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1. 发明申请

WO2012166814A1 ONLINE ENVIRONMENT MAPPING 审中-公开
标题翻译：在线环境映射
公开(公告)号：WO2012166814A1
公开(公告)日：2012-12-06
申请号：PCT/US2012/040028
申请日：2012-05-30
申请人： HONDA MOTOR CO., LTD. , LIM, Jongwoo , FRAHM, Jan-michael , POLLEFEYS, Marc
发明人： LIM, Jongwoo , FRAHM, Jan-michael , POLLEFEYS, Marc
IPC分类号： H04N7/18
CPC分类号： G06K9/00744 , G06F17/30784 , G06F17/3079 , G06T7/20 , G06T7/579 , G06T2207/20072 , G06T2207/30241 , G06T2207/30244
摘要： A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures hi the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.
摘要翻译：公开了一种系统和方法，用于使用度量欧几里德环境地图和拓扑图的混合表示法在线映射大型环境。该系统包括场景模块，位置识别模块，局部调整模块和全局调整模块。场景流模块用于检测和跟踪输入视频序列的帧的视频特征。场景流模块还被配置为识别输入视频序列的多个关键帧，并将所识别的关键帧添加到输入视频序列的初始环境图中。位置识别模块用于在环境图中检测环路闭合。本地调整模块实施环境映射中的关键帧的本地度量属性，并且全局调整模块用于优化整个环境映射，并遵循关键帧姿势图中关键帧的全局度量属性。

2. 发明申请

WO2005050543A1 ADAPTIVE PROBABILISTIC VISUAL TRACKING WITH INCREMENTAL SUBSPACE UPDATE 审中-公开
标题翻译：自适应概率视觉跟踪与增量更新
公开(公告)号：WO2005050543A1
公开(公告)日：2005-06-02
申请号：PCT/US2004/038189
申请日：2004-11-15
申请人： HONDA MOTOR CO., LTD. , YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David , LIN, Ruei-Sung
发明人： YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David , LIN, Ruei-Sung
IPC分类号： G06K9/00
CPC分类号： G06K9/621 , G06K9/3241 , G06T7/207
摘要： A system and method (Fig. 2) are disclosed for adaptive probabilistic tracking of an object within a motion video. The method utilizes a time-varying Eigenbasis (218) and dynamic (224), observation (230) and inference (236) models. The Eigenbasis (218) serves as a model of the target object. The dynamic model (224) represents the motion of the object and defines possible locations of the target based upon previous locations. The observation model (230) provides a measure of the distance of an observation of the object relative to the current Eigenbasis (218). The inference model (236) predicts the most likely location of the object based upon past and present observation.
摘要翻译：公开了用于运动视频内的对象的自适应概率跟踪的系统和方法（图2）。该方法利用时变特征位（218）和动态（224），观察（230）和推理（236）模型。 Eigenbasis（218）用作目标对象的模型。动态模型（224）表示对象的运动，并根据先前的位置定义目标的可能位置。观察模型（230）提供了对象相对于当前特征位置的观察距离的度量（218）。推理模型（236）基于过去和现在的观察预测对象的最可能的位置。

3. 发明申请

WO2005081792A2 METHOD, APPARATUS AND PROGRAM FOR DETECTING AN OBJECT 审中-公开
标题翻译：用于检测对象的方法，装置和程序
公开(公告)号：WO2005081792A2
公开(公告)日：2005-09-09
申请号：PCT/US2005/003822
申请日：2005-02-07
申请人： HONDA MOTOR CO., LTD. , YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David, A. , OHASHI, Takahiro
发明人： YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David, A. , OHASHI, Takahiro
IPC分类号： G06K9/00 , G06K9/36 , G06K9/48
CPC分类号： G06K9/00201
摘要： The advantage of the present invention is to appropriately detect the object. The object detection apparatus in the present invention has a plurality of cameras to determine the distance to the objects, a distance determination unit to determine the distance therein, a histogram generation unit to specify the frequency of the pixels against the distances to the pixels, an object distance determination unit that determines the most likely distance, a probability mapping unit that provides the probabilities of the pixels based on the difference of the distance, a kernel detection unit that determines a kernel region as a group of the pixels, a periphery detection unit that determines a peripheral region as a group of the pixels, selected from the pixels being close to the kernel region and an object specifying unit that specifies the object region where the object is present with a predetermined probability.
摘要翻译：本发明的优点是适当地检测物体。本发明的物体检测装置具有多个照相机，用于确定与物体的距离，距离确定单元，用于确定其中的距离;直方图生成单元，用于根据与像素的距离来指定像素的频率; 确定最可能的距离的对象距离确定单元，基于距离差提供像素概率的概率映射单元，将核区域确定为像素组的内核检测单元，周边检测单元将外围区域确定为从接近核心区域的像素中选择的像素组，以及以预定概率指定对象存在的对象区域的对象指定单元。

