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31. 发明授权

US06535114B1 Method and apparatus for environment recognition 有权
标题翻译：环境识别方法和装置
公开(公告)号：US06535114B1
公开(公告)日：2003-03-18
申请号：US09533167
申请日：2000-03-22
申请人： Toshihiko Suzuki , Takeo Kanade
发明人： Toshihiko Suzuki , Takeo Kanade
IPC分类号： B60Q100
CPC分类号： G06T7/20 , G06T7/70 , G06T2207/30244
摘要： Images are captured using a single camera in motion. A recognition process section detects a possible object in a photographed image, tracks the possible object within the moving image, and generates object shape information from the trajectory information. A motion and pose determination section determines camera motion and pose using the photographed images for recognition processing. The determined data are used for object recognition along with the tracking information. The motion and pose determination section converts the optical flow parameters obtained from the photographed images into physical parameters in three-dimensional space. An Extended Kalman Filter is used for both the determination of motion and pose and for object recognition.
摘要翻译：使用单个相机运动拍摄图像。识别处理部分检测拍摄图像中的可能对象，跟踪运动图像内的可能对象，并从轨迹信息生成对象形状信息。运动和姿势确定部分使用所拍摄的图像来确定相机运动和姿势以进行识别处理。确定的数据与跟踪信息一起用于对象识别。运动和姿势确定部分将从拍摄图像获得的光流参数转换成三维空间中的物理参数。扩展卡尔曼滤波器用于运动和姿态的确定以及对象识别。

32. 发明授权

US4427880A Non-contact visual proximity sensing apparatus 失效
标题翻译：非接触式视觉接近感应装置
公开(公告)号：US4427880A
公开(公告)日：1984-01-24
申请号：US278518
申请日：1981-06-29
申请人： Takeo Kanade , Haruhiko Asada
发明人： Takeo Kanade , Haruhiko Asada
IPC分类号： G01C3/06 , G01B11/00 , G01B11/02 , G01C3/00 , G01B11/24
CPC分类号： G01B11/026 , G01B11/00
摘要： An array of light sources transmit a series of light beams onto an object and the reflected light beams are focussed on a light responsive transducer. The output signals of the transducer are processed to determine the location and orientation of the object. The location and orientation information in turn is available to control the operation of a tool or manipulator relative to the object.
摘要翻译：光源阵列将一系列光束传送到物体上，反射光束聚焦在光响应传感器上。对传感器的输出信号进行处理，以确定物体的位置和方向。位置和方向信息依次可用于控制工具或操纵器相对于物体的操作。

33. 发明授权

US07653216B2 Polyhedron recognition system 有权
标题翻译：多面体识别系统
公开(公告)号：US07653216B2
公开(公告)日：2010-01-26
申请号：US10743299
申请日：2003-12-23
申请人： Takeo Kanade , Taku Osada
发明人： Takeo Kanade , Taku Osada
IPC分类号： G06K9/00 , G06K9/46
CPC分类号： G06K9/6203 , G06T7/593
摘要： A polyhedron recognition system that is not easily affected by the camera position and camera range when the shape of a staircase or other polyhedron is recognized from an image obtained by photography, and that can also recognize the shape with good accuracy. In the system, predetermined regions (staircase candidate regions) within the image input from two CCD cameras are selected, and a range image is obtained stereoscopically with the two cameras, while also a candidate region upon the range image obtained based on the selected region is set, and the shape of the staircase or other polyhedron is recognized based on the set range image within the candidate region.
摘要翻译：当通过摄影获得的图像识别阶梯或其他多面体的形状时，不容易受相机位置和照相机范围的影响的多面体识别系统，并且还可以以高精度识别形状。在该系统中，选择从两个CCD摄像机输入的图像内的预定区域（阶梯候选区域），并且利用两个摄像机立体地获得范围图像，同时基于所选择的区域获得的范围图像上的候选区域并且基于候选区域内的设定范围图像来识别楼梯或其他多面体的形状。

