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1. 发明申请

US20070031062A1 Video registration and image sequence stitching 有权
标题翻译：视频注册和图像序列拼接
公开(公告)号：US20070031062A1
公开(公告)日：2007-02-08
申请号：US11197813
申请日：2005-08-04
申请人： Chris Pal , Drew Steedly , Richard Szeliski
发明人： Chris Pal , Drew Steedly , Richard Szeliski
IPC分类号： G06K9/36 , G06K9/32
CPC分类号： G06F17/30843 , G06K9/32 , G06K2009/2045 , G06T3/4038 , H04N5/23238
摘要： A “Keyframe Stitcher” provides an efficient technique for building mosaic panoramic images by registering or aligning video frames to construct a mosaic panoramic representation. Matching of image pairs is performed by extracting feature points from every image frame and matching those points between image pairs. Further, the Keyframe Stitcher preserves accuracy of image stitching when matching image pairs by utilizing ordering information inherent in the video. The cost of searching for matches between image frames is reduced by identifying “keyframes” based on computed image-to-image overlap. Keyframes are then matched to all other keyframes, but intermediate image frames are only matched to temporally neighboring keyframes and neighboring intermediate frames to construct a “match structure.” Image orientations are then estimated from this match structure and used to construct the mosaic. Matches between image pairs may be compressed to reduce computational overhead by replacing groups of feature points with representative measurements.
摘要翻译： “关键帧拼接器”提供了一种通过注册或对准视频帧来构建马赛克全景图像来构建马赛克全景图像的有效技术。通过从每个图像帧提取特征点并匹配图像对之间的那些点来执行图像对的匹配。此外，关键帧拼接器通过利用视频中固有的排序信息来保持图像拼接的精度。通过基于计算的图像到图像重叠来识别“关键帧”来减少在图像帧之间搜索匹配的成本。然后将关键帧与所有其他关键帧匹配，但中间图像帧仅与时间上相邻的关键帧和相邻中间帧相匹配，以构建“匹配结构”。然后从该匹配结构估计图像取向，并用于构建马赛克。图像对之间的匹配可以被压缩以通过用代表性的测量来替换特征点组来减少计算开销。

2. 发明授权

US07424218B2 Real-time preview for panoramic images 有权
标题翻译：实时预览全景图像
公开(公告)号：US07424218B2
公开(公告)日：2008-09-09
申请号：US11193091
申请日：2005-07-28
申请人： Patrick Baudisch , Chris Pal , Eric Rudolph , Drew Steedly , Richard Szeliski , Desney Tan , Matthew Uyttendaele
发明人： Patrick Baudisch , Chris Pal , Eric Rudolph , Drew Steedly , Richard Szeliski , Desney Tan , Matthew Uyttendaele
IPC分类号： G03B41/00 , G03B13/02 , H04N5/222
CPC分类号： G03B17/18 , G03B13/02 , H04N5/23238 , H04N5/23293 , H04N5/262
摘要： A “Panoramic Viewfinder” provides an intuitive interactive viewfinder display which operates on a digital camera display screen. This interactive viewfinder provides real-time assistance in capturing images for constructing panoramic image mosaics. The Panoramic Viewfinder “brushes” a panorama from images captured in any order, while providing visual feedback to the user for ensuring that desired scene elements will appear in the final panorama. This visual feedback presents real-time stitched previews of the panorama while capturing images. In one embodiment, the viewfinder display of the Panoramic Viewfinder includes a “mosaic preview” which presents a stitched mosaic preview of the captured images; a live display window representing a “current content” of the camera viewfinder, which is mapped to a matching location within the mosaic preview; and an optional panoramic “cropping frame” overlaid onto the mosaic preview which illustrates a section of the mosaic which will survive a rectangular cropping of the mosaic.
摘要翻译： “全景取景器”提供了直观的交互式取景器显示屏，可在数码相机显示屏幕上进行操作。该交互式取景器提供实时帮助，捕获构建全景图像镶嵌图像。全景取景器会以任何顺序捕获的图像“刷”全景图，同时向用户提供视觉反馈，以确保所需场景元素将显示在最终的全景图中。这种视觉反馈在拍摄图像时呈现全景的实时缝合预览。在一个实施例中，全景取景器的取景器显示器包括呈现捕获图像的拼接马赛克预览的“马赛克预览” 表示相机取景器的“当前内容”的实时显示窗口，其被映射到马赛克预览中的匹配位置; 以及覆盖在马赛克预览上的可选的全景“裁剪框架”，其示出马赛克的一部分，其将经受马赛克的矩形裁剪。