4. 发明申请

WO2005079237A2 FACE RECOGNITION SYSTEM 审中-公开
标题翻译：脸部识别系统
公开(公告)号：WO2005079237A2
公开(公告)日：2005-09-01
申请号：PCT/US2005/003818
申请日：2005-02-07
申请人： HONDA MOTOR CO., LTD. , YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David, A. , OHASHI, Takahiro
发明人： YANG, Ming-Hsuan , LIM, Jongwoo , ROSS, David, A. , OHASHI, Takahiro
IPC分类号： G06K9/00 , G06K9/62 , G06K9/68 , G06K9/74
CPC分类号： G06K9/6269 , G06K9/00228 , G06K9/6857
摘要： The face detection system and method attempts classification of a test image before performing all of the kernel evaluations. Many subimages are not faces and should be relatively easy to identify as such. Thus, the SVM classifier try to discard non-face images using as few kernel evaluations as possible using a cascade SVM classification. In the first stage, a score is computed for the first two support vectors, and the score is compared to a threshold. If the score is below the threshold value, the subimage is classified as not a face. If the score is above the threshold value, the cascade SVM classification function continues to apply more complicated decision rules, each time doubling the number of kernel evaluations, classifying the image as a non-face (and thus terminating the process) as soon as the test image fails to satisfy one of the decision rules. Finally, if the subimage has satisfied all intermediary decision rules, and has now reached the point at which all support vectors must be considered, the original decision function is applied. Satisfying this final rule, and all intermediary rules, is the only way for a test image to garner a positive (face) classification.
摘要翻译：面部检测系统和方法在执行所有内核评估之前尝试对测试图像进行分类。许多子图像不是面孔，应该比较容易识别。因此，SVM分类器尝试使用级联SVM分类尽可能少地使用内核评估来丢弃非面部图像。在第一阶段，对前两个支持向量计算分数，并将分数与阈值进行比较。如果分数低于阈值，则子图像被分类为不是脸部。如果分数高于阈值，则级联SVM分类功能继续应用更复杂的决策规则，每次将内核评估的数量加倍，将图像分类为非面（并因此终止进程），一旦测试图像不能满足其中一个决策规则。最后，如果子图像满足了所有的中介决策规则，并且现在已经到了必须考虑所有支持向量的点，则应用原始决策函数。满足这个最终规则和所有中介规则是测试图像获得积极（面部）分类的唯一方法。

5. 发明申请

WO2010044939A1 STRUCTURE AND MOTION WITH STEREO USING LINES 审中-公开
标题翻译：结构和运动与立体声使用线
公开(公告)号：WO2010044939A1
公开(公告)日：2010-04-22
申请号：PCT/US2009/051306
申请日：2009-07-21
申请人： HONDA MOTOR CO., LTD. , CHANDRAKER, Manmohan , LIM, Jongwoo
发明人： CHANDRAKER, Manmohan , LIM, Jongwoo
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06T7/13 , G06T7/246 , G06T7/593
摘要： A system and method are disclosed for estimating camera motion and structure reconstruction of a scene using lines. The system includes a line detection module, a line correspondence module, a temporal line tracking module and structure and motion module. The line detection module is configured to detect lines in visual input data comprising a plurality of image frames. The line correspondence module is configured to find line correspondence between detected lines in the visual input data. The temporal line tracking module is configured to track the detected lines temporally across the plurality of the image frames. The structure and motion module is configured to estimate the camera motion using the detected lines in the visual input data and to reconstruct three-dimensional lines from the estimated camera motion.
摘要翻译：公开了一种用于使用线来估计相机运动和场景的结构重建的系统和方法。该系统包括线路检测模块，线路对应模块，时间线跟踪模块以及结构和运动模块。线检测模块被配置为检测包括多个图像帧的视觉输入数据中的线。线对应模块被配置为在视觉输入数据中找到检测到的线之间的线对应。时间线跟踪模块被配置为在时间上跟踪跨越多个图像帧的检测到的线。结构和运动模块被配置为使用视觉输入数据中的检测到的线来估计摄像机运动，并且从估计的摄像机运动重建三维线。

