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1. 发明申请

US20070262884A1 SYSTEMS AND METHODS FOR CONTROLLING A DENSITY OF VISUAL LANDMARKS IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM 有权
标题翻译：用于控制视觉同时定位和映射系统中的视觉地名密度的系统和方法
公开(公告)号：US20070262884A1
公开(公告)日：2007-11-15
申请号：US11562877
申请日：2006-11-22
申请人： Luis Goncalves , L. Karlsson , Paolo Pirjanian , Enrico Di Bernardo
发明人： Luis Goncalves , L. Karlsson , Paolo Pirjanian , Enrico Di Bernardo
IPC分类号： G08G1/123 , G06F17/30 , G06F19/00
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

2. 发明申请

US20070090973A1 SYSTEMS AND METHODS FOR USING MULTIPLE HYPOTHESES IN A VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING SYSTEM 有权
标题翻译：在视觉同时定位和映射系统中使用多个假设的系统和方法
公开(公告)号：US20070090973A1
公开(公告)日：2007-04-26
申请号：US11559359
申请日：2006-11-13
申请人： L. Karlsson , Paolo Pirjanian , Luis Goncalves , Enrico Bernardo
发明人： L. Karlsson , Paolo Pirjanian , Luis Goncalves , Enrico Bernardo
IPC分类号： G08G1/123
CPC分类号： G05D1/0246 , G01C21/12 , G05D1/0231 , G05D1/0234 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G05D2201/0207 , G05D2201/0215 , G06T7/55 , G06T7/70 , G06T7/74 , G06T2207/30204 , Y10S901/01 , Y10S901/46 , Y10S901/47 , Y10S901/50
摘要： The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer systems.
摘要翻译：本发明涉及使用视觉传感器和航位推算传感器来处理同时定位和映射（SLAM）的方法和装置。这些技术可用于机器人导航。有利地，可以使用这种可视化技术来自主地生成和更新地图。与激光测距仪不同，视觉技术在广泛的应用中在经济上是实用的，并且可以在诸如人们移动的环境的相对动态的环境中使用。一个实施例进一步有利地使用多个粒子来维持关于定位和映射的多个假设。进一步有利的是，一个实施例以相对计算效率的方式维护颗粒，从而允许使用相对便宜的基于微处理器的计算机系统在软件中执行SLAM处理。

3. 发明申请

US20060147087A1 Optical flow for object recognition 有权
标题翻译：用于对象识别的光流
公开(公告)号：US20060147087A1
公开(公告)日：2006-07-06
申请号：US11324957
申请日：2006-01-03
申请人： Luis Goncalves , Isaac Gremmer
发明人： Luis Goncalves , Isaac Gremmer
IPC分类号： G06K9/00 , G06K9/34
CPC分类号： G06K9/3233 , G06K2209/17
摘要： Disclosed is a system and method for using optical flow to detect objects moving past a camera and to select images of the moving objects. A shopping cart, for example, may be detected by subdividing an image into a plurality of image blocks; comparing the blocks to a preceding image to determine the motion of the portion of the object pictured; associating the most common motion with the shopping cart. The motion of the cart may also be integrated over time for purposes of tracking cart motion and selecting a subset of the captured images for object recognition processing. Detection of the cart and image selection improves computational efficiency an increase merchandise throughput.
摘要翻译：公开了一种使用光流来检测通过相机移动的物体并选择移动物体的图像的系统和方法。例如，可以通过将图像细分为多个图像块来检测购物车; 将块与先前图像进行比较以确定所描绘的对象的部分的运动; 将最常见的动作与购物车关联起来。为了跟踪车厢运动和选择用于对象识别处理的所捕获的图像的子集，推车的运动也可随时间而被集成。购物车和图像选择的检测提高了计算效率，从而提高了商品吞吐量。

