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1. 发明申请

WO2006086051A3 METHOD AND APPARATUS FOR TRACKING A MOVABLE OBJECT 审中-公开
标题翻译：跟踪可移动对象的方法和装置
公开(公告)号：WO2006086051A3
公开(公告)日：2006-10-26
申请号：PCT/US2005043837
申请日：2005-12-05
申请人： SARNOFF CORP , GUO YANLIN , SAWHNEY HARPREET , KUMAR RAKESH , HSU STEPHEN CHARLES , SHAN YING
发明人： GUO YANLIN , SAWHNEY HARPREET , KUMAR RAKESH , HSU STEPHEN CHARLES , SHAN YING
IPC分类号： H04N7/18
CPC分类号： G06K9/3241 , G06K9/00711 , G06K2209/23 , G06T7/20 , G06T7/246 , G06T7/33
摘要： A method and apparatus (10) for tracking a movable object (16) using a plurality of images, each of which is separated by an interval of time . The plurality of images includes first and second images. The method and apparatus include elements for aligning the first and second images as a function of (i) at least one feature of a first movable object captured in the first image, and (ii) at least one feature of a second movable object captured in the second image; and after aligning the first and second images, comparing at least one portion of the first image with at least one portion of the second image.
摘要翻译：一种用于使用多个图像跟踪可移动物体（16）的方法和装置（10），每个图像间隔一段时间。多个图像包括第一和第二图像。所述方法和装置包括用于将第一和第二图像对准的元件作为（i）在第一图像中捕获的第一可移动物体的至少一个特征的功能，以及（ii）被捕获在第二可移动物体中的至少一个特征第二个图像并且在对准所述第一和第二图像之后，将所述第一图像的至少一部分与所述第二图像的至少一部分进行比较。

2. 发明申请

WO0104837A2 METHOD AND APPARATUS FOR DETECTING INDEPENDENT MOTION IN THREE-DIMENSIONAL SCENES 审中-公开
标题翻译：用于检测三维场景中独立运动的方法和装置
公开(公告)号：WO0104837A2
公开(公告)日：2001-01-18
申请号：PCT/US0019465
申请日：2000-07-14
申请人： SARNOFF CORP
发明人： GUO YANLIN , KUMAR RAKESH , SAWHNEY HARPREET
IPC分类号： G06T7/20 , G06T7/00
CPC分类号： G06K9/209 , G06T7/285
摘要： A system and method that detects independently moving objects in 3D scenes which are viewed under camera motion progressively applies constraints to the images to ensure the stability of the constraints. The system first calculates 2D view geometry constraints for a set of images. These constraints are tested to determine if the imaged scene exhibits significant 3D characteristics. If it does, then 3D shape constraints, are applied to the set of images. The 3D shape constraints are themselves constrained by the 2D view geometry constraints. The set of images is then tested to identify areas that are inconsistent with the 2D or 3D constraints. These areas correspond to the moving objects. The 2D view geometry constraints are calculated by computing a dominant image alignment for successive pairs of images and then computing constrained epipolar transformations for the two image pairs. This 2D view geometry is further refined based on a plurality of target point correspondences among the plurality of frames. The epipolar geometry for the point correspondence having a minimum median error is selected as the 2D view geometry of the scene. The 3D shape constraint is a parallax geometry that is calculated by iteratively minimizing errors in a parametric alignment of the images using an estimated parallax geometry.
摘要翻译：检测在相机运动中观看的3D场景中的独立运动物体的系统和方法逐渐对图像施加约束以确保约束的稳定性。系统首先计算一组图像的2D视图几何约束。测试这些约束以确定成像的场景是否显示出显着的3D特征。如果是，则3D形状约束被应用于图像集合。 3D形状约束本身受2D视图几何约束的限制。然后测试该组图像以识别与2D或3D约束不一致的区域。这些区域对应于移动物体。通过计算连续图像对的主要图像对准，然后计算两个图像对的受限的对极变换来计算2D视图几何约束。基于多个帧中的多个目标点对应关系进一步改进该2D视图几何。选择具有最小中值误差的点对应的对极几何作为场景的2D视图几何。 3D形状约束是通过使用估计的视差几何迭代地最小化图像的参数对齐中的误差来计算的视差几何。

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