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1. 发明授权

US08723924B2 Recording of 3D images of a scene with phase de-convolution 有权
标题翻译：用相位去卷积记录场景的3D图像
公开(公告)号：US08723924B2
公开(公告)日：2014-05-13
申请号：US12747377
申请日：2008-12-09
申请人： Bruno Mirbach , Marta Castillo Franco , Thomas Solignac , Frédéric Grandidier
发明人： Bruno Mirbach , Marta Castillo Franco , Thomas Solignac , Frédéric Grandidier
IPC分类号： H04N13/02 , H04N13/00
CPC分类号： H04N13/106 , G01S7/497 , G01S17/36 , G01S17/89 , H04N2213/003
摘要： A method of recording 3D images of a scene based on the time-of-flight principle is described. The method includes illuminating a scene by emitting light carrying an intensity modulation, imaging the scene onto a pixel array using an optical system, detecting, in each pixel, intensity-modulated light reflected from the scene onto the pixel and determining, for each pixel, a distance value based on the phase of light detected in the pixel. The determination of the distance values includes a phase-sensitive de-convolution of the scene imaged onto the pixel array such that phase errors induced by light spreading in the optical system are compensated for.
摘要翻译：描述了基于飞行时间原理记录场景的3D图像的方法。该方法包括通过发射携带强度调制的光来照亮场景，使用光学系统将场景成像到像素阵列上，在每个像素中检测从场景反射到像素上的强度调制光，并且对于每个像素，基于在像素中检测到的光的相位的距离值。距离值的确定包括成像到像素阵列上的场景的相敏解卷积，从而补偿由光学系统中的光扩展引起的相位误差。

2. 发明申请

US20110018967A1 RECORDING OF 3D IMAGES OF A SCENE 有权
标题翻译：记录场景三维图像
公开(公告)号：US20110018967A1
公开(公告)日：2011-01-27
申请号：US12747377
申请日：2008-12-09
申请人： Bruno Mirbach , Marta Castillo Franco , Thomas Solignac , Frederic Grandidier
发明人： Bruno Mirbach , Marta Castillo Franco , Thomas Solignac , Frederic Grandidier
IPC分类号： H04N13/02
CPC分类号： H04N13/106 , G01S7/497 , G01S17/36 , G01S17/89 , H04N2213/003
摘要： A method of recording 3D images of a scene based on the time-of-flight principle comprises illuminating a scene by emitting light carrying an intensity modulation, imaging the scene onto a pixel array using an optical system, detecting, in each pixel, intensity-modulated light reflected from the scene onto the pixel and determining, for each pixel, a distance value based on the phase of light detected in the pixel. The determination of the distance values comprises a phase-sensitive de-convolution of the scene imaged onto the pixel array such that phase errors induced by light spreading in the optical system are compensated for.
摘要翻译：基于飞行时间原理记录场景的3D图像的方法包括通过发射携带强度调制的光来照亮场景，使用光学系统将场景成像到像素阵列上，在每个像素中检测强度 - 将从场景反射的调制光调制到像素上，并针对每个像素确定基于在像素中检测到的光的相位的距离值。距离值的确定包括成像到像素阵列上的场景的相敏解卷积，以便补偿由光学系统中的光扩展引起的相位误差。