3. 发明申请

US20070025723A1 Real-time preview for panoramic images 有权
标题翻译：实时预览全景图像
公开(公告)号：US20070025723A1
公开(公告)日：2007-02-01
申请号：US11193091
申请日：2005-07-28
申请人： Patrick Baudisch , Chris Pal , Eric Rudolph , Drew Steedly , Richard Szeliski , Desney Tan , Matthew Uyttendaele
发明人： Patrick Baudisch , Chris Pal , Eric Rudolph , Drew Steedly , Richard Szeliski , Desney Tan , Matthew Uyttendaele
IPC分类号： G03B17/18
CPC分类号： G03B17/18 , G03B13/02 , H04N5/23238 , H04N5/23293 , H04N5/262
摘要： A “Panoramic Viewfinder” provides an intuitive interactive viewfinder display which operates on a digital camera display screen. This interactive viewfinder provides real-time assistance in capturing images for constructing panoramic image mosaics. The Panoramic Viewfinder “brushes” a panorama from images captured in any order, while providing visual feedback to the user for ensuring that desired scene elements will appear in the final panorama. This visual feedback presents real-time stitched previews of the panorama while capturing images. In one embodiment, the viewfinder display of the Panoramic Viewfinder includes a “mosaic preview” which presents a stitched mosaic preview of the captured images; a live display window representing a “current content” of the camera viewfinder, which is mapped to a matching location within the mosaic preview; and an optional panoramic “cropping frame” overlaid onto the mosaic preview which illustrates a section of the mosaic which will survive a rectangular cropping of the mosaic.
摘要翻译： “全景取景器”提供了直观的交互式取景器显示屏，可在数码相机显示屏幕上进行操作。该交互式取景器提供实时帮助，捕获构建全景图像镶嵌图像。全景取景器会以任何顺序捕获的图像“刷”全景图，同时向用户提供视觉反馈，以确保所需场景元素将显示在最终的全景图中。这种视觉反馈在拍摄图像时呈现全景的实时缝合预览。在一个实施例中，全景取景器的取景器显示器包括呈现捕获图像的拼接马赛克预览的“马赛克预览” 表示相机取景器的“当前内容”的实时显示窗口，其被映射到马赛克预览中的匹配位置; 以及覆盖在马赛克预览上的可选的全景“裁剪框架”，其示出马赛克的一部分，其将经受马赛克的矩形裁剪。

