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1. 发明申请

US20080054158A1 TRACKING A MOVING OBJECT FROM A CAMERA ON A MOVING PLATFORM 有权
标题翻译：在移动平台上跟踪摄像机的移动对象
公开(公告)号：US20080054158A1
公开(公告)日：2008-03-06
申请号：US11470048
申请日：2006-09-05
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A method to dynamically stabilize a target image formed on an image plane of an imaging device located in a moving vehicle. The method includes setting an origin in the image plane of the imaging device at an intersection of a first axis, a second axis and a third axis, imaging a target so that an image centroid of the target image is at the origin of the image plane, monitoring sensor data indicative of a motion of the vehicle, and generating pan and tilt output to stabilize the image centroid at the origin in the image plane to compensate for vehicle motion and target motion. The pan and tilt output are generated by implementing exponentially stabilizing control laws. The implementation of the exponentially stabilizing control laws is based at least in part on the sensor data.
摘要翻译：一种动态地稳定形成在位于移动车辆中的成像装置的图像平面上的目标图像的方法。该方法包括在第一轴，第二轴和第三轴的交叉点处将成像装置的图像平面中的原点设置成对目标进行成像，使得目标图像的图像质心处于图像平面的原点监测指示车辆运动的传感器数据，以及产生摇摄和倾斜输出以稳定图像平面中的原点处的图像质心，以补偿车辆运动和目标运动。平移和倾斜输出是通过实现指数稳定控制律来产生的。指数稳定控制定律的实现至少部分地基于传感器数据。

2. 发明授权

US07907750B2 System and method for autonomous object tracking 有权
标题翻译：自动跟踪对象的系统和方法
公开(公告)号：US07907750B2
公开(公告)日：2011-03-15
申请号：US11423659
申请日：2006-06-12
申请人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
IPC分类号： G06K9/00 , H04N5/225
CPC分类号： G06K9/32 , H04N5/23203 , H04N5/23238
摘要： A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image at the center of a camera screen may be attained at a pixel width of the image. Estimation and prediction of object size and position may be processed for providing pan, tilt and zoom rates for the camera. Pan, tilt and zoom latency may be accounted for in the system. There may be a number of camera arrangements where tracking of the object may be handed off by one camera arrangement to another.
摘要翻译：一种用于静态摄像机布置的自动对象跟踪系统。每个相机装置可以最小化地具有俯仰 - 变焦相机和范围或深度传感器。成像可以提供跟踪对象的坐标和深度信息。可以通过处理获得图像质心位置和宽度的测量。可以在图像的像素宽度处获得在相机屏幕的中心处的图像。可以处理物体尺寸和位置的估计和预测，以便为相机提供平移，倾斜和缩放率。平移，倾斜和缩放延迟可能在系统中被考虑。可能存在若干摄像机布置，其中对象的跟踪可以被一个摄像机装置切换到另一个。

3. 发明授权

US07541565B2 Tracking a moving object from a camera on a moving platform 有权
标题翻译：从移动平台上的相机跟踪移动物体
公开(公告)号：US07541565B2
公开(公告)日：2009-06-02
申请号：US12177550
申请日：2008-07-22
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.
摘要翻译：一种具有用于执行方法的计算机可执行指令的计算机可读介质。该方法包括确定位于车辆中的成像装置的原点的变换，并且基于所确定的变换和到成像的目标的距离来实现指数稳定控制定律。该方法还包括从指数稳定控制定律产生旋转输出，从指数稳定控制定律产生变焦输出，确定重定向光轴并沿着光轴修改透镜系统的系统等待时间，以及确定成像装置的起点相对于全局坐标。目标图像的质心保持在距离成像装置原点的选定距离内。还保持成像的目标和成像装置之间的视距。

4. 发明申请

US20070286456A1 STATIC CAMERA TRACKING SYSTEM 有权
标题翻译：静态摄像机跟踪系统
公开(公告)号：US20070286456A1
公开(公告)日：2007-12-13
申请号：US11423659
申请日：2006-06-12
申请人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , H04N5/23203 , H04N5/23238
摘要： A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image at the center of a camera screen may be attained at a pixel width of the image. Estimation and prediction of object size and position may be processed for providing pan, tilt and zoom rates for the camera. Pan, tilt and zoom latency may be accounted for in the system. There may be a number of camera arrangements where tracking of the object may be handed off by one camera arrangement to another.
摘要翻译：一种用于静态摄像机布置的自动对象跟踪系统。每个相机装置可以最小化地具有俯仰 - 变焦相机和范围或深度传感器。成像可以提供跟踪对象的坐标和深度信息。可以通过处理获得图像质心位置和宽度的测量。可以在图像的像素宽度处获得在相机屏幕的中心处的图像。可以处理物体尺寸和位置的估计和预测，以便为相机提供平移，倾斜和缩放率。平移，倾斜和缩放延迟可能在系统中被考虑。可能存在若干摄像机布置，其中对象的跟踪可以被一个摄像机装置切换到另一个。