3. 发明申请

US20120229646A1 REAL-TIME DYNAMIC REFERENCE IMAGE GENERATION FOR RANGE IMAGING SYSTEM 有权
标题翻译：实时动态成像系统的动态参考图像生成
公开(公告)号：US20120229646A1
公开(公告)日：2012-09-13
申请号：US13497100
申请日：2010-09-16
申请人： Frédéric Grandidier , Bruno Mirbach , Thomas Solignac
发明人： Frédéric Grandidier , Bruno Mirbach , Thomas Solignac
IPC分类号： H04N5/232 , H04N7/18
CPC分类号： G06K9/00201 , G06K9/00771 , G06K2209/015 , G06T7/254 , G06T2207/10028 , G06T2207/30236
摘要： A dynamic reference range image generation method comprises providing a reference range image, to be dynamically updated, composed of pixels, each of which contains a reference range value. An acquired range image is provided, the pixels of which contain each a measured range value, the measured range values being updated at a predetermined rate. Pixels of the acquired range image containing an invalid measured range value are accordingly marked. The measured range value of each pixel of the acquired range image not marked as containing an invalid measured range value is compared with the reference range value of the corresponding pixel of the reference range image. The reference range value of that pixel of the reference range image is updated e.g. to the measured range value or to an average of the measured range value and one or more prior measured range values if a) the measured range value is considered less than the reference range value and has remained substantially constant for a first time period, or if b) the measured range value is considered greater than the reference range value and has remained substantially constant for a second time period smaller than the first time period. If neither of conditions a) and b) is fulfilled, the reference range value is kept substantially constant instead.
摘要翻译：动态参考范围图像生成方法包括提供要被动态更新的，由像素组成的参考范围图像，每个像素包含参考范围值。提供获取的范围图像，其像素包含每个测量范围值，测量的范围值以预定速率更新。相应地标记包含无效测量范围值的所获取范围图像的像素。将未被标记为包含无效测量范围值的所获取的范围图像的每个像素的测量范围值与参考范围图像的对应像素的参考范围值进行比较。参考范围图像的该像素的参考范围值被更新。如果a）测量的范围值被认为小于参考范围值并且在第一时间段内保持基本上恒定，或者如果在一个或多个测量范围值中， b）测量的范围值被认为大于参考范围值，并且在小于第一时间段的第二时间段内保持基本上恒定。如果条件a）和b）都不满足，则参考范围值保持基本上不变。

4. 发明授权

US09400917B2 Real-time dynamic reference image generation for range imaging system 有权
标题翻译：范围成像系统的实时动态参考图像生成
公开(公告)号：US09400917B2
公开(公告)日：2016-07-26
申请号：US13497100
申请日：2010-09-16
申请人： Frédéric Grandidier , Bruno Mirbach , Thomas Solignac
发明人： Frédéric Grandidier , Bruno Mirbach , Thomas Solignac
IPC分类号： H04N7/18 , H04N5/232 , G06K9/00 , G06T7/20
CPC分类号： G06K9/00201 , G06K9/00771 , G06K2209/015 , G06T7/254 , G06T2207/10028 , G06T2207/30236
摘要： A dynamic reference range image generation method comprises providing a reference range image, to be dynamically updated, composed of pixels, each of which contains a reference range value. An acquired range image is provided, the pixels of which contain each a measured range value, the measured range values being updated at a predetermined rate. Pixels of the acquired range image containing an invalid measured range value are accordingly marked. The measured range value of each pixel of the acquired range image not marked as containing an invalid measured range value is compared with the reference range value of the corresponding pixel of the reference range image. The reference range value of that pixel of the reference range image is updated e.g. to the measured range value or to an average of the measured range value and one or more prior measured range values if a) the measured range value is considered less than the reference range value and has remained substantially constant for a first time period, or if b) the measured range value is considered greater than the reference range value and has remained substantially constant for a second time period smaller than the first time period. If neither of conditions a) and b) is fulfilled, the reference range value is kept substantially constant instead.
摘要翻译：动态参考范围图像生成方法包括提供要被动态更新的，由像素组成的参考范围图像，每个像素包含参考范围值。提供获取的范围图像，其像素包含每个测量范围值，测量的范围值以预定速率更新。相应地标记包含无效测量范围值的所获取范围图像的像素。将未被标记为包含无效测量范围值的所获取的范围图像的每个像素的测量范围值与参考范围图像的对应像素的参考范围值进行比较。参考范围图像的该像素的参考范围值被更新。如果a）测量的范围值被认为小于参考范围值并且在第一时间段内保持基本上恒定，或者如果在一个或多个测量范围值中， b）测量的范围值被认为大于参考范围值，并且在小于第一时间段的第二时间段内保持基本上恒定。如果条件a）和b）都不满足，则参考范围值保持基本恒定。

