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公开(公告)号：US08908913B2
公开(公告)日：2014-12-09
申请号：US13329493
申请日：2011-12-19
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T7/521 , G06T2207/30108 , G06T2207/30164
摘要： A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
摘要翻译： 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。
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公开(公告)号：US20130156262A1
公开(公告)日：2013-06-20
申请号：US13329493
申请日：2011-12-19
IPC分类号： G06K9/00
CPC分类号： G06T7/75 , G06T7/521 , G06T2207/30108 , G06T2207/30164
摘要： A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.
摘要翻译： 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。
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3.发明申请公开(公告)号：US20120275702A1
公开(公告)日：2012-11-01
申请号：US13097551
申请日：2011-04-29
IPC分类号： G06K9/34
CPC分类号： G06T7/162 , G06T7/11 , G06T2207/10004
摘要： An image is segmented into superpixels by constructing a graph with vertices connected by edges, wherein each vertex corresponds to a pixel in the image, and each edge is associated with a weight indicating a similarity of the corresponding pixels, A subset of edges in the graph are selected to segment the graph into subgraphs, wherein the selecting maximizes an objective function based on an entropy rate and a balancing term. The edges with maximum gains are added to the graph until a number of subgraphs is equal to some threshold.
摘要翻译： 通过构造具有由边缘连接的顶点的图形将图像分割成超像素，其中每个顶点对应于图像中的像素，并且每个边缘与指示相应像素的相似度的权重相关联。图中的边缘子集 被选择为将图形分割为子图，其中所述选择基于熵速率和平衡项来最大化目标函数。 具有最大增益的边缘被添加到图形中，直到一些子图等于某个阈值。
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4.发明授权公开(公告)号：US08428363B2
公开(公告)日：2013-04-23
申请号：US13097551
申请日：2011-04-29
IPC分类号： G06K9/48
CPC分类号： G06T7/162 , G06T7/11 , G06T2207/10004
摘要： An image is segmented into superpixels by constructing a graph with vertices connected by edges, wherein each vertex corresponds to a pixel in the image, and each edge is associated with a weight indicating a similarity of the corresponding pixels, A subset of edges in the graph are selected to segment the graph into subgraphs, wherein the selecting maximizes an objective function based on an entropy rate and a balancing term. The edges with maximum gains are added to the graph until a number of subgraphs is equal to some threshold.
摘要翻译： 通过构造具有由边缘连接的顶点的图形将图像分割成超像素，其中每个顶点对应于图像中的像素，并且每个边缘与指示相应像素的相似度的权重相关联。图中的边缘的子集 被选择为将图形分割为子图，其中所述选择基于熵速率和平衡项来最大化目标函数。 具有最大增益的边缘被添加到图形中，直到一些子图等于某个阈值。
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公开(公告)号：US08165403B1
公开(公告)日：2012-04-24
申请号：US12950357
申请日：2010-11-19
申请人： Srikumar Ramalingam , Ashok Veeraraghavan , Yuichi Taguchi , Cuneyt Oncel Tuzel , Nitesh Shroff
发明人： Srikumar Ramalingam , Ashok Veeraraghavan , Yuichi Taguchi , Cuneyt Oncel Tuzel , Nitesh Shroff
CPC分类号： G06T7/75 , G06T2207/10152 , G06T2207/30164
摘要： A pose of an object is determine by acquiring sets of images of the object by a camera, wherein the object has a thread arranged on a surface such that a local region of the object appears substantially spherical, wherein the camera is at a different point of view for each set, and wherein each image in each set is acquired while the scene is illuminated from a different direction. A set of features is extracted from each image, wherein the features correspond to points on the surface having normals towards the camera. A parametric line is fitted to the points for each image, wherein the line lies on a plane joining a center of the camera and an axis of the object. Then, geometric constraints are applied to lines to determine the pose of the object.
摘要翻译： 通过摄像机获取物体的图像来确定物体的姿态，其中物体具有布置在表面上的线，使得物体的局部区域基本上呈球形，其中照相机处于不同点 并且其中当从不同方向照亮场景时获取每组中的每个图像。 从每个图像提取一组特征，其中特征对应于具有朝向相机的法线的表面上的点。 参数线适合于每个图像的点，其中线位于连接照相机的中心和物体轴线的平面上。 然后，将几何约束应用于线以确定对象的姿态。
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6.发明授权Method for registering points and planes of 3D data in multiple coordinate systems 有权在多个坐标系中记录3D数据的点和平面的方法公开(公告)号：US09183631B2
公开(公告)日：2015-11-10
申请号：US13539060
申请日：2012-06-29
申请人： Yuichi Taguchi , Srikumar Ramalingam , Yong-Dian Jian , Chen Feng
发明人： Yuichi Taguchi , Srikumar Ramalingam , Yong-Dian Jian , Chen Feng
CPC分类号： G06T7/344 , G06T7/579 , G06T7/75 , G06T2207/10028 , G06T2207/30244
摘要： Three-dimensional data are registered by selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least one plane, at least one point, and a third primitive that is either a point or a plane, and selecting a second set of primitives from the data in a second coordinate system, wherein the second set of primitives includes at least one plane, at least one point, and a third primitive corresponding to the third primitive in the first set of primitives. Then, the planes are registered with each other, as are the points, to obtain registered primitives.
