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1. 发明授权

US08897543B1 Bundle adjustment based on image capture intervals 有权
标题翻译：基于图像捕获间隔的捆绑调整
公开(公告)号：US08897543B1
公开(公告)日：2014-11-25
申请号：US13475664
申请日：2012-05-18
申请人： Michael Hongmai Lin , Tilman Reinhardt
发明人： Michael Hongmai Lin , Tilman Reinhardt
IPC分类号： G06K9/00
CPC分类号： G06T7/0022 , G06K9/00208 , G06K9/46 , G06K2209/40 , G06T7/593 , G06T7/73 , G06T7/97 , G06T2207/10012 , G06T2207/10028 , G06T2207/10032 , G06T2207/20228 , G06T2207/30181 , G06T2207/30244
摘要： Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, determining a correlation between a pose of a first camera and a pose of a second camera, generating one or more constraints incorporating the correlation, and determining at least one of camera parameters and three dimensional locations of features using a plurality of constraints including the generated one or more constraints. The first camera and the second camera have substantially rigid positions and poses relative to each other. A strength of the correlation is based at least upon a time interval between respective image captures by the first camera and the second camera.
摘要翻译：提供了用于从地理区域的多个图像确定特征的相机参数和三维位置的方法，系统和计算机程序产品。这些包括：确定第一相机的姿态和第二相机的姿态之间的相关性，生成包含相关性的一个或多个约束，以及使用多个约束来确定特征的相机参数和三维位置中的至少一个，包括生成的一个或多个约束。第一相机和第二相机具有相对于彼此的基本上刚性的位置和姿态。该相关的强度至少基于第一相机和第二相机的相应图像拍摄之间的时间间隔。

2. 发明授权

US08965107B1 Feature reduction based on local densities for bundle adjustment of images 有权
标题翻译：基于图像束捆绑调整的局部密度降低特征
公开(公告)号：US08965107B1
公开(公告)日：2015-02-24
申请号：US13475710
申请日：2012-05-18
申请人： Joshua Sam Schpok , Michael Hongmai Lin , Tilman Reinhardt
发明人： Joshua Sam Schpok , Michael Hongmai Lin , Tilman Reinhardt
IPC分类号： G06K9/46 , G06T7/00
CPC分类号： G06K9/00201 , G06K9/6202 , G06T5/10 , G06T7/73 , G06T2207/10012 , G06T2207/20021 , G06T2207/30244
摘要： Methods, systems, and computer program products are provided for determining camera parameters and three dimensional locations of features from a plurality of images of a geographic area. These include, detecting features in the plurality of images where each of the images cover at least a portion of the geographic area, comparing the detected features between respective ones of the images to determine a plurality of matched features, selecting a subset of the plurality of matched features, and determining the camera parameters and the three dimensional positions of one or more of the detected features using the selected subset. The respective matched features are selected depending on a quantity of other matched features in proximity to the respective matched features.
摘要翻译：提供了用于从地理区域的多个图像确定特征的相机参数和三维位置的方法，系统和计算机程序产品。这些包括：检测多个图像中的特征，其中每个图像覆盖地理区域的至少一部分，比较相应图像之间的检测到的特征以确定多个匹配特征，选择多个并且使用所选择的子集来确定相机参数和一个或多个检测到的特征的三维位置。相应的匹配特征根据相应匹配特征附近的其他匹配特征的数量来选择。

3. 发明授权

US07158656B2 Three dimensional object pose estimation which employs dense depth information 有权
标题翻译：采用密集深度信息的三维物体姿态估计
公开(公告)号：US07158656B2
公开(公告)日：2007-01-02
申请号：US11195039
申请日：2005-08-01
申请人： Michele M. Covell , Michael Hongmai Lin , Ali Rahimi , Michael Harville , Trevor J. Darrell , John I. Woodfill , Harlyn Baker , Gaile G. Gordon
发明人： Michele M. Covell , Michael Hongmai Lin , Ali Rahimi , Michael Harville , Trevor J. Darrell , John I. Woodfill , Harlyn Baker , Gaile G. Gordon
IPC分类号： G06K9/00
CPC分类号： G06K9/00375 , G06K9/00369 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30196
摘要： Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.
摘要翻译：采用实时速率获得的浓度范围数据来估计关节数字的姿态。在一种方法中，范围数据与连接补丁的模型结合使用。每个贴片是两个圆的平面凸包，并且执行递归过程以确定与范围数据最密切相关的姿势的估计。在本发明的另一方面，密集范围数据与图像强度信息结合使用以改善姿态跟踪性能。范围信息用于确定对象的形状，而不是假设通用模型或从运动估计结构。在本发明的这个方面，采用与经典亮度变化约束方程相对应的深度约束方程。两个约束都用于共同解决运动估计。