5. 发明申请

US20060220910A1 Parking aid for a vehicle 审中-公开
标题翻译：停车辅助车辆
公开(公告)号：US20060220910A1
公开(公告)日：2006-10-05
申请号：US10552788
申请日：2004-04-08
申请人： Guido Becker , Marta Castillo Franco , Bruno Mirbach , Thierry Mousel , Marc Schifflers
发明人： Guido Becker , Marta Castillo Franco , Bruno Mirbach , Thierry Mousel , Marc Schifflers
IPC分类号： G01S17/89 , G08G1/14
CPC分类号： G01S17/936 , B60Q9/006 , B60T2201/10 , G01S17/89 , G01S2015/934 , G01S2015/935 , G06K9/00805 , G06K9/00812
摘要： A method for providing parking aid for a vehicle, comprises the steps recording ambient data in the external area of a vehicle, calculation of the dimensions of a specific area using the recorded ambient data, and evaluation of the suitability of the specific area as a parking space taking into account the calculated dimensions and known, vehicle-specific reference values. According to the invention, the recording of ambient data comprises recording three-dimensional images of the surroundings by means of an optical 3-D system.
摘要翻译：一种用于为车辆提供停车辅助的方法，包括在车辆的外部区域记录环境数据的步骤，使用所记录的环境数据计算特定区域的尺寸，以及评估特定区域作为停车场的适用性考虑到计算的尺寸和已知的车辆特定参考值的空间。根据本发明，环境数据的记录包括通过光学3D-D系统记录周围环境的三维图像。

6. 发明授权

US08396251B2 Method for determining the position of an object from a digital image 有权
标题翻译：用于从数字图像确定对象的位置的方法
公开(公告)号：US08396251B2
公开(公告)日：2013-03-12
申请号：US11720473
申请日：2005-11-28
申请人： Bruno Mirbach , Marta Castillo Franco , Romuald Ginhoux
发明人： Bruno Mirbach , Marta Castillo Franco , Romuald Ginhoux
IPC分类号： G06K9/00
CPC分类号： G06T7/73
摘要： Method for determining the position of an object point in a scene from a digital image thereof acquired through an optical system is presented. The image comprises a set of image points corresponding to object points and the position of the object points are determined by means of predetermined vectors associated with the image points. The predetermined vector represents the inverted direction of a light ray in the object space that will produce this image point through the optical system comprising all distortion effects of the optical system.
摘要翻译：提出了从通过光学系统获得的数字图像中确定场景中物体的位置的方法。图像包括与对象点对应的一组图像点，并且通过与图像点相关联的预定向量来确定对象点的位置。预定矢量表示通过包括光学系统的所有失真效应的光学系统产生该图像点的对象空间中的光线的反转方向。

7. 发明申请

US20090129628A1 METHOD FOR DETERMINING THE POSITION OF AN OBJECT FROM A DIGITAL IMAGE 有权
标题翻译：用于从数字图像中确定对象的位置的方法
公开(公告)号：US20090129628A1
公开(公告)日：2009-05-21
申请号：US11720473
申请日：2005-11-28
申请人： Bruno Mirbach , Marta Castillo Franco , Romuald Ginhoux
发明人： Bruno Mirbach , Marta Castillo Franco , Romuald Ginhoux
IPC分类号： B60R21/01 , G06K9/00
CPC分类号： G06T7/73
摘要： Method for determining the position of an object point in a scene from a digital image thereof acquired through an optical system is presented. The image comprises a set of image points corresponding to object points and the position of the object points are determined by means of predetermined vectors associated with the image points. The predetermined vector represents the inverted direction of a light ray in the object space that will produce this image point through the optical system comprising all distortion effects of the optical system.
摘要翻译：提出了从通过光学系统获得的数字图像中确定场景中物体的位置的方法。图像包括与对象点对应的一组图像点，并且通过与图像点相关联的预定向量来确定对象点的位置。预定矢量表示通过包括光学系统的所有失真效应的光学系统产生该图像点的对象空间中的光线的反转方向。