6. 发明申请

WO2008076587A2 LEVERAGING TEMPORAL CONTEXTUAL AND ORDERING CONSTRAINTS FOR RECOGNIZING COMPLEX ACTIVITIES IN VIDEO 审中-公开
标题翻译：在视频中观察时间上下文和用于识别复杂活动的约束条件
公开(公告)号：WO2008076587A2
公开(公告)日：2008-06-26
申请号：PCT/US2007/085273
申请日：2007-11-20
申请人： HONDA MOTOR CO., LTD. , LIM, Jongwoo , LAXTON, Benjamin
发明人： LIM, Jongwoo , LAXTON, Benjamin
IPC分类号： G06K9/00
CPC分类号： G06K9/00335
摘要： A system (and a method) are disclosed for recognizing and representing activities in a video sequence. The system includes an activity dynamic Bayesian network (ADBN), an object/action dictionary, an activity inference engine and a state output unit. The activity dynamic Bayesian network encodes the prior information of a selected activity domain. The prior information of the selected activity domain describes the ordering, temporal constraints and contextual cues among the expected actions. The object/action dictionary detects activities in each frame of the input video stream, represents the activities hierarchically, and generates an estimated observation probability for each detected action. The activity inference engine estimates a likely activity state for each frame based on the evidence provided by the object/action dictionary and the ADBN. The state output unit outputs the likely activity state generated by the activity inference engine.
摘要翻译：公开了用于识别和表示视频序列中的活动的系统（和方法）。该系统包括活动动态贝叶斯网络（ADBN），对象/动作词典，活动推理引擎和状态输出单元。活动动态贝叶斯网络编码所选活动域的先前信息。所选活动领域的先前信息描述了预期动作之间的顺序，时间约束和上下文提示。对象/动作字典检测输入视频流的每帧中的活动，分层地表示活动，并且为每个检测到的动作生成估计的观察概率。活动推理引擎根据对象/动作字典和ADBN提供的证据估计每个帧的可能活动状态。状态输出单元输出由活动推理机产生的可能活动状态。

7. 发明申请

WO2008144370A1 CAMERA-PROJECTOR DUALITY: MULTI-PROJECTOR 3D RECONSTRUCTION 审中-公开
标题翻译：相机投影机双重：多重投影机3D重建
公开(公告)号：WO2008144370A1
公开(公告)日：2008-11-27
申请号：PCT/US2008/063665
申请日：2008-05-15
申请人： HONDA MOTOR CO., LTD. , LIM, Jongwoo
发明人： LIM, Jongwoo
IPC分类号： G03B19/18
CPC分类号： G06K9/209 , G06K9/2036 , G06T7/80
摘要： A system and method are disclosed for calibrating a plurality of projectors for three- dimensional scene reconstruction. The system includes a plurality of projectors and at least one camera, a camera-projector calibration module and a projector-projector calibration module. The camera-projector calibration module is configured to calibrate a first projector with the camera and generate a first camera-projector calibration data using camera-projector duality. The camera-projector calibration module is also configured to calibrate a second projector with the camera and generate a second camera-projector calibration data. The projector-projector calibration module is configured to calibrate the first and the second projector using the first and the second camera-projector calibration data.
摘要翻译：公开了用于校准用于三维场景重建的多个投影仪的系统和方法。该系统包括多个投影仪和至少一个照相机，照相机投影仪校准模块和投影仪 - 投影仪校准模块。相机投影仪校准模块被配置为使用相机校准第一台投影机，并使用相机 - 投影仪二重性生成第一台相机 - 投影仪校准数据。相机投影机校准模块还被配置为使用相机校准第二投影仪并产生第二相机投影仪校准数据。投影仪 - 投影仪校准模块被配置为使用第一和第二照相机投影仪校准数据校准第一和第二投影仪。