4. 发明授权

US07460730B2 Video registration and image sequence stitching 有权
标题翻译：视频注册和图像序列拼接
公开(公告)号：US07460730B2
公开(公告)日：2008-12-02
申请号：US11197813
申请日：2005-08-04
申请人： Chris Pal , Drew Steedly , Richard Szeliski
发明人： Chris Pal , Drew Steedly , Richard Szeliski
IPC分类号： G06K9/36 , G06K9/32
CPC分类号： G06F17/30843 , G06K9/32 , G06K2009/2045 , G06T3/4038 , H04N5/23238
摘要： A “Keyframe Stitcher” provides an efficient technique for building mosaic panoramic images by registering or aligning video frames to construct a mosaic panoramic representation. Matching of image pairs is performed by extracting feature points from every image frame and matching those points between image pairs. Further, the Keyframe Stitcher preserves accuracy of image stitching when matching image pairs by utilizing ordering information inherent in the video. The cost of searching for matches between image frames is reduced by identifying “keyframes” based on computed image-to-image overlap. Keyframes are then matched to all other keyframes, but intermediate image frames are only matched to temporally neighboring keyframes and neighboring intermediate frames to construct a “match structure.” Image orientations are then estimated from this match structure and used to construct the mosaic. Matches between image pairs may be compressed to reduce computational overhead by replacing groups of feature points with representative measurements.
摘要翻译： “关键帧拼接器”提供了一种通过注册或对准视频帧来构建马赛克全景图像来构建马赛克全景图像的有效技术。通过从每个图像帧提取特征点并匹配图像对之间的那些点来执行图像对的匹配。此外，关键帧拼接器通过利用视频中固有的排序信息来保持图像拼接的精度。通过基于计算的图像到图像重叠来识别“关键帧”来减少在图像帧之间搜索匹配的成本。然后将关键帧与所有其他关键帧匹配，但中间图像帧仅与时间上相邻的关键帧和相邻中间帧相匹配，以构建“匹配结构”。然后从该匹配结构估计图像取向，并用于构建马赛克。图像对之间的匹配可以被压缩以通过用代表性的测量来替换特征点组来减少计算开销。

5. 发明授权

US08350850B2 Using photo collections for three dimensional modeling 有权
公开(公告)号：US08350850B2
公开(公告)日：2013-01-08
申请号：US12059794
申请日：2008-03-31
申请人： Drew Steedly , Richard Szeliski , Sudipta Sinha , Maneesh Agrawala
发明人： Drew Steedly , Richard Szeliski , Sudipta Sinha , Maneesh Agrawala
IPC分类号： G06T17/00 , G06T15/00
CPC分类号： G06T17/00 , G06T7/536 , G06T7/564 , G06T15/205 , G06T2200/08 , G06T2207/10016
摘要： A collection of photos and a three-dimensional reconstruction of the photos are used to construct and texture a mesh model. In one embodiment, a first digital image of a first view of a real world scene is analyzed to identify lines in the first view. Among the lines, parallel lines are identified. A three-dimensional vanishing direction in a three-dimensional space is determined based on the parallel lines and an orientation of the digital image in the three-dimensional space. A plane is automatically generated by fitting the plane to the vanishing direction. A rendering of a three-dimensional model with the plane is displayed. Three-dimensional points corresponding to features common to the photos may be used to constrain the plane. The photos may be projected onto the model to provide visual feedback when editing the plane. Furthermore, the photos may be used to texture the model.

6. 发明授权

US07778491B2 Oblique image stitching 有权
标题翻译：倾斜图像拼接
公开(公告)号：US07778491B2
公开(公告)日：2010-08-17
申请号：US11279241
申请日：2006-04-10
申请人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
发明人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
IPC分类号： G06K9/32 , G06K9/36
CPC分类号： G06T3/4038 , G06K9/32 , G06K2009/2045
摘要： An “Oblique Image Stitcher” provides a technique for constructing a photorealistic oblique view from a set of input images representing a series of partially overlapping views of a scene. The Oblique Image Stitcher first projects each input image onto a geometric proxy of the scene and renders the images from a desired viewpoint. Once the images have been projected onto the geometric proxy, the rendered images are evaluated to identify optimum seams along which the various images are to be blended. Once the optimum seams are selected, the images are remapped relative to those seams by leaving the mapping unchanged at the seams and interpolating a smooth mapping between the seams. The remapped images are then composited to construct the final mosaiced oblique view of the scene. The result is a mosaic image constructed by warping the input images in a photorealistic manner which agrees at seams between images.
摘要翻译： “倾斜图像拼接器”提供了一种用于从表示场景的一系列部分重叠视图的一组输入图像中构造逼真倾斜视图的技术。倾斜图像拼接器首先将每个输入图像投影到场景的几何代理上，并从期望的角度呈现图像。一旦将图像投影到几何代理上，则对所渲染的图像进行评估，以确定要混合各种图像的最佳接缝。一旦选择最佳接缝，通过在接缝处保持不变，并在接缝之间插入平滑的映射，相对于那些接缝重新映射图像。然后将重新映射的图像合成以构建场景的最终镶嵌斜视图。结果是通过以照片写实的方式扭曲输入图像构成的马赛克图像，其在图像之间的接缝处一致。