4. 发明申请

US20070299604A1 SYSTEM AND METHOD FOR CREATING, STORING AND UTILIZING IMAGES OF A GEOGRAPHIC LOCATION 有权
标题翻译：用于创建，存储和利用地理位置图像的系统和方法
公开(公告)号：US20070299604A1
公开(公告)日：2007-12-27
申请号：US11761361
申请日：2007-06-11
申请人： ENRICO DiBERNARDO , Luis Goncalves
发明人： ENRICO DiBERNARDO , Luis Goncalves
IPC分类号： G01C21/00
CPC分类号： G01C21/00 , G01C11/02 , G06F17/30241 , G06T3/4038 , H04N1/3876 , H04N5/77
摘要： A system and method synthesizing images of a locale to generate a composite image that provide a panoramic view of the locale. A video camera moves along a street recording images of objects along the street. A GPS receiver and inertial navigation system provide the position of the camera as the images are being recorded. The images are indexed with the position data provided by the GPS receiver and inertial navigation system. The composite image is created on a column-by-column basis by determining which of the acquired images contains the desired pixel column, extracting the pixels associated with the column, and stacking the columns side by side. The composite images are stored in an image database and associated with a street name and number range of the street being depicted in the image. The image database covers a substantial amount of a geographic area allowing a user to visually navigate the area from a user terminal.
摘要翻译：一种合成区域的图像的系统和方法，以生成提供该区域的全景视图的合成图像。摄像机沿着一条街道沿着街道记录物体的图像。 GPS接收机和惯性导航系统在记录图像时提供相机的位置。图像由GPS接收机和惯性导航系统提供的位置数据进行索引。通过确定哪个获取的图像包含期望的像素列，提取与列相关联的像素，并且并排堆叠列，逐列地创建合成图像。合成图像存储在图像数据库中，并与图像中描绘的街道的街道名称和数字范围相关联。图像数据库覆盖大量的地理区域，允许用户从用户终端可视地浏览该区域。

5. 发明申请

US20060283943A1 Systems and methods for merchandise checkout 有权
标题翻译：商品结帐的系统和方法
公开(公告)号：US20060283943A1
公开(公告)日：2006-12-21
申请号：US11466371
申请日：2006-08-22
申请人： Jim Ostrowski , Luis Goncalves , Micheal Cremean , Alex Simonini , Alec Hudnut
发明人： Jim Ostrowski , Luis Goncalves , Micheal Cremean , Alex Simonini , Alec Hudnut
IPC分类号： G06K15/00 , G06K7/10
CPC分类号： G07F7/02 , A47F9/045 , G06Q20/343 , G07G1/0036 , G07G1/0063 , G07G3/00 , G07G3/003 , G08B13/1961 , G08B13/19671
摘要： Systems and methods for recognizing and identifying items located on the lower shelf of a shopping cart in a checkout lane of a retail store environment for the purpose of reducing or preventing loss or fraud and increasing the efficiency of a checkout process. The system includes one or more visual sensors that can take images of items and a computer system that receives the images from the one or more visual sensors and automatically identifies the items. The system can be trained to recognize the items using images taken of the items. The system relies on matching visual features from training images to match against features extracted from images taken at the checkout lane. Using the scale-invariant feature transformation (SIFT) method, for example, the system can compare the visual features of the images to the features stored in a database to find one or more matches, where the found one or more matches are used to identify the items.
摘要翻译：为了减少或防止丢失或欺诈以及增加结帐过程的效率，识别和识别位于零售商店环境的结帐通道中的购物车的下架上的物品的系统和方法。该系统包括可以拍摄物品图像的一个或多个视觉传感器和从一个或多个视觉传感器接收图像并自动识别物品的计算机系统。可以使用拍摄的项目的图像来训练系统来识别物品。系统依赖于训练图像的匹配视觉特征，以匹配从结帐通道上拍摄的图像提取的特征。使用比例不变特征变换（SIFT）方法，例如，系统可以将图像的视觉特征与存储在数据库中的特征进行比较，以找到一个或多个匹配，其中发现的一个或多个匹配用于识别的项目。