8. 发明申请

WO2007001884A2 DIRECT METHOD FOR MODELING NON-RIGID MOTION WITH THIN FILM PLATE SPLINE TRANSFORMATION 审中-公开
标题翻译：用薄膜平面线变换建立非刚性运动的直接方法
公开(公告)号：WO2007001884A2
公开(公告)日：2007-01-04
申请号：PCT/US2006/023350
申请日：2006-06-15
申请人： HONDA MOTOR CO., LTD. , LIM, Jongwoo , YANG, Ming-Hsuan
发明人： LIM, Jongwoo , YANG, Ming-Hsuan
IPC分类号： G06K9/36 , G06K9/00
CPC分类号： G06T7/20 , G06K9/6206
摘要： A system and a method model the motion of a non-rigid object using a thin plate spline (TPS) transform. A first image of a video sequence is received, and a region of interest, referred to as a template, is chosen manually or automatically. A set of arbitrarily-chosen fixed reference points is positioned on the template. A target image of the video sequence is chosen for motion estimation relative to the template. A set of pixels in the target image corresponding to the pixels of the template is determined, and this set of pixels is back- warped to match the template using a thin-plate-spline-based technique. The error between the template and the back-warped image is determined and iteratively minimized using a gradient descent technique. The TPS parameters can then be used to estimate the relative motion between the template and the corresponding region of the target image. According to one embodiment, a stiff-to-flexible approach mitigates instability that can arise when reference points lie in textureless regions, or when the initial TPS parameters are not close to the desired ones. The value of a regularization parameter is varied from a larger to a smaller value, varying the nature of the warp from stiff to flexible, so as to progressively emphasize local non-rigid deformations.
摘要翻译：使用薄板样条（TPS）变换来建模非刚性物体的运动的系统和方法。接收视频序列的第一图像，并且手动地或自动地选择被称为模板的感兴趣区域。一组任意选择的固定参考点位于模板上。选择视频序列的目标图像用于相对于模板的运动估计。确定与模板的像素对应的目标图像中的一组像素，并且使用基于薄板样条的技术将该组像素反向弯曲以匹配模板。使用梯度下降技术确定模板和反翘曲图像之间的误差并迭代地最小化。然后可以使用TPS参数来估计模板和目标图像的对应区域之间的相对运动。根据一个实施例，柔性到柔性的方法减轻了当参考点位于无纹理区域时或者当初始TPS参数不接近期望的区域时可能出现的不稳定性。正则化参数的值从较大值变化到较小值，将翘曲的性质从刚性变化到柔性，从而逐渐强调局部非刚性变形。

9. 发明申请

WO2006010129A3 ADAPTIVE DISCRIMINATIVE GENERATIVE MODEL AND INCREMENTAL FISHER DISCRIMINANT ANALYSIS AND APPLICATION TO VISUAL TRACKING 审中-公开
公开(公告)号：WO2006010129A3
公开(公告)日：2006-01-26
申请号：PCT/US2005/024582
申请日：2005-07-11
申请人： HONDA MOTOR CO., LTD. , YANG, Ming-Hsuan , LIN, Ruei-Sung , LIM, Jongwoo , ROSS, David
发明人： YANG, Ming-Hsuan , LIN, Ruei-Sung , LIM, Jongwoo , ROSS, David
IPC分类号： G06K9/00
摘要： A system (Fig. 7) and a method (Fig. 2) are disclosed for an adaptive discriminative generative model (236) with a probabilistic interpretation. As applied to visual tracking, the discriminative generative model (236) separates the target object from the background more accurately and efficiently than conventional methods. A computationally efficient algorithm constantly updates (248) the discriminative model over time. The discriminative generative model (236) adapts to accommodate dynamic appearance variations of the target and background. According to an alternate embodiment, visual tracking is formulated by defining an object class and one or more background classes. The most discriminant features available in the images are then used to select a portion of each image as belonging to the object class. Fisher’s linear discriminant (1036) method is used to project high-dimensional image data onto a lower-dimensional space, e.g., a line, and perform classification in the lower-dimensional space. The projection function is incrementally updated (1056).

10. 发明申请

WO2005050533A2 IMAGE CLUSTERING WITH METRIC, LOCAL LINEAR STRUCTURE, AND AFFINE SYMMETRY 审中-公开
标题翻译：具有公制，局部线性结构和AFFINE SYMETRY的图像聚类
公开(公告)号：WO2005050533A2
公开(公告)日：2005-06-02
申请号：PCT/US2004/038347
申请日：2004-11-15
申请人： HONDA MOTOR CO., LTD. , HO, Jeffrey , LIM, Jongwoo , YANG, Ming-Hsuan
发明人： HO, Jeffrey , LIM, Jongwoo , YANG, Ming-Hsuan
IPC分类号： G06K
CPC分类号： G06K9/6224 , G06K9/6215 , G06K9/6252
摘要： A system and a method are disclosed for clustering images of objects seen from different viewpoints. That is, given an unlabelled set of images of n objects, an unsupervised algorithm groups the images into N disjoint subsets such that each subset only contains images of a single object. The clustering method makes use of a broad geometric framework that exploits the interplay between the geometry of appearance manifolds and the symmetry of the 2D affine group.
摘要翻译：公开了一种系统和方法，用于从不同视点看到的对象的聚类图像。也就是说，给定n个对象的未标记的图像集合，无监督的算法将图像分组为N个不相交的子集，使得每个子集仅包含单个对象的图像。聚类方法利用了广泛的几何框架，利用了外观多样性的几何和2D仿射组的对称性之间的相互作用。

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