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1. 发明授权

US10109057B2 Method of tracking shape in a scene observed by an asynchronous light sensor 有权
公开(公告)号：US10109057B2
公开(公告)日：2018-10-23
申请号：US15307490
申请日：2015-04-24
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE—CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Ryad Benosman , Siohoi Ieng , Stephane Regnier , Ni Zhenjiang
IPC分类号： G06T7/00 , G06T1/00 , G06T7/246 , G06T7/73
摘要： Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.

2. 发明申请

US20170053407A1 METHOD OF TRACKING SHAPE IN A SCENE OBSERVED BY AN ASYNCHRONOUS LIGHT SENSOR 审中-公开
标题翻译：在异常光传感器观察的场景中跟踪形状的方法
公开(公告)号：US20170053407A1
公开(公告)日：2017-02-23
申请号：US15307490
申请日：2015-04-24
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE - CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Ryad Benosman , Siohoi Ieng , Stephane Regnier , Ni Zhenjiang
IPC分类号： G06T7/00 , G06T7/20
CPC分类号： G06T7/73 , G06T1/0007 , G06T7/246 , G06T2207/10141
摘要： Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.
摘要翻译：异步信息由具有与场景相对设置的像素矩阵的传感器提供。对于矩阵的每个像素，异步信息包括源自该像素的连续事件，其可以取决于场景中的光的变化。在异步信息中检测到归因于该对象的事件之后，更新表示对象的跟踪形状的模型。在检测之后，模型的更新包括模型的点与通过最小化相对于检测到的事件从其发生的矩阵的像素的距离的标准而检测到的事件的关联。然后，更新的模型被确定为与检测到的事件之前执行的关联无关的，检测到的事件从该矩阵的像素起始并归因于对象和模型中的关联点的函数。

3. 发明授权

US09886768B2 Visual tracking of an object 有权
公开(公告)号：US09886768B2
公开(公告)日：2018-02-06
申请号：US14786577
申请日：2014-04-25
申请人： Universite Pierre et Marie Curie (Paris 6)
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
IPC分类号： G06K9/00 , G06T7/20 , G06K9/62 , G06T7/77 , G06T7/254 , G06T7/277
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterized in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

4. 发明申请

US20180122085A1 VISUAL TRACKING OF AN OBJECT 审中-公开
公开(公告)号：US20180122085A1
公开(公告)日：2018-05-03
申请号：US15852204
申请日：2017-12-22
申请人： Universite Pierre et Marie Curie (Paris 6)
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
IPC分类号： G06T7/20 , G06T7/277 , G06T7/77 , G06K9/62 , G06T7/254
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterised in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

5. 发明申请

US20160086344A1 VISUAL TRACKING OF AN OBJECT 有权
标题翻译：视觉跟踪对象
公开(公告)号：US20160086344A1
公开(公告)日：2016-03-24
申请号：US14786577
申请日：2014-04-25
申请人： UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
IPC分类号： G06T7/20 , G06K9/62 , G06T7/00
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterised in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.
摘要翻译：用于视觉跟踪由信息相关联的点集合表示的至少一个对象的方法，其特征在于，其包括以下步骤：接收（E1）表示一组时空事件的数据，确定（E2）集合中的事件属于表示至少一个对象的点集合，对于接收集合中的每个事件，确定（E3）事件是否属于点集合，作为所确定的概率的函数考虑到对于接收到的集合中的每个事件，针对至少一个对象的点的集群的更新（E4）信息，对于其在前一步骤中确定的其所属于点的集群的每个事件，计算（E4，E5）作为更新信息的函数的至少一个对象的位置，大小和方向。

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