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1. 发明申请

US20090169096A1 IMAGE PROCESSING METHODS AND APPARATUS 失效
标题翻译：图像处理方法和装置
公开(公告)号：US20090169096A1
公开(公告)日：2009-07-02
申请号：US12089140
申请日：2006-10-12
申请人： Roberto Cipolla , George Vogiatzis , Paolo Favaro , Ryuji Funayama , Hiromichi Yanagihara
发明人： Roberto Cipolla , George Vogiatzis , Paolo Favaro , Ryuji Funayama , Hiromichi Yanagihara
IPC分类号： G06K9/00 , H04N15/00 , H04N7/18 , G08G1/14
CPC分类号： G06T7/579 , G06T7/557 , G06T7/586 , G06T2207/10021 , G06T2207/30264
摘要： We describe methods of characterising a set of images to determine their respective illumination, for example for recovering the 3D shape of an illuminated object. The method comprises: inputting a first set of images of the object captured from different positions; determining frontier point data from the images, this defining a plurality of frontier points on the object and for each said frontier point a direction of a normal to the surface of the object at the frontier point, and determining data defining the image capture positions; inputting a second set of images of said object, having substantially the same viewpoint and different illumination conditions; and characterising the second set of images said frontier point data to determine data comprising object reflectance parameter data (β) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.
摘要翻译：我们描述表征一组图像的方法以确定它们各自的照明，例如用于恢复被照亮物体的3D形状。该方法包括：输入从不同位置捕获的对象的第一组图像; 确定来自图像的边界点数据，其定义对象上的多个边界点，并为每个所述前沿点定义在边界点处的对象的表面的法线方向，以及确定定义图像捕获位置的数据; 输入所述对象的第二组图像，具有基本上相同的视点和不同的照明条件; 并且表征第二组图像，所述边界点数据以确定包括对象反射参数数据（β）的数据，并且对于所述第二组的每个图像，包括限定图像的照明方向和照明强度的数据的照明数据（L）。

2. 发明授权

US08417021B2 Image processing methods and apparatus 失效
标题翻译：图像处理方法和装置
公开(公告)号：US08417021B2
公开(公告)日：2013-04-09
申请号：US12089140
申请日：2006-10-12
申请人： Roberto Cipolla , George Vogiatzis , Paolo Favaro , Ryuji Funayama , Hiromichi Yanagihara
发明人： Roberto Cipolla , George Vogiatzis , Paolo Favaro , Ryuji Funayama , Hiromichi Yanagihara
IPC分类号： G06K9/00
CPC分类号： G06T7/579 , G06T7/557 , G06T7/586 , G06T2207/10021 , G06T2207/30264
摘要： We describe methods of characterizing a set of images to determine their respective illumination, for example for recovering the 3D shape of an illuminated object. The method comprises: inputting a first set of images of the object captured from different positions; determining frontier point data from the images, this defining a plurality of frontier points on the object and for each said frontier point a direction of a normal to the surface of the object at the frontier point, and determining data defining the image capture positions; inputting a second set of images of said object, having substantially the same viewpoint and different illumination conditions; and characterizing the second set of images said frontier point data to determine data comprising object reflectance parameter data (β) and, for each image of said second set, illumination data (L) comprising data defining an illumination direction and illumination intensity for the image.
摘要翻译：我们描述表征一组图像的方法以确定它们各自的照明，例如用于恢复被照亮物体的3D形状。该方法包括：输入从不同位置捕获的对象的第一组图像; 确定来自图像的边界点数据，其定义对象上的多个边界点，并为每个所述前沿点定义在边界点处的对象的表面的法线方向，以及确定定义图像捕获位置的数据; 输入所述对象的第二组图像，具有基本上相同的视点和不同的照明条件; 并且表征所述第二组图像，所述边界点数据以确定包括对象反射参数数据（＆bgr）的数据，并且对于所述第二组的每个图像，包括限定图像的照明方向和照明强度的数据的照明数据（L）。

3. 发明授权

US08451322B2 Imaging system and method 有权
标题翻译：成像系统和方法
公开(公告)号：US08451322B2
公开(公告)日：2013-05-28
申请号：US13082833
申请日：2011-04-08
申请人： Carlos Hernandez , George Vogiatzis , Roberto Cipolla
发明人： Carlos Hernandez , George Vogiatzis , Roberto Cipolla
IPC分类号： H04N13/02
CPC分类号： G01B11/245 , G01B11/2545 , G06T7/521
摘要： According to one embodiment, an apparatus for determining the gradients of the surface normals of an object includes a receiving unit, establishing unit, determining unit, and selecting unit. The receiving unit is configured to receive data of three 2D images of the object, wherein each image is taken under illumination from a different direction. The establishing unit is configured to establish which pixels of the image are in shadow such that there is only data available from two images from these pixels. The determining unit is configured to determine a range of possible solutions for the gradient of the surface normal of a shadowed pixel using the data available for the two images. The selecting unit is configured to select a solution for the gradient using the integrability of the gradient field over an area of the object as a constraint and minimizing a cost function.
摘要翻译：根据一个实施例，用于确定对象的表面法线的梯度的装置包括接收单元，建立单元，确定单元和选择单元。接收单元被配置为接收对象的三个2D图像的数据，其中每个图像在不同方向的照明下拍摄。建立单元被配置为确定图像的哪些像素处于阴影中，使得仅存在来自这些像素的两个图像的数据。确定单元被配置为使用可用于两个图像的数据来确定阴影像素的表面法线的梯度的可能解的范围。选择单元被配置为使用对象的区域上的梯度场的可整合性作为约束来选择用于梯度的解，并且最小化成本函数。

4. 发明申请

US20110292179A1 IMAGING SYSTEM AND METHOD 有权
标题翻译：成像系统和方法
公开(公告)号：US20110292179A1
公开(公告)日：2011-12-01
申请号：US13082833
申请日：2011-04-08
申请人： Carlos HERNANDEZ , George Vogiatzis , Roberto Cipolla
发明人： Carlos HERNANDEZ , George Vogiatzis , Roberto Cipolla
IPC分类号： H04N13/02 , G06T15/00
CPC分类号： G01B11/245 , G01B11/2545 , G06T7/521
摘要： According to one embodiment, an apparatus for determining the gradients of the surface normals of an object includes a receiving unit, establishing unit, determining unit, and selecting unit. The receiving unit is configured to receive data of three 2D images of the object, wherein each image is taken under illumination from a different direction. The establishing unit is configured to establish which pixels of the image are in shadow such that there is only data available from two images from these pixels. The determining unit is configured to determine a range of possible solutions for the gradient of the surface normal of a shadowed pixel using the data available for the two images. The selecting unit is configured to select a solution for the gradient using the integrability of the gradient field over an area of the object as a constraint and minimising a cost function.
摘要翻译：根据一个实施例，用于确定对象的表面法线的梯度的装置包括接收单元，建立单元，确定单元和选择单元。接收单元被配置为接收对象的三个2D图像的数据，其中每个图像在不同方向的照明下拍摄。建立单元被配置为确定图像的哪些像素处于阴影中，使得仅存在来自这些像素的两个图像的数据。确定单元被配置为使用可用于两个图像的数据来确定阴影像素的表面法线的梯度的可能解的范围。选择单元被配置为使用对象的区域上的梯度场的可整合性作为约束来选择用于梯度的解，并且最小化成本函数。

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