7. 发明申请

US20120237111A1 Performing Structure From Motion For Unordered Images Of A Scene With Multiple Object Instances 有权
标题翻译：从具有多个对象实例的场景的无序图像的运动执行结构
公开(公告)号：US20120237111A1
公开(公告)日：2012-09-20
申请号：US13047799
申请日：2011-03-15
申请人： Sudipta N. Sinha , Richard Roberts , Drew Steedly , Richard Szeliski
发明人： Sudipta N. Sinha , Richard Roberts , Drew Steedly , Richard Szeliski
IPC分类号： G06K9/00
CPC分类号： G06K9/6892 , G06K9/469 , G06T7/579 , G06T2207/20072 , G06T2207/20076 , G06T2207/30244
摘要： A technology is described for performing structure from motion for unordered images of a scene with multiple object instances. An example method can include obtaining a pairwise match graph using interest point detection for obtaining interest points in images of the scene to identify pairwise image matches using the interest points. Multiple metric two-view and three-view partial reconstructions can be estimated by performing independent structure from motion computation on a plurality of match-pairs and match-triplets selected from the pairwise match graph. Pairwise image matches can be classified into correct matches and erroneous matches using expectation maximization to generate geometrically consistent match labeling hypotheses and a scoring function to evaluate the match labeling hypotheses. A structure from motion computation can then be performed on the subset of match pairs which have been inferred as correct.
摘要翻译：描述了用于对具有多个对象实例的场景的无序图像的运动执行结构的技术。示例性方法可以包括使用兴趣点检测获得成对匹配图，以获得场景图像中的兴趣点，以使用兴趣点来识别成对图像匹配。可以通过对从成对匹配图中选择的多个匹配对和匹配三元组上的运动计算执行独立结构来估计多度量双视图和三视图部分重建。成对图像匹配可以使用期望最大化分类为正确匹配和错误匹配，以生成几何一致的匹配标签假设和评分函数来评估匹配标签假设。然后可以对已经被推断为正确的匹配对的子集执行来自运动计算的结构。

8. 发明授权

US07889948B2 Image stitching using partially overlapping views of a scene 有权
标题翻译：使用场景的部分重叠视图进行图像拼接
公开(公告)号：US07889948B2
公开(公告)日：2011-02-15
申请号：US12794757
申请日：2010-06-06
申请人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
发明人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
IPC分类号： G06K9/32 , G06K9/36
CPC分类号： G06T3/4038 , G06K9/32 , G06K2009/2045
摘要： An “Oblique Image Stitcher” provides a technique for constructing a photorealistic oblique view from a set of input images representing a series of partially overlapping views of a scene. The Oblique Image Stitcher first projects each input image onto a geometric proxy of the scene and renders the images from a desired viewpoint. Once the images have been projected onto the geometric proxy, the rendered images are evaluated to identify optimum seams along which the various images are to be blended. Once the optimum seams are selected, the images are remapped relative to those seams by leaving the mapping unchanged at the seams and interpolating a smooth mapping between the seams. The remapped images are then composited to construct the final mosaiced oblique view of the scene. The result is a mosaic image constructed by warping the input images in a photorealistic manner which agrees at seams between images.
摘要翻译： “倾斜图像拼接器”提供了一种用于从表示场景的一系列部分重叠视图的一组输入图像中构造逼真倾斜视图的技术。倾斜图像拼接器首先将每个输入图像投影到场景的几何代理上，并从期望的角度呈现图像。一旦将图像投影到几何代理上，则对所渲染的图像进行评估，以确定要混合各种图像的最佳接缝。一旦选择最佳接缝，通过在接缝处保持不变，并在接缝之间插入平滑的映射，相对于那些接缝重新映射图像。然后将重新映射的图像合成以构建场景的最终镶嵌斜视图。结果是通过以照片写实的方式扭曲输入图像构成的马赛克图像，其在图像之间的接缝处一致。