34. 发明授权

US07027083B2 System and method for servoing on a moving fixation point within a dynamic scene 有权
公开(公告)号：US07027083B2
公开(公告)日：2006-04-11
申请号：US10074314
申请日：2002-02-12
申请人： Takeo Kanade , Robert Collins , Omead Amidi , Ryan Miller , Wei Hua
发明人： Takeo Kanade , Robert Collins , Omead Amidi , Ryan Miller , Wei Hua
IPC分类号： H04N7/18
CPC分类号： H04N5/2627 , H04N5/222 , H04N5/232 , H04N5/262
摘要： A system and method for servoing on a moving target within a dynamic scene. According to one embodiment, the system includes a master variable pointing camera system and a plurality of slave variable pointing camera systems positioned around the scene. The system also includes a master control unit in communication with the master variable pointing camera system. The master control unit is for determining, based on parameters of the master variable pointing camera system, parameters for each of the slave variable pointing camera systems such that, at a point in time, the master variable pointing camera system and the slave variable pointing camera systems are aimed at the target and a size of the target in an image from each of the master variable pointing camera system and the slave variable pointing camera systems is substantially the same. The system also includes a plurality of slave camera control units in communication with the master control unit. The slave camera control units are for controlling at least one of the slave variable pointing camera systems based on the parameters for each of the slave variable pointing camera systems. The system may also include a video image sequence generator in communication with the master control unit and the slave camera control units. The video image sequence generator may generate a video image sequence of the target by outputting an image from certain of the master variable pointing camera system and the slave variable pointing camera systems in sequence according to the position of the master variable pointing camera system and the slave variable pointing camera systems around the scene.

35. 发明授权

US06941018B2 Method of and apparatus for searching corresponding points between images, and computer program 失效
标题翻译：用于搜索图像之间的对应点的方法和装置以及计算机程序
公开(公告)号：US06941018B2
公开(公告)日：2005-09-06
申请号：US09815267
申请日：2001-03-23
申请人： Hiroyuki Onishi , Takeo Kanade
发明人： Hiroyuki Onishi , Takeo Kanade
IPC分类号： G06F17/10 , G06F17/15 , G06K9/00 , G06K9/46 , G06K9/64 , G06T7/00 , G06T7/60 , G06K9/68
CPC分类号： G06K9/4647 , G06K9/00154 , G06K9/6202
摘要： In the apparatus for searching corresponding points between an input image and a reference image, a reference image and an input image are received through an image input section. The division process section produces a reference partial image and an input partial image. The similarity degree image production section respectively produces similarity degree images whose similarity degree between the reference partial image and the input partial image. The accumulation-addition processing section recursively performs an accumulation-addition of a plurality of similarity degrees. Based on the result, the corresponding points determination section determines the corresponding points between the input image and the reference image.
摘要翻译：在用于搜索输入图像和参考图像之间的对应点的装置中，通过图像输入部分接收参考图像和输入图像。分割处理部分产生参考部分图像和输入部分图像。相似度图像生成部分分别产生在参考部分图像和输入部分图像之间的相似度的相似度图像。积累加法处理部递归地执行多个相似度的积累加法。基于该结果，对应点确定部分确定输入图像和参考图像之间的对应点。

36. 发明申请

US20050135680A1 Polyhedron recognition system 有权
标题翻译：多面体识别系统
公开(公告)号：US20050135680A1
公开(公告)日：2005-06-23
申请号：US10743299
申请日：2003-12-23
申请人： Takeo Kanade , Taku Osada
发明人： Takeo Kanade , Taku Osada
IPC分类号： G06T1/00 , G06K9/00 , G06K9/64 , G06T7/00
CPC分类号： G06K9/6203 , G06T7/593
摘要： A polyhedron recognition system that is not easily affected by the camera position and camera range when the shape of a staircase or other polyhedron is recognized from an image obtained by photography, and that can also recognize the shape with good accuracy. In the system, predetermined regions (staircase candidate regions) within the image input from two CCD cameras are selected, and a range image is obtained stereoscopically with the two cameras, while also a candidate region upon the range image obtained based on the selected region is set, and the shape of the staircase or other polyhedron is recognized based on the set range image within the candidate region.
摘要翻译：当通过摄影获得的图像识别阶梯或其他多面体的形状时，不容易受相机位置和照相机范围的影响的多面体识别系统，并且还可以以高精度识别形状。在该系统中，选择从两个CCD摄像机输入的图像内的预定区域（阶梯候选区域），并且利用两个摄像机立体地获得范围图像，同时基于所选择的区域获得的范围图像上的候选区域并且基于候选区域内的设定范围图像来识别楼梯或其他多面体的形状。

