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1.发明授权公开(公告)号：US06173066B2
公开(公告)日：2001-01-09
申请号：US08861411
申请日：1997-05-21
IPC分类号： G06K900
CPC分类号： G06F17/3079 , G06F17/30805 , G06K9/6211
摘要： An improved method of pose determination and tracking does away with conventional segmentation while taking advantage of multi-degree-of-freedom numerical fitting or match filtering as opposed to a syntactic segment or feature oriented combinatorial match. The technique may be used to improve image database query based on object shape descriptors by allowing the user to request images from a database or video sequence which contain a key object described by a geometric description that the user designates or supplies. The approach is also applicable to target or object acquisition and tracking based on the matching of one or a set of object shape data structures.
摘要翻译： 一种改进的姿势确定和跟踪方法在利用多自由度数值拟合或匹配滤波方面取代了常规分割，而不是语法分段或特征取向组合匹配。 该技术可以用于通过允许用户从包含由用户指定或提供的几何描述描述的关键对象的数据库或视频序列请求图像来改进基于对象形状描述符的图像数据库查询。 该方法也适用于基于一个或一组对象形状数据结构的匹配的目标或对象获取和跟踪。
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公开(公告)号：US06374255B1
公开(公告)日：2002-04-16
申请号：US09640358
申请日：2000-08-16
IPC分类号： G06F1730
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US5844392A
公开(公告)日：1998-12-01
申请号：US861080
申请日：1997-05-21
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , A63B2071/0666 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/012 , G06F2203/015
摘要： A method of browsing geometrical databases through touch or haptic feedback is disclosed which presents a tactile virtual reality to a user, facilitating the simultaneous browsing, or viewing, touching, attaching to, or manipulation of object descriptions contained within files both visually and haptically. The files may be local to a computer system or located across a network on one or more computer systems. In a preferred embodiment, the invention preferably renders haptic features using a layered architecture to support multiple axes per device, multiple devices per servo layer, multiple servo layers per communications layer, and multiple applications accessing common or different force-feedback devices.
摘要翻译： 公开了一种通过触摸或触觉反馈来浏览几何数据库的方法，其向用户呈现触觉的虚拟现实，便于同时浏览或观看，触摸，附加或操纵包含在文件中的对象描述。 这些文件可以是计算机系统本地的或者位于一个或多个计算机系统上的网络上。 在优选实施例中，本发明优选地使用分层架构来支持触觉特征以支持每个设备的多个轴，每个伺服层的多个设备，每个通信层的多个伺服层，以及访问公共或不同的力反馈设备的多个应用。
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公开(公告)号：US6131097A
公开(公告)日：2000-10-10
申请号：US859877
申请日：1997-05-21
CPC分类号： G06F3/016 , B25J9/1689 , G05G9/04737 , G06F3/011 , G05B2219/35416 , G05B2219/37396 , G05G2009/04766 , G06F2203/015 , Y10S707/99943 , Y10S707/99945
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
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公开(公告)号：US07765182B2
公开(公告)日：2010-07-27
申请号：US11699116
申请日：2007-01-29
申请人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
发明人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US07191191B2
公开(公告)日：2007-03-13
申请号：US10122090
申请日：2002-04-12
申请人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
发明人： Thomas M. Peurach , Todd Yocum , Douglas Haanpaa
IPC分类号： G06F17/30
CPC分类号： G06F3/016 , G06F17/30861 , Y10S707/99942 , Y10S707/99943 , Y10S707/99945 , Y10S707/99948
摘要： Methods are presented for authoring geometrical databases which incorporate touch or haptic feedback. In particular, a database of geometrical elements incorporates attributes necessary to support haptic interactions such as stiffness, hardness, friction, and so forth. Users may instantiate objects designed through CAD/CAM environments or attach haptic or touch attributes to subcomponents such as surfaces or solid sub-objects. The resulting haptic/visual databases or world-describing models can then be viewed and touched using a haptic browser or other appropriate user interface.
摘要翻译： 提出了用于创作结合触摸或触觉反馈的几何数据库的方法。 特别地，几何元素的数据库包括支持诸如刚度，硬度，摩擦等的触觉相互作用所必需的属性。 用户可以实例化通过CAD / CAM环境设计的对象，或将触觉或触摸属性附加到子组件，如表面或实体子对象。 然后可以使用触觉浏览器或其他适当的用户界面来查看和触摸所得到的触觉/视觉数据库或世界描述模型。
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公开(公告)号：US20100045701A1
公开(公告)日：2010-02-25
申请号：US12546266
申请日：2009-08-24
CPC分类号： H04N7/183 , G01S5/163 , G06T7/73 , G06T7/80 , G06T2207/30244
摘要： Systems and methods expedite and improve the process of configuring an augmented reality environment. A method of pose determination according to the invention includes the step of placing at least one synthetic fiducial in a real environment to be augmented. A camera, which may include apparatus for obtaining directly measured camera location and orientation (DLMO) information, is used to acquire an image of the environment. The natural and synthetic fiducials are detected, and the pose of the camera is determined using a combination of the natural fiducials, the synthetic fiducial if visible in the image, and the DLMO information if determined to be reliable or necessary. The invention is not limited to architectural environments, and may be used with instrumented persons, animals, vehicles, and any other augmented or mixed reality applications.