6. 发明授权

US06771932B2 Method and system for automatically determining lines of sight between nodes 失效
标题翻译：自动确定节点之间视线的方法和系统
公开(公告)号：US06771932B2
公开(公告)日：2004-08-03
申请号：US10153878
申请日：2002-05-24
申请人： Lorenzo Caminiti , Luis Goncalves , Enrico Di Bernardo , Carter Moursund
发明人： Lorenzo Caminiti , Luis Goncalves , Enrico Di Bernardo , Carter Moursund
IPC分类号： H04B500
CPC分类号： H04W16/18
摘要： The present invention uses data from several sources to determine lines-of-sight between nodes in a FSO network. The present invention provides a three-dimensional neighborhood modeling system that uses aerial image data, Digital Elevation Models, U.S. street map data and address data to automatically map the placement of nodes within a neighborhood or other geographical area. Method for creating the 3-Dimensional, House and Tree Maps used in the line-of-sight processing are also disclosed. A House Map in the present invention identifies houses in an area of consideration, and a Tree Map in the present invention identifies trees in an area of consideration. A 3-Dimensional Map in the present invention provides an elevation for every pixel for the area under consideration, whereby the elevation is adjusted for the height of trees, houses and other objects.
摘要翻译：本发明使用来自多个源的数据来确定FSO网络中的节点之间的视距。本发明提供一种三维邻域建模系统，其使用空中图像数据，数字高程模型，美国街道地图数据和地址数据来自动映射邻域或其他地理区域内的节点的位置。用于创建三维在视线处理中使用的House和Tree Maps也被公开。本发明中的房屋地图识别考虑区域中的房屋，并且本发明中的树形图识别考虑区域中的树木。本发明的三维图提供了所考虑的区域的每个像素的高度，由此根据树木，房屋和其他物体的高度来调节高度。

7. 发明授权

US09064161B1 System and method for detecting generic items in image sequence 有权
标题翻译：用于检测图像序列中的一般项目的系统和方法
公开(公告)号：US09064161B1
公开(公告)日：2015-06-23
申请号：US11811211
申请日：2007-06-08
申请人： Robert Boman , Luis Goncalves , James Ostrowski
发明人： Robert Boman , Luis Goncalves , James Ostrowski
IPC分类号： G06K15/00 , G06K7/01 , G06K7/00
CPC分类号： G06K7/01 , G06K7/00 , G06K9/00711 , G06K9/4676 , G06K2209/17 , G07G1/0063 , G07G3/003
摘要： A system and method for detecting the presence of known or unknown objects based on visual features is disclosed. In the preferred embodiment, the system is a checkout system for detecting items of merchandise on a shopping cart. The merchandise checkout system preferably includes a feature extractor for extracting visual features from a plurality of images; a motion detector configured to detect one or more groups of the visual features present in at least two of the plurality of images; a classifier to classify each of said groups of the visual features based on one or more classification criteria, wherein each of the one or more parameters is associated with one of said groups of visual features; and an alarm configured to generate an alert if the one or more parameters for any of said groups of the visual features satisfy one or more classification criteria.
摘要翻译：公开了一种用于基于视觉特征来检测已知或未知物体的存在的系统和方法。在优选实施例中，系统是用于检测购物车上的商品的结帐系统。商品结帐系统优选地包括用于从多个图像中提取视觉特征的特征提取器; 运动检测器，被配置为检测存在于所述多个图像中的至少两个中的一个或多个视觉特征组; 基于一个或多个分类标准对视觉特征的每个所述组进行分类的分类器，其中所述一个或多个参数中的每一个与所述视觉特征组之一相关联; 以及警报器，被配置为如果所述视觉特征的所述组中的任何一个的一个或多个参数满足一个或多个分类标准，则生成警报。