8. 发明授权

US10795006B2 3D time-of-flight camera system and position/orientation calibration method therefor 有权
公开(公告)号：US10795006B2
公开(公告)日：2020-10-06
申请号：US13058962
申请日：2009-04-27
申请人： Frederic Garcia , Frederic Grandidier , Bruno Mirbach , Roberto Orsello , Thomas Solignac
发明人： Frederic Garcia , Frederic Grandidier , Bruno Mirbach , Roberto Orsello , Thomas Solignac
IPC分类号： G01S7/497 , G01S17/89 , G01S17/08 , G06T7/80
摘要： A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.

9. 发明申请

US20110205340A1 3D TIME-OF-FLIGHT CAMERA SYSTEM AND POSITION/ORIENTATION CALIBRATION METHOD THEREFOR 审中-公开
标题翻译： 3D飞行时间相机系统及其位置/方位校准方法
公开(公告)号：US20110205340A1
公开(公告)日：2011-08-25
申请号：US13058962
申请日：2009-04-27
申请人： Frederic Garcia , Frederic Grandidier , Bruno Mirbach , Roberto Orsello , Thomas Solignac
发明人： Frederic Garcia , Frederic Grandidier , Bruno Mirbach , Roberto Orsello , Thomas Solignac
IPC分类号： H04N13/02
CPC分类号： G01S7/4972 , G01S17/08 , G01S17/89 , G06T7/80 , G06T2207/10028 , G06T2207/30196
摘要： A camera system comprises a 3D TOF camera for acquiring a camera-perspective range image of a scene and an image processor for processing the range image. The image processor contains a position and orientation calibration routine implemented therein in hardware and/or software, which position and orientation calibration routine, when executed by the image processor, detects one or more planes within a range image acquired by the 3D TOF camera, selects a reference plane among the at least one or more planes detected and computes position and orientation parameters of the 3D TOF camera with respect to the reference plane, such as, e.g., elevation above the reference plane and/or camera roll angle and/or camera pitch angle.
摘要翻译：相机系统包括用于获取场景的照相机视角范围图像的3D TOF照相机和用于处理所述范围图像的图像处理器。图像处理器包含在硬件和/或软件中实现的位置和方位校准例程，该位置和定向校准程序在由图像处理器执行时检测由3D TOF相机获取的范围图像内的一个或多个平面，选择所述至少一个或多个平面中的参考平面被检测并且计算3D TOF相机相对于参考平面的位置和取向参数，例如在参考平面上方的仰角和/或相机侧倾角和/或相机俯仰角。

10. 发明授权

US09025071B2 Method for contamination detection in a TOF range camera 有权
标题翻译： TOF范围摄像机污染检测方法
公开(公告)号：US09025071B2
公开(公告)日：2015-05-05
申请号：US12664025
申请日：2008-06-12
申请人： Bruno Mirbach , Romuald Ginhoux
发明人： Bruno Mirbach , Romuald Ginhoux
IPC分类号： H04N5/232 , G01S7/497 , G01S17/89 , H04N5/222
CPC分类号： H04N5/232 , G01S7/497 , G01S17/89 , G01S2007/4975 , H04N5/2226
摘要： A method for contamination detection in a time-of-flight (TOF) range imaging system is described, wherein the TOF range imaging system receives light reflected from a scene, through an optical interface, on an imager sensor having an array of pixels, and wherein distance information and amplitude information are determined for the sensor pixels. The presence of contamination on the optical interface is determined on the basis of amplitude information determined for the sensor pixels.
摘要翻译：描述了飞行时间（TOF）范围成像系统中的污染检测方法，其中TOF范围成像系统通过光学接口在具有像素阵列的成像器传感器上接收从场景反射的光，以及其中为传感器像素确定距离信息和幅度信息。基于为传感器像素确定的振幅信息来确定光学接口上的污染的存在。

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