37. 发明授权

US06829384B2 Object finder for photographic images 有权
标题翻译：摄影图像的物体探测器
公开(公告)号：US06829384B2
公开(公告)日：2004-12-07
申请号：US09795208
申请日：2001-02-28
申请人： Henry Schneiderman , Takeo Kanade
发明人： Henry Schneiderman , Takeo Kanade
IPC分类号： G06K900
CPC分类号： G06K9/527 , G06K9/3241 , G06K9/6278 , G06T7/73
摘要： An object finder program for detecting presence of a 3D object in a 2D image containing a 2D representation of the 3D object. The object finder uses the wavelet transform of the input 2D image for object detection. A pre-selected number of view-based detectors are trained on sample images prior to performing the detection on an unknown image. These detectors then operate on the given input image and compute a quantized wavelet transform for the entire input image. The object detection then proceeds with sampling of the quantized wavelet coefficients at different image window locations on the input image and efficient look-up of pre-computed log-likelihood tables to determine object presence. The object finder's coarse-to-fine object detection strategy coupled with exhaustive object search across different positions and scales results in an efficient and accurate object detection scheme. The object finder detects a 3D object over a wide range in angular variation (e.g., 180 degrees) through the combination of a small number of detectors each specialized to a small range within this range of angular variation.
摘要翻译：一种用于在包含3D对象的2D表示的2D图像中检测3D对象的存在的对象取景器程序。物体识别器使用输入2D图像的小波变换进行物体检测。在对未知图像执行检测之前，对样本图像进行基于视图的检测器的预选数量的训练。然后这些检测器对给定的输入图像进行操作，并计算整个输入图像的量化小波变换。然后，对象检测继续在输入图像上的不同图像窗口位置处的量化小波系数的采样和预计算的对数似然表的高效查找以确定对象存在。对象查找器的粗略对象检测策略与跨不同位置和尺度的详尽对象搜索相结合，可以实现高效准确的对象检测方案。物体探测器通过少量检测器的角度变化（例如，180度）的宽范围内检测3D对象，每个检测器专门用于在该角度变化范围内的小范围。

38. 发明授权

US6084979A Method for creating virtual reality 失效
标题翻译：创建虚拟现实的方法
公开(公告)号：US6084979A
公开(公告)日：2000-07-04
申请号：US671791
申请日：1996-06-20
申请人： Takeo Kanade , P. J. Narayanan , Peter W. Rander
发明人： Takeo Kanade , P. J. Narayanan , Peter W. Rander
IPC分类号： H04N13/00 , G06T17/00
CPC分类号： H04N13/0242 , H04N13/0022 , H04N13/0055 , H04N13/0296 , H04N13/0014 , H04N13/0037 , H04N13/0051 , H04N13/0221 , H04N13/0246 , H04N13/025 , H04N13/0257 , H04N13/0289 , H04N13/0429 , H04N13/0475 , H04N13/0477 , H04N13/0481 , H04N13/0484 , H04N13/0497 , H04N19/597 , H04N2013/0081 , H04N2013/0088
摘要： A method of virtualizing reality, i.e., a method of creating virtual reality from images of a real event, is comprised of the steps of capturing a plurality of images of each time instant of a real event using a plurality of cameras positioned at a plurality of angles. Each image is stored as intensity and/or color information. A suitable internal representation is computed from these images and the information regarding the camera angles. An image of each time instant may be generated from any viewing angle using the internal representation of it. The virtual viewpoints could be displayed on a single TV screen or using a stereoscopic display device for a true three-dimensional effect. The event thus virtualized can be navigated through, and interacted with, any virtual reality system.
摘要翻译：一种虚拟现实的方法，即从真实事件的图像创建虚拟现实的方法，包括以下步骤：使用位于多个位置的多个摄像机捕获真实事件的每个时刻的多个图像角度。每个图像被存储为强度和/或颜色信息。从这些图像和关于摄像机角度的信息计算合适的内部表示。可以使用其内部表示从任何视角产生每个时刻的图像。虚拟视点可以显示在单个电视屏幕上，或者使用立体显示设备来显示真正的三维效果。因此虚拟化的事件可以通过任何虚拟现实系统进行导航并与其进行交互。

