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    Unified framework for precise vision-aided navigation
    1.
    发明授权
    Unified framework for precise vision-aided navigation 有权
    精准视觉辅助导航的统一框架

    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

    IPC分类号： H04N7/00 ,  H04N7/18 ,  G01C22/00 ,  G01C21/30

    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 。

    Unified framework for precise vision-aided navigation
    3.
    发明授权
    Unified framework for precise vision-aided navigation 有权
    精准视觉辅助导航的统一框架

    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

    IPC分类号： H04N7/18 ,  G01C21/16 ,  G01C21/00 ,  G06K9/32 ,  G06T7/00

    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 。

    Method and apparatus for generating three-dimensional pose using monocular visual sensor and inertial measurement unit
    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

    申请人： Rakesh Kumar ,  Supun Samarasekera ,  Taragay Oskiper

    发明人： Rakesh Kumar ,  Supun Samarasekera ,  Taragay Oskiper

    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。

    System and method for enhanced situation awareness and visualization of environments
    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

    申请人： Supun Samarasekera ,  Rakesh Kumar ,  Taragay Oskiper ,  Harpreet Sawhney ,  Manoj Aggarwal

    发明人： Supun Samarasekera ,  Rakesh Kumar ,  Taragay Oskiper ,  Harpreet Sawhney ,  Manoj Aggarwal

    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。

    Stereo-based visual odometry method and system
    6.
    发明授权
    Stereo-based visual odometry method and system 有权
    立体视觉测距法和系统

    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。

    UNIFIED FRAMEWORK FOR PRECISE VISION-AIDED NAVIGATION
    7.
    发明申请
    UNIFIED FRAMEWORK FOR PRECISE VISION-AIDED NAVIGATION 有权
    用于精准视觉辅助导航的统一框架

    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 。

    Stereo-Based Visual Odometry Method and System
    8.
    发明申请
    Stereo-Based Visual Odometry Method and System 有权
    立体声视觉测距法和系统

    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。

    Moving target detection in the presence of parallax
    9.
    发明授权
    Moving target detection in the presence of parallax 有权
    在存在视差的情况下移动目标检测

    公开(公告)号：US08340349B2

    公开(公告)日：2012-12-25

    申请号：US11763559

    申请日：2007-06-15

    申请人： Garbis Salgian ,  Supun Samarasekera ,  Jiangjian Xiao ,  James Russell Bergen ,  Rakesh Kumar ,  Feng Han

    发明人： Garbis Salgian ,  Supun Samarasekera ,  Jiangjian Xiao ,  James Russell Bergen ,  Rakesh Kumar ,  Feng Han

    IPC分类号： G06K9/00

    CPC分类号： G06K9/3241 ,  G06K9/209 ,  G06T7/285 ,  G06T2207/10021 ,  G06T2207/30212 ,  G06T2207/30252

    摘要： A method for detecting a moving target is disclosed that receives a plurality of images from at least one camera; receives a measurement of scale from one of a measurement device and a second camera; calculates the pose of the at least one camera over time based on the plurality of images and the measurement of scale; selects a reference image and an inspection image from the plurality of images of the at least one camera; and detects a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displays any detected moving target on a display. The measurement of scale can derived from a second camera or, for example, a wheel odometer. The method can also detect moving targets by combining the above epipolar method with a method based on changes in depth between the inspection image and the reference image and based on changes in flow between the inspection image and the reference image.

    摘要翻译： 公开了一种用于检测移动目标的方法，其从至少一个相机接收多个图像; 从测量装置和第二相机中的一个接收刻度的测量; 基于多个图像和尺度的测量来计算随时间的至少一个相机的姿态; 从所述至少一个照相机的多个图像中选择参考图像和检查图像; 并且基于所述参考图像和所述检查图像中的对应部分相对于所述参考图像和所述检查图像共同的核极方向的位置的取向，从所述参考图像和所述检查图像中检测移动目标; 并在显示器上显示任何检测到的移动目标。 刻度的测量可以从第二相机或例如车轮里程表得到。 该方法还可以通过将上述对极方法与基于检查图像和参考图像之间的深度变化的方法并基于检查图像与参考图像之间的流动变化组合来检测移动目标。