公开(公告)号：WO2010042288A1

公开(公告)日：2010-04-15

申请号：PCT/US2009/056372

申请日：2009-09-09

Applicant: STRIDER LABS, INC. ,  WEGBREIT, Eliot, Leonard ,  HAGER, Gregory, D.

Inventor： WEGBREIT, Eliot, Leonard ,  HAGER, Gregory, D.

IPC: G06K9/32

CPC classification number: G06T19/20 ,  G06T2219/2021

Abstract: A system and method for constructing a 3D scene model comprising 3D objects and representing a scene, based upon a prior 3D scene model. The method comprises the steps of acquiring an image of the scene; initializing the computed 3D scene model to the prior 3D scene model; and modifying the computed 3D scene model to be consistent with the image. The step of modifying the computed 3D scene models consists of the sub- steps of comparing data of the image with objects of the 3D scene model, resulting in associated data and unassociated data; using the unassociated data to compute new objects that are not in the 3D scene model and adding the new objects to the 3D scene model; and using the associated data to detect objects in the prior 3D scene model that are absent and removing the absent objects from the 3D scene model. The present invention may also be used to construct multiple alternative 3D scene models.

Abstract translation: 一种用于基于先前的3D场景模型构建包括3D对象并且表示场景的3D场景模型的系统和方法。 该方法包括以下步骤：获取场景的图像; 将所计算的3D场景模型初始化为先前的3D场景模型; 并将所计算的3D场景模型修改为与图像一致。 修改计算的3D场景模型的步骤包括将图像的数据与3D场景模型的对象进行比较的子步骤，导致相关联的数据和不相关的数据; 使用未关联的数据来计算不在3D场景模型中的新对象，并将新对象添加到3D场景模型中; 并且使用关联的数据来检测先前3D场景模型中不存在的对象，并从3D场景模型中移除不存在的对象。 本发明还可以用于构建多个替代3D场景模型。

公开(公告)号：WO2004049255A2

公开(公告)日：2004-06-10

申请号：PCT/US2003/035952

申请日：2003-11-10

Applicant: STRIDER LABS, INC. ,  HAGER, Gregory, D. ,  WEGBREIT, Eliot, Leonard

Inventor： HAGER, Gregory, D. ,  WEGBREIT, Eliot, Leonard

IPC: G06T

CPC classification number: G06K9/32 ,  G01B11/2545 ,  G06T7/596

Abstract: A system and method for acquiring three-dimensional (3-D) images of a scene. The system includes a projection device for projecting a locally unique pattern (LUP) onto a scene, and sensors for imaging the scene containing the LUP at two or more viewpoints. A computing device matches corresponding pixels in the images by using the local uniqueness of the pattern to produce a disparity map. A range map can then be generated by triangulating points in the imaged scene.

Abstract translation: 一种用于获取场景的三维（3-D）图像的系统和方法。 该系统包括用于将局部唯一图案（LUP）投影到场景上的投影装置，以及用于在两个或更多个视点对包含LUP的场景成像的传感器。 计算设备通过使用模式的本地唯一性来产生视差图匹配图像中的对应像素。 然后可以通过在成像场景中的三角测量点来生成范围图。

公开(公告)号：WO2008039501A2

公开(公告)日：2008-04-03

申请号：PCT/US2007/020798

申请日：2007-09-26

Applicant: STRIDER LABS, INC. ,  BOYD, Stephen, P. ,  WEGBREIT, Eliot, Leonard

Inventor： BOYD, Stephen, P. ,  WEGBREIT, Eliot, Leonard

IPC: G06F19/00 ,  G06F17/11

CPC classification number: G06F17/50 ,  B25J9/1612 ,  G05B2219/39505 ,  G06F2217/08 ,  G06F2217/16

Abstract: A method for rapidly determining feasibility of a force optimization problem and for rapidly solving a feasible force optimization problem is disclosed. The method comprises formulating the force optimization problem or force feasibility problem as a convex optimization problem, formulating a primal barrier subproblem associated with the convex optimization problem, and solving the primal barrier subproblem. The method and related methods may also be used to solve each problem in a set of force optimization problems, determine the minimum or maximum force required to satisfy any of a set of force optimization problems, solve a force closure problem, compute a conservative contact force vector, or solve a feasible force optimization problem with bidirectional forces.

