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1. 发明授权

US09213908B2 Method for registering at least one part of a first and second image using a collineation warping function 有权
标题翻译：用于使用共线扭曲函数来记录第一和第二图像的至少一部分的方法
公开(公告)号：US09213908B2
公开(公告)日：2015-12-15
申请号：US14006859
申请日：2011-03-23
申请人： Selim Benhimane , Daniel Kurz
发明人： Selim Benhimane , Daniel Kurz
IPC分类号： G06K9/62 , G06K9/32 , G06T3/00 , G06T7/00
CPC分类号： G06K9/32 , G06T3/0093 , G06T7/33 , G06T2207/30208 , G06T2207/30244
摘要： The invention is related to a method for registering at least one part of a first image and of a second image, including the steps of providing a first image of the real environment and a coordinate system associated to the first image, a second image of the real environment, and measurements of orientation and/or distance of a capturing device with respect to the real environment while capturing the second image. A collineation warping function is then determined from the measurements associated to at least one part of the second image. The method further includes the steps of transforming the at least one part of the second image by applying the corresponding determined collineation warping function, determining a second warping function for registering the transformed at least one part of the second image and the at least one part of the first image by means of an image registration method, and registering the at least one part of the second image and first image using the collineation warping function and the second warping function.
摘要翻译：本发明涉及一种用于登记第一图像和第二图像的至少一部分的方法，包括以下步骤：提供真实环境的第一图像和与第一图像相关联的坐标系，第二图像的第二图像真实环境，以及捕捉设备相对于真实环境的取向和/或距离的测量，同时捕获第二图像。然后从与第二图像的至少一部分相关联的测量中确定共线扭曲函数。该方法还包括以下步骤：通过应用相应的确定的共线扭曲函数来变换第二图像的至少一部分，确定第二扭曲函数，用于登记变换的第二图像的至少一部分和至少一部分通过图像配准方法的第一图像，并且使用共线扭曲函数和第二整形函数来登记第二图像和第一图像的至少一部分。

2. 发明申请

US20140050357A1 METHOD FOR DETERMINING A PARAMETER SET DESIGNED FOR DETERMINING THE POSE OF A CAMERA AND/OR FOR DETERMINING A THREE-DIMENSIONAL STRUCTURE OF THE AT LEAST ONE REAL OBJECT 有权
标题翻译：用于确定用于确定相机位置的参数集合和/或用于确定至少一个真实对象的三维结构的方法
公开(公告)号：US20140050357A1
公开(公告)日：2014-02-20
申请号：US13996408
申请日：2010-12-21
申请人： Selim Benhimane , Sebastian Lieberknecht
发明人： Selim Benhimane , Sebastian Lieberknecht
IPC分类号： G06T7/00
CPC分类号： G06T7/70 , G06T7/251 , G06T7/579 , G06T7/75 , G06T2207/30244
摘要： A method for determining a parameter set which is designed to be used for determining the pose of a camera with regard to at least one real object and/or for determining a three-dimensional structure of the at least one real object, comprises the steps of providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration.
摘要翻译：一种用于确定被设计为用于确定相机对于至少一个实际对象的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法，包括以下步骤：提供包括所述至少一个真实对象的至少一部分的参考图像，捕获包括所述至少一个实际对象的至少一部分的至少一个当前图像，提供至少包括所述至少一个实体的参数集的初始估计，在拍摄当前图像时捕获参考图像和相机的姿态时相机姿态之间的公共坐标系中的三维平移以及至少一个真实对象的至少第一点的深度公共坐标系，以及通过迭代最小化处理确定参数集的估计的更新，其中在迭代最小化处理中，r中的第一组像素将参考图像与当前图像中的计算的像素组进行比较，并且用于比较的当前图像中计算的像素组在每次迭代时变化。

3. 发明授权

US09208563B2 Method for determining a parameter set designed for determining the pose of a camera and/or for determining a three-dimensional structure of the at least one real object 有权
标题翻译：用于确定设计用于确定相机的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法
公开(公告)号：US09208563B2
公开(公告)日：2015-12-08
申请号：US13996408
申请日：2010-12-21
申请人： Selim Benhimane , Sebastian Lieberknecht
发明人： Selim Benhimane , Sebastian Lieberknecht
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/70 , G06T7/251 , G06T7/579 , G06T7/75 , G06T2207/30244
摘要： A method for determining a parameter set which is designed to be used for determining the pose of a camera with regard to at least one real object and/or for determining a three-dimensional structure of the at least one real object, comprises the steps of providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration.
摘要翻译：一种用于确定被设计为用于确定相机对于至少一个实际对象的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法，包括以下步骤：提供包括所述至少一个真实对象的至少一部分的参考图像，捕获包括所述至少一个实际对象的至少一部分的至少一个当前图像，提供至少包括所述至少一个实体的参数集的初始估计，在拍摄当前图像时捕获参考图像和相机的姿态时相机姿态之间的公共坐标系中的三维平移以及至少一个真实对象的至少第一点的深度公共坐标系，以及通过迭代最小化处理确定参数集的估计的更新，其中在迭代最小化处理中，r中的第一组像素将参考图像与当前图像中的计算的像素组进行比较，并且用于比较的当前图像中计算的像素组在每次迭代时变化。

