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公开(公告)号：US11281230B2
公开(公告)日：2022-03-22
申请号：US16837017
申请日：2020-04-01
申请人： Waymo LLC
摘要： A computing device of a first vehicle may receive a first image and a second image of a second vehicle having flashing light signals. The computing device may determine, in the first image and the second image, an image region that bounds the second vehicle such that the image region substantially encompasses the second vehicle. The computing device may determine a polar grid that partitions the image region in the first image and the second image into polar bins, and identify portions of image data exhibiting a change in color and a change in brightness between the first image and the second image. The computing device may determine a type of the flashing light signals and a type of the second vehicle; and accordingly provide instructions to control the first vehicle.
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公开(公告)号：US11144777B2
公开(公告)日：2021-10-12
申请号：US16313753
申请日：2016-06-30
申请人： Rakuten Group, Inc.
发明人： Daiki Kimura
摘要： The apparatus includes an image data obtainer, a candidate region extractor, a candidate line extractor, an overlap degree determiner, and a clip image region extractor. The candidate region extractor extracts, as a candidate region, a region containing an object detectable from the image data. The candidate line extractor extracts, as a candidate line, a line that is at least either a line segment or an arc included in the image data. The overlap degree determiner determines whether the degree of overlap between a closed line forming the outline of the candidate region extracted and the candidate line extracted is greater than or equal to a preset predetermined first percentage value. If the overlap degree determiner determines that the degree of overlap is greater than or equal to the first percentage value, the clip image region extractor 19 extracts the candidate region as a clip image.
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公开(公告)号：US20210279493A1
公开(公告)日：2021-09-09
申请号：US17331084
申请日：2021-05-26
摘要： A method of image processing in a structured light imaging system is provided that includes receiving a captured image of a scene, wherein the captured image is captured by a camera of a projector-camera pair, and wherein the captured image includes a binary pattern projected into the scene by the projector, applying a filter to the rectified captured image to generate a local threshold image, wherein the local threshold image includes a local threshold value for each pixel in the rectified captured image, and extracting a binary image from the rectified captured image wherein a value of each location in the binary image is determined based on a comparison of a value of a pixel in a corresponding location in the rectified captured image to a local threshold value in a corresponding location in the local threshold image.
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公开(公告)号：US10963733B2
公开(公告)日：2021-03-30
申请号：US16442911
申请日：2019-06-17
申请人： Tianzhi Yang
发明人： Tianzhi Yang
摘要： A computer implemented method for generating a one-to-one mapping between a first spatial point set and a second spatial point set in nD, n=2 or 3, comprising receiving a first and a second spatial point sets in nD and a plurality of candidate correspondences; computing unit conflict lists for the candidate correspondences; generating one or more MatchPairs between the first and the second point sets; computing local distance measures for the MatchPairs; converting the local distance measures to weights; computing conflict lists for pairs of the MatchPairs by taking the bitwise ORs of their candidate correspondences' unit conflict lists; computing correspondence lists for the MatchPairs; computing compatibilities between pairs of the MatchPairs by examining for each pair the bitwise AND of one's correspondence list and the other's conflict list; constructing a vertex-weighted undirected graph with its nodes corresponding to the MatchPairs, its edges representing the compatibilities, and its graph vertices assigned the weights; computing a maximum-weight clique of the vertex-weighted undirected graph; and merging the maximum-weight clique to generate the one-to-one mapping.
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公开(公告)号：US10417801B2
公开(公告)日：2019-09-17
申请号：US15522003
申请日：2014-11-13
发明人： Kar-Han Tan
IPC分类号： H04N13/271 , G06T11/60 , H04N9/31 , H04N5/225 , H04N5/265 , G03B17/54 , G06K9/00 , G06F3/0354 , G06K9/50 , G06F3/042 , H04N13/00 , H04N13/254 , G06F3/01
摘要： According to one example for outputting image data, an image comprising a surface and an object are captured on a sensor. An object mask based on the captured image is created on a processor. A first composite image based on the object mask and a source content file is created. In an example, the first composite image is projected to the surface.
