申请日：2012-04-19
申请人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
发明人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
CPC分类号： G06K9/00791 , B60R1/00 , G01C21/005 , G01C21/165 , G06K9/3216 , G06K9/4642 , G06K9/52 , G06K9/6215 , G06T7/74 , H04N13/239 , H04N2013/0081
摘要： A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
摘要翻译： 一种用于使用由多个摄像机捕获的视频信息有效地定位目标场景中的感兴趣对象的系统和方法。 该系统和方法提供多摄像机视觉测距，其中由多摄像机配置中的所有摄像机为每个摄像机生成姿态估计。 此外，系统和方法可以使用多摄像机配置中的任何摄像机来定位和识别目标场景中的突出地标，并将识别的地标与先前识别的地标的数据库进行比较。 另外，该系统和方法提供了基于视频的姿势估计与由一个或多个二次测量传感器捕获的位置测量数据的集成，例如惯性测量单元（IMU）和全球定位系统（GPS）单元 。
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4.发明授权Method and apparatus for generating three-dimensional pose using monocular visual sensor and inertial measurement unit 有权使用单目视觉传感器和惯性测量单元产生三维姿势的方法和装置公开(公告)号：US08761439B1
公开(公告)日：2014-06-24
申请号：US13217014
申请日：2011-08-24
IPC分类号： G06K9/00
CPC分类号： G06T7/73
摘要： An apparatus for providing three-dimensional pose comprising monocular visual sensors for providing images of an environment surrounding the apparatus, an inertial measurement unit (IMU) for providing gyroscope, acceleration and velocity information, collectively IMU information, a feature tracking module for generating feature tracking information for the images, and an error-state filter, coupled to the feature track module, the IMU and the one or more visual sensors, for correcting IMU information and producing a pose estimation based on at least one error-state model chosen according to the sensed images, the IMU information and the feature tracking information.
摘要翻译： 一种用于提供三维姿势的装置，包括用于提供围绕设备的环境的图像的单目视觉传感器，用于提供陀螺仪的惯性测量单元（IMU），集体IMU信息的加速度和速度信息，用于产生特征跟踪的特征跟踪模块 用于图像的信息以及耦合到特征轨道模块，IMU和一个或多个视觉传感器的误差状态滤波器，用于校正IMU信息，并且基于至少一个根据以下的选择的错误状态模型产生姿态估计： 感测图像，IMU信息和特征跟踪信息。
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5.发明申请System and method for enhanced situation awareness and visualization of environments 审中-公开增强环境意识和可视化的系统和方法公开(公告)号：US20070070069A1
公开(公告)日：2007-03-29
申请号：US11527987
申请日：2006-09-26
IPC分类号： G06T15/20
CPC分类号： G06T17/05 , G06F3/011 , G06F16/748
摘要： The present invention provides a system and method for processing real-time rapid capture, annotation and creation of an annotated hyper-video map for environments. The method includes processing video, audio and GPS data to create the hyper-video map which is further enhanced with textual, audio and hyperlink annotations that will enable the user to see, hear, and operate in an environment with cognitive awareness. Thus, this annotated hyper-video map provides a seamlessly navigable, situational awareness and indexable high-fidelity immersive visualization of the environment.
摘要翻译： 本发明提供了一种用于处理用于环境的带注释的超视频映射的实时快速捕获，注释和创建的系统和方法。 该方法包括处理视频，音频和GPS数据以创建超视频地图，其进一步增强了文本，音频和超链接注释，这将使用户能够在具有认知意识的环境中看到，听到和操作。 因此，该注释的超视频地图提供了无缝导航的情境感知和可索引的高保真度的环境可视化。
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公开(公告)号：US07925049B2
公开(公告)日：2011-04-12
申请号：US11833498
申请日：2007-08-03
申请人： Zhiwei Zhu , Taragay Oskiper , Oleg Naroditsky , Supun Samarasekera , Harpreet Singh Sawhney , Rakesh Kumar
发明人： Zhiwei Zhu , Taragay Oskiper , Oleg Naroditsky , Supun Samarasekera , Harpreet Singh Sawhney , Rakesh Kumar
IPC分类号： G06F9/00
CPC分类号： G06K9/32 , G06K2209/40 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/20164 , G06T2207/30212 , G06T2207/30252
摘要： A method for estimating pose from a sequence of images, which includes the steps of detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time; matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature correspondences; calculating the three-dimensional coordinates of the at least three two-dimensional feature correspondences to obtain at least three three-dimensional reference feature points; tracking the at least three feature points in one of the left image and right image of a second pair of stereo images at a second point in time different from the first point in time to obtain at least three two-dimensional reference feature points; and calculating a pose based on the at least three three-dimensional reference feature points and its corresponding two-dimensional reference feature points in the stereo images. The pose is found by minimizing projection residuals of a set of three-dimensional reference feature points in an image plane.
