公开(公告)号：US20160334210A1

公开(公告)日：2016-11-17

申请号：US15154476

申请日：2016-05-13

Applicant: Tata Consultancy Services Limited

Inventor： Apurbaa MALLIK ,  Brojeshwar BHOWMICK ,  Aniruddha SINHA ,  Aishwarya VISVANATHAN ,  Sudeb DAS

IPC: G01B21/06 ,  G01V7/06 ,  G01R33/02 ,  G01C19/00 ,  G01P15/18

CPC classification number: G01B21/06 ,  G01C5/00 ,  G01C11/06 ,  G01C19/00 ,  G01P15/18 ,  G01R33/0206 ,  G01V7/06

Abstract: Method and System for estimating three dimensional measurements of a physical object by utilizing readings from inertial sensors is provided. The method involves capturing by a handheld unit, three dimensional aspects of the physical object. The raw recordings are received from the inertial sensors and are used to develop a raw rotation matrix. The raw rotation matrix is subjected to low pass filtering to obtain processed matrix constituted of filtered Euler angles wherein coordinates from the processed rotation matrix is used to estimate gravitational component along the three axis leading to determination of acceleration values and further calculation of measurement of each dimension of the physical object.

Abstract translation: 提供了通过利用惯性传感器的读数来估计物理对象的三维测量的方法和系统。 该方法涉及通过手持单元捕获物理对象的三维方面。 原始记录从惯性传感器接收并用于开发原始旋转矩阵。 原始旋转矩阵经过低通滤波以获得由过滤的欧拉角构成的经处理的矩阵，其中使用来自经处理的旋转矩阵的坐标来估计沿着三轴的重力分量，从而确定加速度值，并进一步计算每个维度 的物理对象。

公开(公告)号：US20190080503A1

公开(公告)日：2019-03-14

申请号：US15898160

申请日：2018-02-15

Applicant: Tata Consultancy Services Limited

Inventor： Brojeshwar BHOWMICK ,  Swapna AGARWAL ,  Sanjana SINHA ,  Balamuralidhar PURUSHOTHAMAN ,  Apurbaa MALLIK

IPC: G06T15/04 ,  G06T15/08 ,  G06T17/00

CPC classification number: G06T15/04 ,  G06T7/254 ,  G06T15/08 ,  G06T17/005 ,  G06T2200/04 ,  G06T2207/10028 ,  G06T2207/20072

Abstract: Methods and systems for change detection utilizing three dimensional (3D) point-cloud processing are provided. The method includes detecting changes in the surface based on a surface fitting approach with a locally weighted Moving Least Squares (MLS) approximation. The method includes acquiring and comparing surface geometry of a reference point-cloud defining a reference surface and a template point-cloud defining a template surface at local regions or local surfaces using the surface fitting approach. The method provides effective change detection for both, rigid as well as non-rigid changes, reducing false detections due to presence of noise and is independent of factors such as texture or illumination of an object or scene being tracked for changed detection.

公开(公告)号：US20160035124A1

公开(公告)日：2016-02-04

申请号：US14767161

申请日：2014-01-22

Applicant: TATA CONSULTANCY SERVICES LIMITED

Inventor： Aniruddha SINHA ,  Tanushyam CHATTOPADHYAY ,  Sangheeta ROY ,  Apurbaa MALLIK

IPC: G06T15/08 ,  G06T7/20 ,  G06T7/00

CPC classification number: G06T15/08 ,  G06T7/11 ,  G06T7/187 ,  G06T7/20 ,  G06T7/50 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/30196 ,  G06T2207/30232

Abstract: Disclosed is a method for segmenting a plurality of objects from a two-dimensional (2D) video captured through a depth camera and an RGB/G camera. The method comprises detecting camera motion in each 2D frame of the plurality of 2D frames from the 2D video and generate a first set of 2D frames without any camera motion. The method further comprises generating a plurality of cloud points for the first set of 2D frames corresponding to each pixel associated a 2D frames in the first set of 2D frames. The method further comprises generating a 3D grid comprising a plurality of voxels. The method further comprises determining valid voxels and an invalid voxels in the 3D grid. Further, a 3D connected component labeling technique is applied on to the set of valid voxels to segment the plurality of objects in the 2D video.

Abstract translation: 公开了一种用于通过深度相机和RGB / G相机捕获的二维（2D）视频来分割多个对象的方法。 该方法包括从2D视频检测多个2D帧的每个2D帧中的相机运动，并且生成第一组2D帧而没有任何相机运动。 该方法还包括为与第一组2D帧中的2D帧相关联的每个像素对应的第一组2D帧生成多个浊点。 该方法还包括生成包括多个体素的3D网格。 该方法还包括确定3D网格中的有效体素和无效体素。 此外，3D连接的部件标注技术被应用于一组有效的体素以分割2D视频中的多个对象。

公开(公告)号：US20150371396A1

公开(公告)日：2015-12-24

申请号：US14493959

申请日：2014-09-23

Applicant: Tata Consultancy Services Limited

Inventor： Brojeshwar BHOWMICK ,  Apurbaa MALLIK ,  Arindam SAHA

IPC: G06T7/00 ,  G06K9/20

CPC classification number: G06T7/593 ,  G06K9/209 ,  G06K2209/40 ,  G06T7/579 ,  G06T7/80 ,  G06T7/97 ,  G06T2200/08 ,  G06T2207/10021

Abstract: Disclosed is a method and system for constructing a 3D structure. The system of the present disclosure comprises an image capturing unit for capturing images of an object. The system comprises of a gyroscope, a magnetometer, and an accelerometer for determining extrinsic camera parameters, wherein the extrinsic camera parameters comprise a rotation and a translation of the images. Further the system determines an internal calibration matrix once. The system uses the extrinsic camera parameters and the internal calibration matrix for determining a fundamental matrix. The system extracts features of the images for establishing point correspondences between the images. Further, the point correspondences are filtered using the fundamental matrix for generating filtered point correspondences. The filtered point correspondences are triangulated for determining 3D points representing the 3D structure. Further, the 3D structure may be optimized for eliminating reprojection errors associated with the 3D structure.

Abstract translation: 公开了一种用于构造3D结构的方法和系统。 本公开的系统包括用于捕获对象的图像的图像捕获单元。 该系统包括陀螺仪，磁力计和用于确定外在摄像机参数的加速度计，其中外在摄像机参数包括图像的旋转和平移。 此外，系统确定内部校准矩阵一次。 该系统使用外在摄像机参数和内部校准矩阵来确定基本矩阵。 系统提取图像的特征以建立图像之间的点对应。 此外，使用用于生成滤波点对应的基本矩阵来对点对应进行滤波。 过滤的点对应被三角测量，用于确定表示3D结构的3D点。 此外，可以优化3D结构以消除与3D结构相关联的重新投射错误。