5. 发明申请

US20080118104A1 HIGH FIDELITY TARGET IDENTIFICATION AND ACQUISITION THROUGH IMAGE STABILIZATION AND IMAGE SIZE REGULATION 审中-公开
标题翻译：通过图像稳定和图像尺寸调整的高清晰度目标识别和获取
公开(公告)号：US20080118104A1
公开(公告)日：2008-05-22
申请号：US11562563
申请日：2006-11-22
申请人： Kartik B. Ariyur , Vassilios Morellas , Saad J. Bedros
发明人： Kartik B. Ariyur , Vassilios Morellas , Saad J. Bedros
IPC分类号： G06K9/00
CPC分类号： G01S3/7865 , F41G3/02 , G06K9/209 , G06K9/3241
摘要： A system to identify targets comprising a camera module to track a target and to generate a relatively stable image of the target while the target moves with respect to the camera module, sensors to sense a movement of the camera module and to generate sensor data, a memory storing a database of possible targets and a programmable processor communicatively coupled to each of the memory, the camera module and the sensors. The programmable processor receives signals comprising information indicative of the image from the camera module and executes instructions in an instruction module. The instructions comprise exponentially stabilizing control laws based at least in part on the sensor data. The programmable processor executes instructions in the instruction module to determine a pattern match between the stable image of the target and one of the possible targets in the database.
摘要翻译：一种用于识别目标的系统，所述目标包括用于跟踪目标的相机模块，并且在所述目标相对于所述相机模块移动时产生所述目标的相对稳定的图像，用于感测所述相机模块的移动并产生传感器数据的传感器，存储可能目标的数据库和可通信地耦合到每个存储器，相机模块和传感器的可编程处理器。可编程处理器接收包括指示来自相机模块的图像的信息的信号，并执行指令模块中的指令。指令包括至少部分地基于传感器数据的指数稳定控制规律。可编程处理器执行指令模块中的指令，以确定目标的稳定图像与数据库中的一个可能目标之间的模式匹配。

6. 发明申请

US20080277563A1 TRACKING A MOVING OBJECT FROM A CAMERA ON A MOVING PLATFORM 有权
标题翻译：在移动平台上跟踪摄像机的移动对象
公开(公告)号：US20080277563A1
公开(公告)日：2008-11-13
申请号：US12177550
申请日：2008-07-22
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01C21/00
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.
摘要翻译：一种具有用于执行方法的计算机可执行指令的计算机可读介质。该方法包括确定位于车辆中的成像装置的原点的变换，并且基于所确定的变换和到成像的目标的距离来实现指数稳定控制定律。该方法还包括从指数稳定控制定律产生旋转输出，从指数稳定控制定律产生变焦输出，确定重定向光轴并沿着光轴修改透镜系统的系统等待时间，以及确定成像装置的起点相对于全局坐标。目标图像的质心保持在距成像装置原点的选定距离内。还保持成像的目标和成像装置之间的视距。

7. 发明授权

US08340852B2 System and method for simultaneous localization and map building 有权
标题翻译：同时进行本地化和地图构建的系统和方法
公开(公告)号：US08340852B2
公开(公告)日：2012-12-25
申请号：US12432026
申请日：2009-04-29
申请人： Vibhor L. Bageshwar , Kartik B. Ariyur
发明人： Vibhor L. Bageshwar , Kartik B. Ariyur
IPC分类号： G05D1/00
CPC分类号： G05D1/0231 , G05D1/024 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0875 , G05D1/0883 , G05D2201/0218
摘要： An autonomous vehicle comprises at least one image sensor to provide measurements of landmark position for a plurality of landmarks; and processing functionality to estimate the position of the plurality of landmarks in a global frame and in the autonomous vehicle's frame, and to estimate the kinematic state of the autonomous vehicle in a global frame based, at least in part, on the measurements of landmark position from the at least one image sensor. The processing functionality is further operable to calculate errors in the estimated positions of the plurality of landmarks in the global frame and in the estimate of the kinematic state of the autonomous vehicle in the global frame by using a plurality of unit projection vectors between the estimated positions of the plurality landmarks in the autonomous vehicle's frame and a plurality of unit projection vectors between the estimated positions of the plurality of landmarks in the global frame.
摘要翻译：自主车辆包括至少一个图像传感器，用于提供多个地标的地标位置的测量; 以及处理功能以估计在全局帧和自主车辆的帧中的多个地标的位置，并且至少部分地基于地标位置的测量来估计全局帧中的自主车辆的运动状态从所述至少一个图像传感器。处理功能还可操作用于通过使用估计位置之间的多个单位投影矢量来计算全局帧中的多个地标的估计位置和全局帧中的自主车辆的运动状态的估计中的误差以及在全局帧中的多个地标的估计位置之间的多个单位投影矢量。

