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11. 发明授权

US09235894B2 Method for determining correspondences between a first and a second image, and method for determining the pose of a camera 有权
标题翻译：用于确定第一和第二图像之间的对应关系的方法，以及用于确定相机姿态的方法
公开(公告)号：US09235894B2
公开(公告)日：2016-01-12
申请号：US13982177
申请日：2011-01-27
申请人： Selim Benhimane , Daniel Ulbricht
发明人： Selim Benhimane , Daniel Ulbricht
IPC分类号： G06T7/00 , G06K9/62
CPC分类号： G06K9/6211 , G06T7/337 , G06T7/70 , G06T7/74 , G06T2207/30244
摘要： A method for determining correspondences between a first and a second image, comprising the steps providing a first image and a second image of the real environment, defining a warping function between the first and second image, determining the parameters of the warping function between the first image and the second image by means of an image registration method, determining a third image by applying the warping function with the determined parameters to the first image, determining a matching result by matching the third image and the second image, and determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters. The method may be used in a keyframe based method for determining the pose of a camera based on the determined correspondences.
摘要翻译：一种用于确定第一和第二图像之间的对应关系的方法，包括提供所述真实环境的第一图像和第二图像的步骤，定义所述第一和第二图像之间的扭曲函数，确定所述第一和第二图像之间的所述翘曲函数的参数图像和第二图像，通过将具有确定的参数的翘曲函数应用于第一图像来确定第三图像，通过匹配第三图像和第二图像来确定匹配结果，以及确定第三图像之间的对应关系第一和第二图像使用匹配结果和具有确定参数的翘曲函数。该方法可以用于基于关键帧的方法，用于基于所确定的对应度来确定相机的姿态。

12. 发明申请

US20150302270A1 A METHOD OF PROVIDING A FEATURE DESCRIPTOR FOR DESCRIBING AT LEAST ONE FEATURE OF AN OBJECT REPRESENTATION 审中-公开
标题翻译：提供用于描述目标表示的一个特征的特征描述符的方法
公开(公告)号：US20150302270A1
公开(公告)日：2015-10-22
申请号：US14420226
申请日：2012-08-07
申请人： Selim BenHimane , Thomas Olszamowski
发明人： Selim BenHimane , Thomas Olszamowski
IPC分类号： G06K9/46
CPC分类号： G06K9/4671 , G06F16/56
摘要： A method of providing a feature descriptor for describing at least one feature of an object representation includes the steps of providing an original feature descriptor comprising at least one vector or a plurality of K vectors having equal sum of vector entry values and each vector having H entries, projecting each vector on a lower dimensional space of size H-1 or lower to gain a projected feature descriptor comprising projected vectors of H-1 entries or lower, such that it is possible to obtain a similarity measure between two projected feature descriptors equal to the similarity measure between the two corresponding original feature descriptors, and providing the projected feature descriptor as a lossless compressed feature descriptor.
摘要翻译：提供用于描述对象表示的至少一个特征的特征描述符的方法包括以下步骤：提供原始特征描述符，该原始特征描述符包括至少一个向量或具有相等的向量入口值和的K个向量，并且每个向量具有H个条目将每个向量投影在尺寸为H-1或更小的较低维空间上，以获得包括H-1条目或更低条目的投影向量的投影特征描述符，使得可以获得两个投影特征描述符之间的相似性度量两个对应的原始特征描述符之间的相似性度量，并将投影特征描述符提供为无损压缩特征描述符。

13. 发明申请

US20150092987A1 METHOD OF PROVIDING A DESCRIPTOR FOR AT LEAST ONE FEATURE OF AN IMAGE AND METHOD OF MATCHING FEATURES 审中-公开
标题翻译：提供图像的一个特征的描述符的方法和匹配特征的方法
公开(公告)号：US20150092987A1
公开(公告)日：2015-04-02
申请号：US14567668
申请日：2014-12-11
申请人： Daniel Kurz , Selim Benhimane
发明人： Daniel Kurz , Selim Benhimane
IPC分类号： G06T7/00 , G06K9/00 , G06T7/20 , G06K9/32
CPC分类号： G06T7/73 , G06K9/00624 , G06K9/3216 , G06K9/46 , G06K9/6202 , G06T7/246 , G06T7/30 , G06T7/33 , G06T7/70 , G06T2207/10012 , G06T2207/30232 , G06T2207/30244
摘要： A method of providing a descriptor for at least one feature of an image comprises the steps of providing an image captured by a capturing device and extracting at least one feature from the image, and assigning a descriptor to the at least one feature, the descriptor depending on at least one parameter which is indicative of an orientation, wherein the at least one parameter is determined from the orientation of the capturing device measured by a tracking system. The invention also relates to a method of matching features of two or more images.
摘要翻译：为图像的至少一个特征提供描述符的方法包括以下步骤：提供由捕获设备捕获的图像并从图像中提取至少一个特征，以及向至少一个特征分配描述符，所述描述符依赖在指示取向的至少一个参数上，其中根据由跟踪系统测量的捕获装置的方向来确定所述至少一个参数。本发明还涉及一种匹配两个或多个图像的特征的方法。

14. 发明申请

US20110194731A1 METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD 有权
标题翻译：确定用于光学对象初始化跟踪过程和对象初始化跟踪方法的参考特征的方法
公开(公告)号：US20110194731A1
公开(公告)日：2011-08-11
申请号：US12977859
申请日：2010-12-23
申请人： Selim BenHimane , Daniel Ulbricht
发明人： Selim BenHimane , Daniel Ulbricht
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06K9/6211 , G06T7/246 , G06T2207/30244
摘要： A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times, wherein in step a) of every respective iterative loop a respective new current image is captured by at least one camera and steps a) to d) are processed with respect to the respective new current image, and f) determining at least one indicator associated to reference features which were correctly matched and/or to reference features which were incorrectly matched, wherein the at least one indicator is determined depending on how often the respective reference feature has been correctly matched or incorrectly matched, respectively.
摘要翻译：公开了一种确定用于光学对象初始化跟踪过程的参考特征的方法，所述方法包括以下步骤：a）捕获真实环境的至少一个当前图像或者通过将真实对象的虚拟模型呈现为合成地生成跟踪至少一个相机并从所述至少一个当前图像中提取当前特征，b）提供适于在光学对象初始化跟踪过程中使用的参考特征，c）使多个当前特征与多个参考特征，d）基于匹配的当前和参考特征的数量估计与当前图像相关联的至少一个参数，并且确定与当前特征之一匹配的每个参考特征，无论它们是正确还是不正确匹配，e）其中步骤a）至d）被迭代地多次处理，其中在每个res的步骤a）中，相关新的当前图像由至少一个照相机捕捉并且步骤a）至d）相对于相应的新的当前图像被处理，以及f）确定与正确匹配的参考特征相关联的至少一个指示符， /或参考不正确匹配的特征，其中至少一个指示符根据相应的参考特征分别被正确匹配或不正确匹配的频率来确定。

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