摘要翻译： 系统和方法加快和改进配置增强现实环境的过程。 根据本发明的姿势确定方法包括将至少一个合成基准放置在要增强的真实环境中的步骤。 可以使用可以包括用于获得直接测量的相机位置和取向（DLMO）信息的装置的相机来获取环境的图像。 检测天然和合成基准，并且使用自然基准，合成基准（如果在图像中可见）和DLMO信息（如果被确定为可靠或必需的）的组合来确定相机的姿态。 本发明不限于建筑环境，并且可以与仪器人，动物，车辆以及任何其他增强或混合的现实应用一起使用。
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公开(公告)号：US20090184809A1
公开(公告)日：2009-07-23
申请号：US12351332
申请日：2009-01-09
CPC分类号： G06F3/0425 , B33Y80/00 , G06F3/016 , G06K9/00355 , G08B6/00 , H03K17/94
摘要： A system and method including software to aid in generation of panels and control instruments rapidly generates a station that can support a variety of control interfaces. Rapid-Prototyped Panels, or RP-Panels, replicate existing systems (for simulation, training, gaming, etc.) or from new designs (for human factors testing, as functional product, etc.). The controls have tactile and visual characteristics similar or identical to their functional component counterparts such as buttons, knobs, switches, pedals, joysticks, steering wheels, and touch panels but are modular and use alternative data transfer modes (potentiometers, fiber optics, RFID, machine vision, etc.) to track and analyze the response of the controls. The response is then transmitted to the host programs. With this method a user can design and fabricate a reconfigurable interface to interact with virtual environments for various applications such as simulation, training, virtual instrumentation, gaming, human factors testing, etc.
摘要翻译： 包括帮助生成面板和控制仪器的软件的系统和方法快速地产生可以支持各种控制接口的站。 快速原型面板或RP面板复制现有系统（用于模拟，培训，游戏等）或新设计（用于人为因素测试，功能产品等）。 控制器具有与其功能部件对应物类似或相同的触觉和视觉特征，例如按钮，旋钮，开关，踏板，操纵杆，方向盘和触摸面板，但是是模块化的，并且使用替代数据传输模式（电位计，光纤，RFID， 机器视觉等）来跟踪和分析控件的响应。 然后将响应发送到主机程序。 使用这种方法，用户可以设计和制造可重新配置的界面，以便与各种应用（如模拟，培训，虚拟仪器，游戏，人为因素测试等）的虚拟环境交互。
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公开(公告)号：US20090182786A1
公开(公告)日：2009-07-16
申请号：US12263706
申请日：2008-11-03
CPC分类号： G06F16/248 , G06F16/1767 , G06F16/50 , G06F16/90335 , G06F16/93 , G06F16/951
摘要： An application coherency manager (ACM) implements and manages the interdependencies of simulation, data, and platform information to simplify the task of organizing and executing large simulations composed of numerous models and data files. One or more file systems or repositories stories raw data in the form of files, data, or models, and a graphical users interface (GUI) enabling a user to enter and receive results from a query involving the files, data, or models. One or more coherency checking modules (CCMs) are operative to determine the types and versions of, and compatibility between, the files, data, or models. A database stores processed information about the file systems or repositories and the results of previous queries, and a data aggregator and manager (DAM) that manages the flow of information between the file system or repository, the GUI, the CCMs, and the database. The invention is applicable to simulation and non-simulation type applications such as document control, source code control, image libraries, etc.
摘要翻译： 应用程序一致性管理器（ACM）实现和管理模拟，数据和平台信息的相互依赖关系，以简化组织和执行由大量模型和数据文件组成的大型模拟的任务。 一个或多个文件系统或存储库以文件，数据或模型的形式报告原始数据，以及使用户能够从涉及文件，数据或模型的查询中输入和接收结果的图形用户界面（GUI）。 一个或多个一致性检查模块（CCM）可用于确定文件，数据或模型的类型和版本以及兼容性。 数据库存储关于文件系统或存储库的处理的信息和先前查询的结果，以及管理文件系统或存储库，GUI，CCM和数据库之间的信息流的数据聚合器和管理器（DAM）。 本发明适用于文档控制，源代码控制，图像库等仿真和非仿真类应用。
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公开(公告)号：US20170154459A1
公开(公告)日：2017-06-01
申请号：US15340519
申请日：2016-11-01
CPC分类号： G06T15/20 , G06F3/048 , G06K9/0063 , G06K9/3241 , G06K9/6202 , G06T3/20 , G06T3/60 , G06T7/20 , G06T15/00 , G06T15/10 , G06T2207/10012 , G06T2207/30212 , G06T2207/30248
摘要： A system for performing object identification combines pose determination, EO/IR sensor data, and novel computer graphics rendering techniques. A first module extracts the orientation and distance of a target in a truth chip given that the target type is known. A second is a module identifies the vehicle within a truth chip given the known distance and elevation angle from camera to target. Image matching is based on synthetic image and truth chip image comparison, where the synthetic image is rotated and moved through a 3-Dimensional space. To limit the search space, it is assumed that the object is positioned on relatively flat ground and that the camera roll angle stays near zero. This leaves three dimensions of motion (distance, heading, and pitch angle) to define the space in which the synthetic target is moved. A graphical user interface (GUI) front end allows the user to manually adjust the orientation of the target within the synthetic images. The system also includes the generation of shadows and allows the user to manipulate the sun angle to approximate the lighting conditions of the test range in the provided video.
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