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1. 发明申请

US20100296129A1 AUTOMATIC SIZING OF IMAGES ACQUIRED BY A HANDHELD SCANNER 有权
标题翻译：手持扫描仪获取图像的自动尺寸
公开(公告)号：US20100296129A1
公开(公告)日：2010-11-25
申请号：US12784158
申请日：2010-05-20
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
IPC分类号： H04N1/387
CPC分类号： H04N1/3876 , G06K9/228 , G06K2009/2045 , G06T1/00 , G06T7/33 , G06T2200/32 , G06T2207/10016 , G06T2207/30176 , H04N1/047 , H04N1/107 , H04N1/1071 , H04N2201/04703 , H04N2201/0471 , H04N2201/04729 , H04N2201/04731 , H04N2201/04743
摘要： A computer peripheral that may operate as a scanner. The scanner captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. As additional image frames are added to the composite image, the size and format of the composite image may be automatically adjusted to facilitate ease of use.
摘要翻译：可以作为扫描仪操作的计算机外围设备。扫描仪在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分来确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。随着附加图像帧被添加到合成图像，可以自动调整合成图像的尺寸和格式以便于使用。

2. 发明授权

US09300834B2 Image processing for handheld scanner 有权
标题翻译：手持式扫描仪图像处理
公开(公告)号：US09300834B2
公开(公告)日：2016-03-29
申请号：US12781391
申请日：2010-05-17
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
IPC分类号： G06K9/36 , H04N1/107 , H04N1/387 , G06T7/00 , H04N1/195
CPC分类号： H04N1/107 , G06F3/033 , G06K9/228 , G06K9/6201 , G06T7/30 , H04N1/19505 , H04N1/3876 , H04N2201/0414
摘要： A computer peripheral that may operate as a scanner. The scanner captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. The peripheral may also act as a mouse and may be configured with one or more navigation sensors that can be used to reduce processing time required to match a successive image frame to a preceding image frame.
摘要翻译：可以作为扫描仪操作的计算机外围设备。扫描仪在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分来确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。外围设备也可以用作鼠标，并且可以配置有一个或多个导航传感器，其可以用于减少将连续的图像帧与先前的图像帧匹配所需的处理时间。

3. 发明授权

US08723872B2 Display with robotic pixels 有权
标题翻译：显示机器人像素
公开(公告)号：US08723872B2
公开(公告)日：2014-05-13
申请号：US13156212
申请日：2011-06-08
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
IPC分类号： G06T13/00 , G06F19/00
CPC分类号： G06T13/80 , B25J9/1666 , Y10S901/01 , Y10S901/46
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.
摘要翻译：公开了用于控制机器人像素以显示输入的视觉表示的技术。系统的输入可以是面部的图像，并且机器人像素以物理布置来部署以显示面部的视觉表示，并且将随时间改变其物理布置以表示改变的面部表情。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了用于多个非完整机器人中的分布式冲突避免的技术，以保证平稳和无碰撞的运动。碰撞避免技术通过解耦路径规划和协调为多机器人工作。

4. 发明申请

US20100296131A1 REAL-TIME DISPLAY OF IMAGES ACQUIRED BY A HANDHELD SCANNER 有权
标题翻译：实时显示手持扫描仪获取的图像
公开(公告)号：US20100296131A1
公开(公告)日：2010-11-25
申请号：US12784009
申请日：2010-05-20
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
IPC分类号： H04N1/387
CPC分类号： H04N1/107 , G06F3/033 , G06K9/228 , G06K9/6201 , G06T7/30 , H04N1/19505 , H04N1/3876 , H04N2201/0414
摘要： A computer peripheral that may operate as a scanner. The scanner captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. As a result, a composite image of an object being scanned may be presented in real time to a user, providing a user feedback or portions of the object that have been scanned and those that have not.
摘要翻译：可以作为扫描仪操作的计算机外围设备。扫描仪在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。结果，被扫描对象的合成图像可以实时呈现给用户，提供用户的反馈或已被扫描的对象的部分以及没有扫描的对象的部分。

5. 发明申请

US20110304633A1 DISPLAY WITH ROBOTIC PIXELS 有权
标题翻译：用机器人像素显示
公开(公告)号：US20110304633A1
公开(公告)日：2011-12-15
申请号：US13156212
申请日：2011-06-08
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
IPC分类号： G06T13/00 , G06F19/00
CPC分类号： G06T13/80 , B25J9/1666 , Y10S901/01 , Y10S901/46
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.
摘要翻译：公开了用于控制机器人像素以显示输入的视觉表示的技术。系统的输入可以是面部的图像，并且机器人像素以物理布置来部署以显示面部的视觉表示，并且将随时间改变其物理布置以表示改变的面部表情。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了用于多个非完整机器人中的分布式冲突避免的技术，以保证平稳和无碰撞的运动。碰撞避免技术通过解耦路径规划和协调为多机器人工作。

6. 发明授权

US08582182B2 Automatic sizing of images acquired by a handheld scanner 有权
标题翻译：自动调整由手持扫描仪获取的图像
公开(公告)号：US08582182B2
公开(公告)日：2013-11-12
申请号：US12784158
申请日：2010-05-20
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
IPC分类号： H04N1/024
CPC分类号： H04N1/3876 , G06K9/228 , G06K2009/2045 , G06T1/00 , G06T7/33 , G06T2200/32 , G06T2207/10016 , G06T2207/30176 , H04N1/047 , H04N1/107 , H04N1/1071 , H04N2201/04703 , H04N2201/0471 , H04N2201/04729 , H04N2201/04731 , H04N2201/04743
摘要： A computer peripheral that may operate as a scanner. The scanner captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. As additional image frames are added to the composite image, the size and format of the composite image may be automatically adjusted to facilitate ease of use.
摘要翻译：可以作为扫描仪操作的计算机外围设备。扫描仪在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。随着附加图像帧被添加到合成图像，可以自动调整合成图像的尺寸和格式以便于使用。