8. 发明授权

US08494909B2 Automatic learning in a merchandise checkout system with visual recognition 有权
标题翻译：在具有视觉识别的商品结帐系统中自动学习
公开(公告)号：US08494909B2
公开(公告)日：2013-07-23
申请号：US12658581
申请日：2010-02-09
申请人： Luis Goncalves
发明人： Luis Goncalves
IPC分类号： G06G1/14 , G06K9/00
CPC分类号： G06Q20/203 , G06T7/001 , G06T2207/30108 , G07G1/0063
摘要： A merchandise checkout system for ringing up merchandise in a grocery or other retail facility is disclosed. The merchandise checkout system includes visual sensors for acquiring images of an object to be rung up at checkout; a database configured to retain a visual model and UPC code of known items; and a processor configured to maintain and update the database with information about new merchandise presented for checkout. The visual model preferably includes at least one image of each item of merchandise in the retail store as well as geometric point features extracted from images of the merchandise. The processor in the exemplary embodiment is configured to: (a) compare the image of the object acquired at checkout to the visual model of the items in the database; (b) recognize the object based on the overall appearance of the packaging; (c) automatically ring up the price of the object at the POS; and (d) automatically add the acquired image to the database if the image of the object is new, i.e., it does not match the visual model of any of the items recorded in the database, thereby enabling the checkout system to dynamically and automatically build up its database of visual models.
摘要翻译：公开了用于在杂货店或其他零售设施中敲响商品的商品结帐系统。商品结帐系统包括用于在结帐时获取要上升的物体的图像的视觉传感器; 配置为保留可视模型和已知项目的UPC代码的数据库; 以及处理器，被配置为使用提供用于检出的新商品的信息维护和更新数据库。视觉模型优选地包括零售商店中的每个商品项目的至少一个图像以及从商品的图像中提取的几何点特征。该示例性实施例中的处理器被配置为：（a）将在结帐处获取的对象的图像与数据库中的项目的视觉模型进行比较; （b）根据包装的整体外观识别物体; （c）在POS上自动上架物品的价格; 并且（d）如果对象的图像是新的，即与记录在数据库中的任何项目的视觉模型不匹配，则自动地将所获取的图像添加到数据库，从而使得结帐系统能够动态地和自动地构建其视觉模型数据库。

9. 发明授权

US08448859B2 System and method for preventing cashier and customer fraud at retail checkout 有权
公开(公告)号：US08448859B2
公开(公告)日：2013-05-28
申请号：US12554630
申请日：2009-09-04
申请人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
发明人： Luis Goncalves , Justin Beghtol , Isaac Gremmer , Jim Ostrowski
IPC分类号： G06K15/00
CPC分类号： G06K5/00 , G06K9/00771 , G07G1/0054 , G07G3/003 , G08B13/248
摘要： Systems and methods for preventing fraud during retail checkout are described. A system includes: item identifier acquisition devices to acquire identifiers (e.g., barcodes) of items to be transacted; cameras or imagers to acquire images of the items to be transacted; an object recognition component to perform visual recognition of the acquired items through comparison of the acquired images of the items with a database and obtain identifiers of items represented in the database that correspond to an acquired image according to a correspondence criterion; a comparison component to compare a set of identifiers acquired through the item identifier acquisition devices with a set of identifiers obtained through the object recognition component; and an alerting component to provide an alert in case of discrepancies between the two sets.

10. 发明授权

US08068674B2 UPC substitution fraud prevention 有权
标题翻译： UPC替代欺诈预防
公开(公告)号：US08068674B2
公开(公告)日：2011-11-29
申请号：US11849503
申请日：2007-09-04
申请人： Luis Goncalves
发明人： Luis Goncalves
IPC分类号： G06K9/00 , G06K9/20 , G06K9/66 , G06K7/00 , G06K7/10
CPC分类号： A47F9/047 , G06K9/6211 , G06T7/001 , G06T2207/30108 , G07G1/0045 , G07G1/12
摘要： A system and method for detecting fraudulent identification tags, such as Universal Product Codes (UPC) applied to goods to be purchased is disclosed. Images of the goods to be purchased and corresponding feature models are stored in a database. When a customer desires to purchase an item containing a UPC, a scanned image of the item about to be purchased may be acquired and a feature model of the scanned image may be created. The system may retrieve from the database the image and feature model previously stored for the item associated with the just-scanned UPC. A variety of image processing techniques may be used to compare the scanned and database images and/or the scanned and database feature models. In one embodiment, these image processing techniques may include determining a geometric transformation that maps the features of the scanned image onto the features of a database model.
摘要翻译：公开了一种用于检测应用于要购买的商品的通用产品代码（UPC）的欺诈性识别标签的系统和方法。要购买的商品图像和相应的功能模型存储在数据库中。当客户希望购买含有UPC的物品时，可以获取要购买的物品的扫描图像，并且可以创建扫描图像的特征模型。系统可以从数据库中检索先前为与刚被扫描的UPC相关联的项目存储的图像和特征模型。可以使用各种图像处理技术来比较扫描和数据库图像和/或扫描和数据库特征模型。在一个实施例中，这些图像处理技术可以包括确定将扫描图像的特征映射到数据库模型的特征上的几何变换。

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