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公开(公告)号：US10306267B2
公开(公告)日：2019-05-28
申请号：US14840140
申请日：2015-08-31
摘要： A compression system for compressing a video received from an imaging device, the compression system including a transformation estimation device configured to estimate, based on pixel transformations between a first frame and a second frame of the video, a transformation matrix, an encoding device configured to encode the second frame as an increment with the first frame based on the transformation matrix generated by the transformation device, a compression device configured to compress the increments into compressed data, and a reconstruction device configured to reconstruct the first frame and the second frame using the transformation matrix generated by the transformation estimation device.
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公开(公告)号：US10089753B1
公开(公告)日：2018-10-02
申请号：US15641491
申请日：2017-07-05
申请人： Almotive Kft.
发明人： Zoltán Fegyver , Kristóf Várszegi
摘要： The invention provides a method, a system and a computer-readable medium for calibrating a camera by using a multi-pattern calibration rig, each pattern being repetitive and comprising calibration shapes, wherein the following steps are carried out: capturing an image of the multi-pattern calibration rig with the camera, segmenting contours of the imaged calibration shapes, building groups of coherent contours based on the similarity of their shapes and their distances from each other, and identifying the positions of the patterns in the image based on the contour groups.
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公开(公告)号：US10089739B2
公开(公告)日：2018-10-02
申请号：US14296172
申请日：2014-06-04
摘要： A method of image processing in a structured light imaging system is provided that includes receiving a captured image of a scene, wherein the captured image is captured by a camera of a projector-camera pair, and wherein the captured image includes a binary pattern projected into the scene by the projector, applying a filter to the rectified captured image to generate a local threshold image, wherein the local threshold image includes a local threshold value for each pixel in the rectified captured image, and extracting a binary image from the rectified captured image wherein a value of each location in the binary image is determined based on a comparison of a value of a pixel in a corresponding location in the rectified captured image to a local threshold value in a corresponding location in the local threshold image.
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9.发明申请公开(公告)号：US20180174311A1
公开(公告)日：2018-06-21
申请号：US15579743
申请日：2015-06-05
发明人： Stefan Kluckner , Ali Kamen , Terrence Chen
CPC分类号： G06T7/251 , G06K9/3233 , G06K9/50 , G06K9/6259 , G06K9/6282 , G06K2209/051 , G06T7/11 , G06T2200/04 , G06T2207/10016 , G06T2207/10068 , G06T2207/10081 , G06T2207/10088 , G06T2207/20081 , G06T2207/30056
摘要： A method and system for scene parsing and model fusion in laparoscopic and endoscopic 2D/2.5D image data is disclosed. A current frame of an intra-operative image stream including a 2D image channel and a 2.5D depth channel is received. A 3D pre-operative model of a target organ segmented in pre-operative 3D medical image data is fused to the current frame of the intra-operative image stream. Semantic label information is propagated from the pre-operative 3D medical image data to each of a plurality of pixels in the current frame of the intra-operative image stream based on the fused pre-operative 3D model of the target organ, resulting in a rendered label map for the current frame of the intra-operative image stream. A semantic classifier is trained based on the rendered label map for the current frame of the intra-operative image stream.
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公开(公告)号：US09818042B2
公开(公告)日：2017-11-14
申请号：US14964277
申请日：2015-12-09
发明人： Mircea Capota , Scott M. Alazraki
CPC分类号： G06K9/50 , G06K9/00255 , G06K9/00771 , G06K9/3233 , G06K9/623
摘要： Data analytics engines and methods of incident scene focus area determination. The method includes receiving a plurality of directional inputs from a plurality of sources. The method also includes assigning weighting factors to the plurality of directional inputs. The method further includes generating weighted position vectors for each of the plurality of sources based on the plurality of directional inputs and the weighting factors. The method also includes determining when the weighted position vectors for at least two sources of the plurality of sources intersect. The method further includes determining an intersection location and a confidence level based on the weighted position vectors of the at least two sources. The method also includes identifying an incident scene focus area based on the intersection location and the confidence level.
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