Abstract translation: 公开了一种用于快速确定力优化问题的可行性并快速解决可行的力优化问题的方法。 该方法包括将力优化问题或力可行性问题作为凸优化问题，制定与凸优化问题相关的原始障碍子问题，解决原始障碍子问题。 该方法和相关方法也可用于解决一组力优化问题中的每个问题，确定满足一组力优化问题中的任一者所需的最小或最大力，解决力闭合问题，计算保守接触力 或者用双向力解决可行的力优化问题。

公开(公告)号：WO2008039501A3

公开(公告)日：2008-11-20

申请号：PCT/US2007020798

申请日：2007-09-26

Applicant: STRIDER LABS INC ,  BOYD STEPHEN P ,  WEGBREIT ELIOT LEONARD

Inventor： BOYD STEPHEN P ,  WEGBREIT ELIOT LEONARD

IPC: G06F19/00 ,  G06F17/11

CPC classification number: G06F17/50 ,  B25J9/1612 ,  G05B2219/39505 ,  G06F2217/08 ,  G06F2217/16

Abstract: A method for rapidly determining feasibility of a force optimization problem and for rapidly solving a feasible force optimization problem is disclosed. The method comprises formulating the force optimization problem or force feasibility problem as a convex optimization problem, formulating a primal barrier subproblem associated with the convex optimization problem, and solving the primal barrier subproblem. The method and related methods may also be used to solve each problem in a set of force optimization problems, determine the minimum or maximum force required to satisfy any of a set of force optimization problems, solve a force closure problem, compute a conservative contact force vector, or solve a feasible force optimization problem with bidirectional forces.

Abstract translation: 公开了一种用于快速确定力优化问题的可行性并用于快速解决可行的力优化问题的方法。 该方法包括将力优化问题或力可行性问题作为凸优化问题，制定与凸优化问题相关的原始障碍子问题，并解决原始障碍子问题。 该方法和相关方法也可用于解决一组力优化问题中的每个问题，确定满足任何一组力优化问题所需的最小或最大力，解决力闭合问题，计算保守接触力 矢量，或用双向力求解可行的力优化问题。

公开(公告)号：WO2004049255A3

公开(公告)日：2004-07-29

申请号：PCT/US0335952

申请日：2003-11-10

Applicant: STRIDER LABS INC ,  HAGER GREGORY D ,  WEGBREIT ELIOT LEONARD

Inventor： HAGER GREGORY D ,  WEGBREIT ELIOT LEONARD

IPC: G06T7/00 ,  H04N13/02 ,  H04N15/00 ,  G06K9/00 ,  G01B11/22 ,  G01B11/24 ,  G01B11/25 ,  G06K9/64

CPC classification number: G06K9/32 ,  G06T7/596

Abstract: A system and method for acquiring three-dimensional (3-D) images of a scene. The system includes a projection device (P1)for projecting a locally unique pattern (LUP) onto a scene, and sensors (C1, C2, C3) for imaging the scene containing the LUP at two or more viewpoints. A computing device matches corresponding pixels in the images by using the local uniqueness of the pattern to produce a disparity map. A range map can then be generated by triangulating points in the imaged scene.

Abstract translation: 一种用于获取场景的三维（3-D）图像的系统和方法。 该系统包括用于将局部唯一图案（LUP）投影到场景上的投影装置（P1）和用于在两个或更多个视点对包含LUP的场景成像的传感器（C1，C2，C3）。 计算设备通过使用模式的本地唯一性来产生视差图匹配图像中的对应像素。 然后可以通过在成像场景中的三角测量点来生成范围图。