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    • 4. 发明申请
    • Efficiently Reconstructing Three-Dimensional Structure and Camera Parameters from Images
    • 从图像有效地重建三维结构和相机参数
    • US20130181989A1
    • 2013-07-18
    • US13789359
    • 2013-03-07
    • Sameer AgarwalKeir B. Mierle
    • Sameer AgarwalKeir B. Mierle
    • G06T17/00
    • G06T17/00G06T7/593G06T2200/08G06T2207/10012
    • A three-dimensional model of a scene is constructed from images of the scene. The three-dimensional model comprises parameters including point parameters describing points of the scene and camera parameters describing cameras that captured the images of the scene. The parameters are iteratively modified by correcting the parameters in each iteration. The corrections to the parameters are determined by solving a sparse equation based on Jacobian of residuals of the parameters. A linear system of equations is formulated by determining row blocks of the Jacobian for each point, processing each row block independent of other row blocks and combining the results. The linear system of equation is solved to determine the corrections to the parameters. The corrections to the parameters are determined without storing the entire Jacobian matrix in memory at the same time. As a result, the construction of the three-dimensional model is performed with fewer memory resources.
    • 场景的三维模型由场景的图像构成。 三维模型包括参数描述场景的点参数和描述拍摄场景图像的相机的摄像机参数的参数。 通过在每次迭代中校正参数来迭代地修改参数。 通过求解基于参数残差的雅可比的稀疏方程来确定参数的校正。 通过为每个点确定雅可比行的行块来制定线性方程组,处理与其他行块无关的每个行块并组合结果。 解决方程的线性系统,以确定参数的校正。 确定对参数的校正,而不是在整个存储器中同时存储整个雅可比矩阵。 结果,三维模型的构造以较少的存储资源进行。
    • 5. 发明授权
    • Generating an image tour based on a set of images
    • 根据一组图像生成图像浏览
    • US09122927B2
    • 2015-09-01
    • US13585645
    • 2012-08-14
    • David Robert GallupSameer Agarwal
    • David Robert GallupSameer Agarwal
    • G06K9/00G06F17/30
    • G06K9/00624G06F17/30247G06F17/3028G06K9/6224
    • Systems and methods for generating image tour are provided. Method includes constructing image graph comprising primary image nodes and secondary image nodes and edges. Method also includes determining, for each pair of primary nodes, pruned subgraph including pair of primary nodes and first subset of plurality of secondary nodes. Method also includes determining order of plurality of primary nodes based on rendering costs in pruned subgraphs. Method also includes splicing pruned subgraphs together according to determined order of primary nodes to generate spliced graph. Method also includes determining path through spliced graph. Path includes plurality of primary nodes in determined order and second subset of plurality of secondary nodes selected based on rendering costs and turning costs associated with transitioning between pairs of edges in spliced graph. Method also includes providing ordered subset of image set based on determined path for display as image tour on client.
    • 提供了生成图像浏览的系统和方法。 方法包括构建包括主图像节点和次要图像节点和边缘的图像图像。 方法还包括为每对主节点确定包括主节点对和多个次节点的第一子集的修剪子图。 方法还包括基于修剪的子图中的渲染成本来确定多个主节点的顺序。 方法还包括根据主节点的确定顺序将修剪的子图拼接在一起以产生拼接图。 方法还包括通过拼接图确定路径。 路径包括确定顺序的多个主节点和多个辅助节点的第二子集,其基于渲染成本和转换与拼接图中的边缘对之间的转换相关联的成本。 方法还包括基于确定的路径提供图像集的有序子集,以在客户端上显示为图像浏览。
    • 6. 发明申请
    • GENERATING AN IMAGE TOUR BASED ON A SET OF IMAGES
    • 基于一组图像生成图像游戏
    • US20150161444A1
    • 2015-06-11
    • US13585645
    • 2012-08-14
    • David Robert GALLUPSameer AGARWAL
    • David Robert GALLUPSameer AGARWAL
    • G06T11/20G06K9/00G06F17/30
    • G06K9/00624G06F17/30247G06F17/3028G06K9/6224
    • Systems and methods for generating image tour are provided. Method includes constructing image graph comprising primary image nodes and secondary image nodes and edges. Method also includes determining, for each pair of primary nodes, pruned subgraph including pair of primary nodes and first subset of plurality of secondary nodes. Method also includes determining order of plurality of primary nodes based on rendering costs in pruned subgraphs. Method also includes splicing pruned subgraphs together according to determined order of primary nodes to generate spliced graph. Method also includes determining path through spliced graph. Path includes plurality of primary nodes in determined order and second subset of plurality of secondary nodes selected based on rendering costs and turning costs associated with transitioning between pairs of edges in spliced graph. Method also includes providing ordered subset of image set based on determined path for display as image tour on client.