摘要翻译： 通过从第一坐标系中的数据中选择第一组图元来注册三维数据，其中第一组图元包括至少一个平面，至少一个点和第三基元，其是点或 并且从第二坐标系中的数据中选择第二组图元，其中所述第二组图元包括与所述第一组图元中的所述第三图元对应的至少一个平面，至少一个点和第三图元 。 然后，如同点一样，飞机相互注册，以获得注册的原语。
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7.发明授权Method and system for determining projections in non-central catadioptric optical systems 失效用于确定非中心反射折射光学系统中的投影的方法和系统公开(公告)号：US08630446B2
公开(公告)日：2014-01-14
申请号：US13077810
申请日：2011-03-31
IPC分类号： G06K9/00
摘要： A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.
摘要翻译： 确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。 反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。 反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在 反射点与对称轴。
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公开(公告)号：US20110316968A1
公开(公告)日：2011-12-29
申请号：US12825608
申请日：2010-06-29
申请人： Yuichi Taguchi , Amit K. Agrawal , Ashok N. Veeraraghavan , Srikumar Ramalingam , Ramesh Raskar
发明人： Yuichi Taguchi , Amit K. Agrawal , Ashok N. Veeraraghavan , Srikumar Ramalingam , Ramesh Raskar
IPC分类号： H04N7/00
CPC分类号： G06T5/50 , G06T2200/21 , G06T2207/10052 , H04N5/23238
摘要： A single camera acquires an input image of a scene as observed in an array of spheres, wherein pixels in the input image corresponding to each sphere form a sphere image. A set of virtual cameras are defined for each sphere on a line joining a center of the sphere and a center of projection of the camera, wherein each virtual camera has a different virtual viewpoint and an associated cone of rays, appearing as a circle of pixels on its virtual image plane. A projective texture mapping of each sphere image is applied to all of the virtual cameras on the virtual image plane to produce a virtual camera image comprising circle of pixels. Each virtual camera image for each sphere is then projected to a refocusing geometry using a refocus viewpoint to produce a wide-angle lightfield view, which are averaged to produce a refocused wide-angle image.
摘要翻译： 单个相机获取在球体阵列中观察到的场景的输入图像，其中与每个球体对应的输入图像中的像素形成球面图像。 在连接球体中心的线和摄像机的投影中心的线上为每个球体定义一组虚拟照相机，其中每个虚拟照相机具有不同的虚拟视点和相关联的光线锥，呈现为像素圆 在其虚拟图像平面上。 每个球体图像的投影纹理映射被应用于虚拟图像平面上的所有虚拟相机，以产生包括像素圆的虚拟相机图像。 然后使用重聚焦点将每个球体的每个虚拟照相机图像投影到重聚焦几何，以产生广角光场视图，其被平均以产生重新聚焦的广角图像。
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9.发明申请Method and System for Determining Poses of Vehicle-Mounted Cameras for In-Road Obstacle Detection 有权确定车载摄像机姿态的方法和系统，用于道路障碍物检测公开(公告)号：US20140037136A1
公开(公告)日：2014-02-06
申请号：US13563925
申请日：2012-08-01
IPC分类号： G06K9/62
CPC分类号： G06T7/579 , G06T7/73 , G06T2200/08 , G06T2207/10016 , G06T2207/20076 , G06T2207/30244 , G06T2207/30261
摘要： Poses of a movable camera relative to an environment are obtained by determining point correspondences from a set of initial images and then applying 2-point motion estimation to the point correspondences to determine a set of initial poses of the camera. A point cloud is generated from the set of initial poses and the point correspondences. Then, for each next image, the point correspondences and corresponding poses are determined, while updating the point cloud.
摘要翻译： 通过确定来自一组初始图像的点对应性，然后将2点运动估计应用于点对应，以确定相机的初始姿势的集合，获得可移动相机相对于环境的姿势。 从一组初始姿势和点对应产生点云。 然后，对于每个下一个图像，在更新点云时确定点对应和相应姿势。
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10.发明申请Method and System for Determining Projections in Non-Central Catadioptric Optical Systems 失效用于确定非中央反射折射光学系统中的投影的方法和系统公开(公告)号：US20120250977A1
公开(公告)日：2012-10-04
申请号：US13077810
申请日：2011-03-31
IPC分类号： G06K9/00
摘要： A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.
摘要翻译： 确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。 反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。 反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在 反射点与对称轴。
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