9. 发明授权

US08620095B2 Performing structure from motion for unordered images of a scene with multiple object instances 有权
标题翻译：对具有多个对象实例的场景的无序图像的运动执行结构
公开(公告)号：US08620095B2
公开(公告)日：2013-12-31
申请号：US13047799
申请日：2011-03-15
申请人： Sudipta N. Sinha , Richard Roberts , Drew Steedly , Richard Szeliski
发明人： Sudipta N. Sinha , Richard Roberts , Drew Steedly , Richard Szeliski
IPC分类号： G06K9/62
CPC分类号： G06K9/6892 , G06K9/469 , G06T7/579 , G06T2207/20072 , G06T2207/20076 , G06T2207/30244
摘要： A technology is described for performing structure from motion for unordered images of a scene with multiple object instances. An example method can include obtaining a pairwise match graph using interest point detection for obtaining interest points in images of the scene to identify pairwise image matches using the interest points. Multiple metric two-view and three-view partial reconstructions can be estimated by performing independent structure from motion computation on a plurality of match-pairs and match-triplets selected from the pairwise match graph. Pairwise image matches can be classified into correct matches and erroneous matches using expectation maximization to generate geometrically consistent match labeling hypotheses and a scoring function to evaluate the match labeling hypotheses. A structure from motion computation can then be performed on the subset of match pairs which have been inferred as correct.
摘要翻译：描述了用于对具有多个对象实例的场景的无序图像的运动执行结构的技术。示例性方法可以包括使用兴趣点检测获得成对匹配图，以获得场景图像中的兴趣点，以使用兴趣点来识别成对图像匹配。可以通过对从成对匹配图中选择的多个匹配对和匹配三元组上的运动计算执行独立结构来估计多度量双视图和三视图部分重建。成对图像匹配可以使用期望最大化分类为正确匹配和错误匹配，以生成几何一致的匹配标签假设和评分函数来评估匹配标签假设。然后可以对推断为正确的匹配对的子集执行来自运动计算的结构。

10. 发明申请

US20070237420A1 OBLIQUE IMAGE STITCHING 有权
公开(公告)号：US20070237420A1
公开(公告)日：2007-10-11
申请号：US11279241
申请日：2006-04-10
申请人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
发明人： Drew Steedly , Richard Szeliski , Matthew Uyttendaele , Michael Cohen
IPC分类号： G06K9/36 , G06K9/32
CPC分类号： G06T3/4038 , G06K9/32 , G06K2009/2045
摘要： An “Oblique Image Stitcher” provides a technique for constructing a photorealistic oblique view from a set of input images representing a series of partially overlapping views of a scene. The Oblique Image Stitcher first projects each input image onto a geometric proxy of the scene and renders the images from a desired viewpoint. Once the images have been projected onto the geometric proxy, the rendered images are evaluated to identify optimum seams along which the various images are to be blended. Once the optimum seams are selected, the images are remapped relative to those seams by leaving the mapping unchanged at the seams and interpolating a smooth mapping between the seams. The remapped images are then composited to construct the final mosaiced oblique view of the scene. The result is a mosaic image constructed by warping the input images in a photorealistic manner which agrees at seams between images.
摘要翻译： “倾斜图像拼接器”提供了一种用于从表示场景的一系列部分重叠视图的一组输入图像中构造逼真倾斜视图的技术。倾斜图像拼接器首先将每个输入图像投影到场景的几何代理上，并从期望的角度呈现图像。一旦将图像投影到几何代理上，则对所渲染的图像进行评估，以确定要混合各种图像的最佳接缝。一旦选择最佳接缝，通过在接缝处保持不变，并在接缝之间插入平滑的映射，相对于那些接缝重新映射图像。然后将重新映射的图像合成以构建场景的最终镶嵌斜视图。结果是通过以照片写实的方式扭曲输入图像构成的马赛克图像，其在图像之间的接缝处一致。

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