4. 发明申请

US20150294189A1 METHOD OF PROVIDING IMAGE FEATURE DESCRIPTORS 审中-公开
标题翻译：提供图像特征描述符的方法
公开(公告)号：US20150294189A1
公开(公告)日：2015-10-15
申请号：US14417046
申请日：2012-07-23
申请人： Selim Benhimane , Daniel Kurz , Thomas Olszamowski
发明人： Selim Benhimane , Daniel Kurz , Thomas Olszamowski
IPC分类号： G06K9/62
CPC分类号： G06K9/623 , G06K9/46 , G06K9/4671 , G06K9/6255 , G06K9/6262
摘要： A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
摘要翻译：提供一种提供一组特征描述符的方法，该特征描述符被配置为用于匹配相机的图像中的对象。该方法包括：a）提供第一对象的至少两个图像; b）在至少两个图像中提取来自相应图像的至少一个特征，c）为所提取的特征提供至少一个描述符，并存储描述符; d）在第一组描述符中匹配描述符; e）基于匹配过程的结果来计算分数参数; f）根据其分数参数选择至少一个描述符; g）将所选择的描述符添加到第二组描述符; 以及h）基于选择过程更新所述第一组中的描述符的得分参数，以及所述匹配过程的结果。

5. 发明申请

US20140321705A1 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：US20140321705A1
公开(公告)日：2014-10-30
申请号：US14304370
申请日：2014-06-13
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.
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来估计与当前图像相关联的至少一个参数，以及针对与当前特征之一匹配的每个参考特征确定它们是否正确或不正确匹配，e）其中步骤a）至d）被迭代地多次处理。

6. 发明授权

US08805002B2 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：US08805002B2
公开(公告)日：2014-08-12
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 , G06K9/46 , G06T7/20 , G06K9/62
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。

7. 发明授权

US09525862B2 Method for estimating a camera motion and for determining a three-dimensional model of a real environment 有权
标题翻译：用于估计相机运动并确定真实环境的三维模型的方法
公开(公告)号：US09525862B2
公开(公告)日：2016-12-20
申请号：US14240995
申请日：2011-08-31
申请人： Selim Benhimane , Sebastian Lieberknecht , Andrea Huber
发明人： Selim Benhimane , Sebastian Lieberknecht , Andrea Huber
IPC分类号： H04N13/02 , G06T7/00 , G06T7/20 , G06T17/00
CPC分类号： H04N13/221 , G06T7/246 , G06T7/33 , G06T17/00 , G06T2200/08 , G06T2207/10024 , G06T2207/10028 , G06T2207/30244
摘要： A method for estimating a camera motion and for determining a three-dimensional model of an environment is provided that includes the steps of: providing intrinsic parameters of a camera; providing a set of reference two-dimensional imaged points captured by the camera at a first camera pose and reference depth samples; determining a three-dimensional model of the environment; providing a set of current two-dimensional imaged points captured by the camera at a second camera pose and current depth samples associated to the set of current two-dimensional imaged points and determining a current three-dimensional model; estimating a camera motion between the first camera pose and the second camera pose; determining a similarity measure between the three-dimensional model and the current three-dimensional model, and if it is determined that the similarity measure meets a first condition, updating the three-dimensional model of the environment and adding the set of current two-dimensional imaged points to the set of reference two-dimensional imaged points.
摘要翻译：提供了一种用于估计相机运动和用于确定环境的三维模型的方法，其包括以下步骤：提供相机的内在参数; 提供由相机在第一相机姿态和参考深度样本处捕获的一组参考二维成像点; 确定环境的三维模型; 提供由相机在第二相机姿态和与当前二维成像点的集合相关联的当前深度样本捕获的当前二维成像点集合，并确定当前的三维模型; 估计第一相机姿态和第二相机姿态之间的相机运动; 确定三维模型和当前三维模型之间的相似性度量，并且如果确定相似性度量满足第一条件，则更新环境的三维模型并将当前二维的集合成像点指向一组参考二维成像点。

8. 发明授权

US08942418B2 Method of providing a descriptor for at least one feature of an image and method of matching features 有权
标题翻译：为图像的至少一个特征提供描述符的方法和匹配特征的方法
公开(公告)号：US08942418B2
公开(公告)日：2015-01-27
申请号：US13502952
申请日：2010-05-28
申请人： Daniel Kurz , Selim Benhimane
发明人： Daniel Kurz , Selim Benhimane
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00 , G06T7/20
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。

9. 发明授权

US08913792B2 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：US08913792B2
公开(公告)日：2014-12-16
申请号：US14304370
申请日：2014-06-13
申请人： Selim BenHimane , Daniel Ulbricht
发明人： Selim BenHimane , Daniel Ulbricht
IPC分类号： G06K9/00 , G06K9/46
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.
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来估计与当前图像相关联的至少一个参数，以及针对与当前特征之一匹配的每个参考特征确定它们是否正确或不正确匹配，e）其中步骤a）至d）被迭代地多次处理。

10. 发明申请

US20140037140A1 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位置的方法
公开(公告)号：US20140037140A1
公开(公告)日：2014-02-06
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
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。

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