摘要翻译： 一种用于从图像序列估计姿态的方法，其包括以下步骤：在第一时间点检测第一对立体图像的左图像和右图像中的至少三个特征点; 将左图像中的至少三个特征点与右图像中的至少三个特征点匹配以获得至少三个二维特征对应; 计算所述至少三个二维特征对应的三维坐标以获得至少三个三维参考特征点; 在与第一时间点不同的第二时间点跟踪第二对立体图像的左图像和右图像之一中的至少三个特征点，以获得至少三个二维参考特征点; 以及基于立体图像中的至少三个三维参考特征点及其对应的二维参考特征点来计算姿势。 通过使图像平面中的一组三维参考特征点的投影残差最小化来发现该姿势。
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公开(公告)号：US20080167814A1
公开(公告)日：2008-07-10
申请号：US11949433
申请日：2007-12-03
申请人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
发明人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
IPC分类号： G01C21/00
CPC分类号： G06K9/00791 , B60R1/00 , G01C21/005 , G01C21/165 , G06K9/3216 , G06K9/4642 , G06K9/52 , G06K9/6215 , G06T7/74 , H04N13/239 , H04N2013/0081
摘要： A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
摘要翻译： 一种用于使用由多个摄像机捕获的视频信息有效地定位目标场景中的感兴趣对象的系统和方法。 该系统和方法提供多摄像机视觉测距，其中由多摄像机配置中的所有摄像机为每个摄像机生成姿态估计。 此外，系统和方法可以使用多摄像机配置中的任何摄像机来定位和识别目标场景中的突出地标，并将识别的地标与先前识别的地标的数据库进行比较。 另外，该系统和方法提供了基于视频的姿势估计与由一个或多个二次测量传感器捕获的位置测量数据的集成，例如惯性测量单元（IMU）和全球定位系统（GPS）单元 。
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公开(公告)号：US20080144925A1
公开(公告)日：2008-06-19
申请号：US11833498
申请日：2007-08-03
申请人： Zhiwei Zhu , Taragay Oskiper , Oleg Naroditsky , Supun Samarasekera , Harpreet Singh Sawhney , Rakesh Kumar
发明人： Zhiwei Zhu , Taragay Oskiper , Oleg Naroditsky , Supun Samarasekera , Harpreet Singh Sawhney , Rakesh Kumar
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06K2209/40 , G06T7/248 , G06T7/593 , G06T7/74 , G06T2207/10021 , G06T2207/20164 , G06T2207/30212 , G06T2207/30252
摘要： A method for estimating pose from a sequence of images, which includes the steps of detecting at least three feature points in both the left image and right image of a first pair of stereo images at a first point in time; matching the at least three feature points in the left image to the at least three feature points in the right image to obtain at least three two-dimensional feature correspondences; calculating the three-dimensional coordinates of the at least three two-dimensional feature correspondences to obtain at least three three-dimensional reference feature points; tracking the at least three feature points in one of the left image and right image of a second pair of stereo images at a second point in time different from the first point in time to obtain at least three two-dimensional reference feature points; and calculating a pose based on the at least three three-dimensional reference feature points and its corresponding two-dimensional reference feature points in the stereo images. The pose is found by minimizing projection residuals of a set of three-dimensional reference feature points in an image plane.
摘要翻译： 一种用于从图像序列估计姿态的方法，其包括以下步骤：在第一时间点检测第一对立体图像的左图像和右图像中的至少三个特征点; 将左图像中的至少三个特征点与右图像中的至少三个特征点匹配以获得至少三个二维特征对应; 计算所述至少三个二维特征对应的三维坐标以获得至少三个三维参考特征点; 在与第一时间点不同的第二时间点跟踪第二对立体图像的左图像和右图像之一中的至少三个特征点，以获得至少三个二维参考特征点; 以及基于立体图像中的至少三个三维参考特征点及其对应的二维参考特征点来计算姿势。 通过使图像平面中的一组三维参考特征点的投影残差最小化来发现该姿势。
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公开(公告)号：US20070115352A1
公开(公告)日：2007-05-24
申请号：US11532897
申请日：2006-09-18
申请人： Taragay Oskiper , John Fields , Rakesh Kumar
发明人： Taragay Oskiper , John Fields , Rakesh Kumar
CPC分类号： H04N5/232
摘要： A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
摘要翻译： 提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。 在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。 摄像机相对于彼此的相对姿态和配置被认为是已知的，并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。 摄像机可以针对不同的应用被布置成不同的配置，并且适合于安装在车辆或经历一般运动的人身上。 结合视觉测距法的实现提供了完整的并行架构，从而可以在多CPU系统上实现实时处理。
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公开(公告)号：US08305430B2
公开(公告)日：2012-11-06
申请号：US11532897
申请日：2006-09-18
申请人： Taragay Oskiper , John Fields , Rakesh Kumar
发明人： Taragay Oskiper , John Fields , Rakesh Kumar
IPC分类号： H04N13/00
CPC分类号： H04N5/232
摘要： A visual odometry system and method for a fixed or known calibration of an arbitrary number of cameras in monocular configuration is provided. Images collected from each of the cameras in this distributed aperture system have negligible or absolutely no overlap. The relative pose and configuration of the cameras with respect to each other are assumed to be known and provide a means for determining the three-dimensional poses of all the cameras constrained in any given single camera pose. The cameras may be arranged in different configurations for different applications and are made suitable for mounting on a vehicle or person undergoing general motion. A complete parallel architecture is provided in conjunction with the implementation of the visual odometry method, so that real-time processing can be achieved on a multi-CPU system.
摘要翻译： 提供了用于单眼配置中任意数量的相机的固定或已知校准的视觉测距系统和方法。 在该分布式孔径系统中从每个相机收集的图像具有可忽略的或完全不重叠的。 摄像机相对于彼此的相对姿态和配置被认为是已知的，并且提供用于确定在任何给定的单个摄像机姿态中约束的所有摄像机的三维姿态的装置。 摄像机可以针对不同的应用被布置成不同的配置，并且适合于安装在车辆或经历一般运动的人身上。 结合视觉测距法的实现提供了完整的并行架构，从而可以在多CPU系统上实现实时处理。
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