    • 提供了生成图像浏览的系统和方法。 方法包括构建包括主图像节点和次要图像节点和边缘的图像图像。 方法还包括为每对主节点确定包括主节点对和多个次节点的第一子集的修剪子图。 方法还包括基于修剪的子图中的渲染成本来确定多个主节点的顺序。 方法还包括根据主节点的确定顺序将修剪的子图拼接在一起以产生拼接图。 方法还包括通过拼接图确定路径。 路径包括确定顺序的多个主节点和多个辅助节点的第二子集,其基于渲染成本和转换与拼接图中的边缘对之间的转换相关联的成本。 方法还包括基于确定的路径提供图像集的有序子集,以在客户端上显示为图像浏览。
    • 7. 发明授权
    • Using image and laser constraints to obtain consistent and improved pose estimates in vehicle pose databases
    • 使用图像和激光约束来获得车辆姿态数据库中一致和改进的姿态估计
    • US08437501B1
    • 2013-05-07
    • US13566199
    • 2012-08-03
    • Dragomir AnguelovChristian FruehSameer Agarwal
    • Dragomir AnguelovChristian FruehSameer Agarwal
    • G06K9/00G06K9/46G06F17/10
    • G06K9/00664G06T7/73G06T2207/30241
    • A system for pose generation consisting of a trajectory system, a pose generation system, an intersection extractor, an object identifier, a constraint generator, and a posegraph solver. The trajectory system identifies a number of trajectories based on input positional data of a bounded area. The pose generation system generates one or more poses based on the trajectories. The intersection extractor identifies one or more possible intersections in the one or more poses. The object identifier identifies an object pair for each possible intersection that represents two positional points at each possible intersection. The constraint generator computes and applies one or more intersection constraints to generate an energy value for each object pair based on their geometric relationship. The posegraph solver then minimizes a total energy value by modifying one or more poses and then generates an improved set of pose trajectories based on the modified one or more poses.
    • 一种用于由轨迹系统,姿势生成系统,交叉提取器,对象标识符,约束生成器和姿势解算器组成的姿势生成系统。 轨迹系统基于有界区域的输入位置数据识别多个轨迹。 姿势生成系统基于轨迹生成一个或多个姿势。 交叉点提取器识别一个或多个姿势中的一个或多个可能的交点。 对象标识符为每个可能的交叉点识别每个可能的交点处的两个位置点的对象对。 约束生成器计算并应用一个或多个交叉点约束,以基于它们的几何关系来生成每个对象对的能量值。 然后,姿势解算器通过修改一个或多个姿势来最小化总能量值,然后基于修改的一个或多个姿势生成改进的姿势轨迹集合。
    • 8. 发明授权
    • Using image and laser constraints to obtain consistent and improved pose estimates in vehicle pose databases
    • 使用图像和激光约束来获得车辆姿态数据库中一致和改进的姿态估计
    • US08259994B1
    • 2012-09-04
    • US12882063
    • 2010-09-14
    • Dragomir AnguelovChristian FruehSameer Agarwal
    • Dragomir AnguelovChristian FruehSameer Agarwal
    • G06K9/00G06K9/46G06F17/10
    • G06K9/00664G06T7/73G06T2207/30241
    • A system for pose generation consisting of a trajectory system, a pose generation system, an intersection extractor, an object identifier, a constraint generator, and a posegraph solver. The trajectory system identifies a number of trajectories based on input positional data of a bounded area. The pose generation system generates one or more poses based on the trajectories. The intersection extractor identifies one or more possible intersections in the one or more poses. The object identifier identifies an object pair for each possible intersection that represents two positional points at each possible intersection. The constraint generator computes and applies one or more intersection constraints to generate an energy value for each object pair based on their geometric relationship. The posegraph solver then minimizes a total energy value by modifying one or more poses and then generates an improved set of pose trajectories based on the modified one or more poses. A method of pose generation is also presented.
    • 一种用于由轨迹系统,姿势生成系统,交叉提取器,对象标识符,约束生成器和姿势解算器组成的姿势生成系统。 轨迹系统基于有界区域的输入位置数据识别多个轨迹。 姿势生成系统基于轨迹生成一个或多个姿势。 交叉点提取器识别一个或多个姿势中的一个或多个可能的交点。 对象标识符为每个可能的交叉点识别每个可能的交点处的两个位置点的对象对。 约束生成器计算并应用一个或多个交叉点约束,以基于它们的几何关系来生成每个对象对的能量值。 然后,姿势解算器通过修改一个或多个姿势来最小化总能量值,然后基于修改的一个或多个姿势生成改进的姿势轨迹集合。 还提出了一种姿势生成的方法。