39. 发明授权

US6077082A Personal patient simulation 失效
标题翻译：个人病人模拟
公开(公告)号：US6077082A
公开(公告)日：2000-06-20
申请号：US17462
申请日：1998-02-02
申请人： Sarah Frances Frisken Gibson , William Eric Leifur Grimson , Takeo Kanade , Ron Kikinis
发明人： Sarah Frances Frisken Gibson , William Eric Leifur Grimson , Takeo Kanade , Ron Kikinis
IPC分类号： G09B9/00 , G09B23/28
CPC分类号： G09B23/28
摘要： A patient simulation includes a patient generator for providing an image of a body of a patient on a display, where at least one portion of the bodyan be examined in greater detail; at least one communication device for allowing interaction between the patient and a user; and a behavior generator which causes the patient to appear to respond to treatment. The behavior generator includes psychological state data that allows the patient to react to the user's "bedside manner." Further, the simulation operates on a non-stop basis and in real time.
摘要翻译：患者模拟包括用于在显示器上提供患者身体的图像的患者发生器，其中可以更详细地检查身体的至少一部分; 用于允许患者和用户之间的交互的至少一个通信设备; 以及导致患者似乎对治疗作出反应的行为发生器。行为发生器包括心理状态数据，允许患者对用户的“床边方式”作出反应。此外，模拟在不间断的基础上实时运行。

40. 发明授权

US5835667A Method and apparatus for creating a searchable digital video library and a system and method of using such a library 失效
标题翻译：用于创建可搜索的数字视频库的方法和装置以及使用这种库的系统和方法
公开(公告)号：US5835667A
公开(公告)日：1998-11-10
申请号：US324076
申请日：1994-10-14
申请人： Howard D. Wactlar , Takeo Kanade , Michael L. Mauldin , D. Raj Reddy , Scott M. Stevens , Michael G. Christel , Michael A. Smith
发明人： Howard D. Wactlar , Takeo Kanade , Michael L. Mauldin , D. Raj Reddy , Scott M. Stevens , Michael G. Christel , Michael A. Smith
IPC分类号： H04N5/76 , G06F17/30
CPC分类号： G06F17/30787 , G06F17/30796 , G06F17/30802 , G11B27/034 , G11B27/28 , G11B27/34
摘要： An apparatus and method of creating a digital library from audio data and video images. The method includes the steps of transcribing the audio data and marking the transcribed audio data with a first set of time-stamps and indexing the transcribed audio data. The method also includes the steps of digitizing the video data and marking the digitized video data with a second set of time-stamps related to the first set of time-stamps and segmenting the digitized video data into paragraphs according to a set of rules. The steps of storing the indexed audio data and the digitized video data with their respective sets of time-stamps is also provided. The method also includes the step of passing the transcribed audio data through a natural language interpreter before indexing the transcribed audio data. A method and apparatus for searching the digital library is disclosed.
摘要翻译：一种从音频数据和视频图像创建数字图书馆的装置和方法。该方法包括以第一组时间标记转录音频数据和标记转录的音频数据并对转录的音频数据进行索引的步骤。该方法还包括以下步骤：数字化视频数据并用与第一组时间戳相关的第二组时间戳来标记数字化的视频数据，并根据一组规则将数字化的视频数据分割成段落。还提供了存储索引的音频数据和数字化的视频数据及其各自的时间戳的步骤。该方法还包括在对转录的音频数据进行索引之前通过自然语言解释器传递转录的音频数据的步骤。公开了一种用于搜索数字图书馆的方法和装置。

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