7. 发明申请

US20120206473A1 ROBOTIC TEXTURE 有权
标题翻译：机器人纹身
公开(公告)号：US20120206473A1
公开(公告)日：2012-08-16
申请号：US13458875
申请日：2012-04-27
申请人： Paul BEARDSLEY , Javier Alonso MORA , Andreas BREITENMOSER , Federico PERAZZI , Alexander HORNUNG
发明人： Paul BEARDSLEY , Javier Alonso MORA , Andreas BREITENMOSER , Federico PERAZZI , Alexander HORNUNG
IPC分类号： G06T11/40
CPC分类号： B25J9/1666 , G06T11/001
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.
摘要翻译：公开了用于控制机器人像素以显示真实世界视频纹理的视觉表示的技术。具有可控色彩的移动机器人可能产生现实世界视频纹理的视觉表示，以产生如火，阳光在水中，阳光下飘飘的小麦，风中摇摆的麦田，繁忙城市的群众流动，以及云中的云彩天空。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了在多个非完整和完整的机器人之间进行分布式碰撞避免的技术，以保证平稳无碰撞的运动。

8. 发明授权

US09067320B2 Robotic texture 有权
标题翻译：机器人纹理
公开(公告)号：US09067320B2
公开(公告)日：2015-06-30
申请号：US13458875
申请日：2012-04-27
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Federico Perazzi , Alexander Hornung
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Federico Perazzi , Alexander Hornung
IPC分类号： G09G5/00 , B25J9/16 , G06T11/00
CPC分类号： B25J9/1666 , G06T11/001
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.
摘要翻译：公开了用于控制机器人像素以显示真实世界视频纹理的视觉表示的技术。具有可控色彩的移动机器人可能产生现实世界视频纹理的视觉表示，以产生如火，阳光在水中，阳光下飘飘的小麦，风中摇摆的麦田，繁忙城市的群众流动，以及云中的云彩天空。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了在多个非完整和完整的机器人之间进行分布式碰撞避免的技术，以保证平稳无碰撞的运动。

9. 发明授权

US08723885B2 Real-time display of images acquired by a handheld scanner 有权
标题翻译：实时显示手持扫描仪获取的图像
公开(公告)号：US08723885B2
公开(公告)日：2014-05-13
申请号：US12784009
申请日：2010-05-20
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Simon Meier , Andreas Breitenmoser
IPC分类号： G06F5/00 , G06F3/033 , G09G5/08 , H04N1/024
CPC分类号： H04N1/107 , G06F3/033 , G06K9/228 , G06K9/6201 , G06T7/30 , H04N1/19505 , H04N1/3876 , H04N2201/0414
摘要： A computer peripheral that may operate as a scanner. The scanner captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. As a result, a composite image of an object being scanned may be presented in real time to a user, providing a user feedback or portions of the object that have been scanned and those that have not.
摘要翻译：可以作为扫描仪操作的计算机外围设备。扫描仪在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分来确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。结果，被扫描对象的合成图像可以实时呈现给用户，提供用户的反馈或已被扫描的对象的部分以及没有扫描的对象的部分。

10. 发明申请

US20100296133A1 MODE SWITCHING IN A HANDHELD SCANNER 审中-公开
标题翻译：手持扫描仪中的模式切换
公开(公告)号：US20100296133A1
公开(公告)日：2010-11-25
申请号：US12784470
申请日：2010-05-20
申请人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
发明人： Martin Georg Zahnert , Erik Fonseka , Alexander Ilic , Andreas Breitenmoser
IPC分类号： H04N1/024 , G06F3/033
CPC分类号： H04N1/107 , H04N1/00127
摘要： A handheld device that may operate as a scanner, computer mouse or as a camera. In the scanner mode, the device captures image frames as it is moved across an object. The image frames are formed into a composite image based on computations in two processes. In a first process, fast track processing determines a coarse position of each of the image frames based on a relative position between each successive image frame and a respective preceding image determine by matching overlapping portions of the image frames. In a second process, fine position adjustments are computed to reduce inconsistencies from determining positions of image frames based on relative positions to multiple prior image frames. A control mechanism, such as a button on the device can be used to switch between the scanner and mouse modes. When the device is lifted, it may switch to the camera mode.
摘要翻译：可以作为扫描仪，计算机鼠标或照相机操作的手持设备。在扫描仪模式下，设备在跨越对象移动时捕获图像帧。基于两个过程中的计算，将图像帧形成为合成图像。在第一过程中，快速跟踪处理基于通过匹配图像帧的重叠部分来确定每个连续图像帧和相应的前一图像之间的相对位置来确定每个图像帧的粗略位置。在第二过程中，计算精细位置调整以减少基于相对于多个先前图像帧的相对位置来确定图像帧的位置的不一致性。可以使用诸如设备上的按钮的控制机制来在扫描仪和鼠标模式之间切换。当设备被提起时，它可能切换到相机模式。

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