8. 发明授权

US08107387B2 Method to operate a wireless network having a predictable and stable performance 有权
标题翻译：操作具有可预测和稳定性能的无线网络的方法
公开(公告)号：US08107387B2
公开(公告)日：2012-01-31
申请号：US12054819
申请日：2008-03-25
申请人： Kartik B. Ariyur , Yunjung Yi , Srivatsan Varadarajan
发明人： Kartik B. Ariyur , Yunjung Yi , Srivatsan Varadarajan
IPC分类号： H04L12/26
CPC分类号： H04W40/12 , H04L45/00 , H04L45/125 , H04L45/16 , H04L45/32 , Y02D70/34
摘要： A method for operating a wireless network having a predicable and stable network performance. The method includes controlling output distribution of nodes in the network to adapt to traffic changes in the network, distributing power control to adapt to environmental changes in the network, and providing traffic sensitive routing to adapt to topology changes in the network. The method also includes converging to set points based on the controlling of output distribution, the distributing of power control, and the providing of traffic sensitive routing.
摘要翻译：一种用于操作具有可预测和稳定的网络性能的无线网络的方法。该方法包括控制网络中节点的输出分布，适应网络中的流量变化，分布功率控制，适应网络环境变化，提供流量敏感路由，适应网络拓扑变化。该方法还包括基于输出分布的控制，功率控制的分配和提供流量敏感的路由来收敛到设定点。

9. 发明授权

US07603212B2 Real time planning and scheduling for a team of unmanned vehicles 有权
标题翻译：实时规划和安排一队无人驾驶车辆
公开(公告)号：US07603212B2
公开(公告)日：2009-10-13
申请号：US11393086
申请日：2006-03-30
申请人： Kartik B. Ariyur , Daniel P. Johnson , Dharmashankar Subramanian
发明人： Kartik B. Ariyur , Daniel P. Johnson , Dharmashankar Subramanian
IPC分类号： G01C21/00
CPC分类号： G05D1/0274 , G05D1/0289
摘要： A method of implementing a plurality of unmanned vehicles over an obstacle field. The method includes obtaining a physical map of the obstacle field. Discretizing the physical map into traversable edges that avoid the obstacles, the traversable edges meeting at nodes. Replacing sections of the traversable edges that are beyond the maneuverability of the unmanned vehicles with traversable arcs. Determining traverse time parameters associated with paths through the obstacle fields, each path made up of select traversable edges and select traversable arcs and using the traverse time parameters in planning and scheduling the vehicles.
摘要翻译：一种在障碍物场上实现多个无人驾驶车辆的方法。该方法包括获得障碍物场的物理图。将物理图离散到可跨边缘，以避免障碍物，可移动边缘在节点处会聚。用可移动弧替换超越无人驾驶车辆的机动性的可移动边缘的部分。确定与通过障碍物场的路径相关联的运行时间参数，由选择的可移动边缘组成的每个路径，并选择横向弧线，并在规划和调度车辆中使用横越时间参数。

10. 发明申请

US20090093267A1 METHOD AND SYSTEM FOR PERFORMING DISTRIBUTED OUTER LOOP POWER CONTROL IN WIRELESS COMMUNICATION NETWORKS 有权
标题翻译：在无线通信网络中执行分布式外环功率控制的方法和系统
公开(公告)号：US20090093267A1
公开(公告)日：2009-04-09
申请号：US11868804
申请日：2007-10-08
申请人： Kartik B. Ariyur
发明人： Kartik B. Ariyur
IPC分类号： H04Q7/20
CPC分类号： H04W52/12 , H04W52/241 , H04W52/40
摘要： A method and system for performing distributed outer loop power control in a wireless communication network are disclosed. The method includes the steps of determining a transmit power for a plurality of transmitting nodes such that signals sent from each of the transmitting nodes are received at a receiver associated with a receiving node at a predetermined signal-to-interference plus noise ratio (SINR) set point, increasing the SINR at the receiving node of one or more transmitting nodes of the plurality of transmitting nodes if a saturation value for a front end of the receiver associated with the receiving node is not near a predetermined saturation value, and decreasing the SINR at the receiving node of the one or more transmitting nodes of the plurality of transmitting nodes if the saturation value for the front end of the receiver associated with the receiving node is near the predetermined saturation value.
摘要翻译：公开了一种用于在无线通信网络中执行分布式外环功率控制的方法和系统。该方法包括以下步骤：确定多个发射节点的发射功率，使得以与预定的信号与干扰加噪声比（SINR）的接收节点相关联的接收机接收从每个发射节点发送的信号，设置点，如果与接收节点相关联的接收机的前端的饱和值不接近预定的饱和值，则增加多个发射节点的一个或多个发射节点的接收节点处的SINR，并且减小SINR 如果与接收节点相关联的接收机的前端的饱和度值接近预定的饱和值，则在多个发射节点的一个或多个发射节点的接收节点处。

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