4. 发明授权

US08463024B1 Combining narrow-baseline and wide-baseline stereo for three-dimensional modeling 有权
标题翻译：结合窄基线和宽基线立体声进行三维建模
公开(公告)号：US08463024B1
公开(公告)日：2013-06-11
申请号：US13480875
申请日：2012-05-25
申请人： David Gallup , Aleksey Golovinskiy , Michael Hongmai Lin , Tilman Reinhardt
发明人： David Gallup , Aleksey Golovinskiy , Michael Hongmai Lin , Tilman Reinhardt
IPC分类号： G06K9/00 , G06T17/00
CPC分类号： G06T7/596 , G06T17/00
摘要： In an embodiment, a method determines a three-dimensional model from a plurality of images taken of a geographic region by one or more cameras from different perspectives. The method includes determining, using a first stereo reconstruction technique: (i) a plurality of three-dimensional candidate surface points from the plurality of images, and (ii) which of the images in the plurality of images view each of the plurality of candidate surface points. The method also includes identifying an empty space between each of the plurality of candidate surface points and each camera model for the respective images determined to view the candidate surface point. The method further includes for each of a plurality of pairs of images from the plurality of images, determining, using a second stereo reconstruction technique, a surface estimate for the pair of images. The method also includes merging the surface estimates to identify a final surface.
摘要翻译：在一个实施例中，一种方法从通过来自不同视角的一个或多个照相机拍摄的地理区域的多个图像确定三维模型。该方法包括使用第一立体重建技术来确定：（i）来自多个图像的多个三维候选表面点，以及（ii）多个图像中的哪个图像查看多个候选中的每一个表面点。该方法还包括识别多个候选表面点中的每一个之间的空白空间以及确定为查看候选表面点的各个图像的每个相机模型。该方法还包括用于来自多个图像的多对图像中的每一个，使用第二立体重建技术确定该对图像的表面估计。该方法还包括合并表面估计以识别最终表面。

5. 发明授权

US07003134B1 Three dimensional object pose estimation which employs dense depth information 有权
标题翻译：采用密集深度信息的三维物体姿态估计
公开(公告)号：US07003134B1
公开(公告)日：2006-02-21
申请号：US09520964
申请日：2000-03-08
申请人： Michele M. Covell , Michael Hongmai Lin , Ali Rahimi , Michael Harville , Trevor J. Darrell , John I. Woodfill , Harlyn Baker , Gaile G. Gordon
发明人： Michele M. Covell , Michael Hongmai Lin , Ali Rahimi , Michael Harville , Trevor J. Darrell , John I. Woodfill , Harlyn Baker , Gaile G. Gordon
IPC分类号： G06K9/00
CPC分类号： G06K9/00375 , G06K9/00369 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30196
摘要： Dense range data obtained at real-time rates is employed to estimate the pose of an articulated figure. In one approach, the range data is used in combination with a model of connected patches. Each patch is the planar convex hull of two circles, and a recursive procedure is carried out to determine an estimate of pose which most closely correlates to the range data. In another aspect of the invention, the dense range data is used in conjunction with image intensity information to improve pose tracking performance. The range information is used to determine the shape of an object, rather than assume a generic model or estimate structure from motion. In this aspect of the invention, a depth constraint equation, which is a counterpart to the classic brightness change constraint equation, is employed. Both constraints are used to jointly solve for motion estimates.
摘要翻译：采用实时速率获得的浓度范围数据来估计关节数字的姿态。在一种方法中，范围数据与连接补丁的模型结合使用。每个贴片是两个圆的平面凸包，并且执行递归过程以确定与范围数据最密切相关的姿势的估计。在本发明的另一方面，密集范围数据与图像强度信息结合使用以改善姿态跟踪性能。范围信息用于确定对象的形状，而不是假设通用模型或从运动估计结构。在本发明的这个方面，采用与经典亮度变化约束方程相对应的深度约束方程。两个约束都用于共同解决运动估计。

6. 发明授权

US08462155B1 Merging three-dimensional models based on confidence scores 有权
标题翻译：基于置信分数合并三维模型
公开(公告)号：US08462155B1
公开(公告)日：2013-06-11
申请号：US13461403
申请日：2012-05-01
申请人： Brett Allen , Aleksey Golovinskiy , Tilman Reinhardt , Michael Hongmai Lin
发明人： Brett Allen , Aleksey Golovinskiy , Tilman Reinhardt , Michael Hongmai Lin
IPC分类号： G06T17/00
CPC分类号： G06T15/20 , G06T17/00 , G06T2200/08
摘要： In an embodiment, a method merges a plurality of three-dimensional models, each having been generated from images of a camera having a different viewpoint. For respective voxels in a plurality of voxels, a plurality of distance values are determined. Each determined distance value is a distance from the voxel to a three dimensional model from the plurality of three-dimensional models along a perspective of a camera model used to generate the three-dimensional model. When at least one of the determined distance values indicates that the distance between the voxel and the three dimensional model exceeds a threshold and the voxel is located above the corresponding three-dimensional model, a confidence score is determined indicating a degree to which the perspective of the camera model of the corresponding three-dimensional model is oriented to face the voxel. Based on the determined confidence score, the voxel into a merged three-dimensional model is determined.
摘要翻译：在一个实施例中，一种方法合并多个三维模型，每个三维模型已经从具有不同视点的相机的图像生成。对于多个体素中的各体素，确定多个距离值。每个确定的距离值是沿着用于生成三维模型的相机模型的透视图从多个三维模型到体素到三维模型的距离。当所确定的距离值中的至少一个指示体素和三维模型之间的距离超过阈值并且体素位于相应的三维模型之上时，确定置信度得分，其表示视角为相应三维模型的相机模型面向体素。基于确定的置信度分数，确定体素为合并三维模型。

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