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1. 发明授权

US09525862B2 Method for estimating a camera motion and for determining a three-dimensional model of a real environment 有权
标题翻译：用于估计相机运动并确定真实环境的三维模型的方法
公开(公告)号：US09525862B2
公开(公告)日：2016-12-20
申请号：US14240995
申请日：2011-08-31
申请人： Selim Benhimane , Sebastian Lieberknecht , Andrea Huber
发明人： Selim Benhimane , Sebastian Lieberknecht , Andrea Huber
IPC分类号： H04N13/02 , G06T7/00 , G06T7/20 , G06T17/00
CPC分类号： H04N13/221 , G06T7/246 , G06T7/33 , G06T17/00 , G06T2200/08 , G06T2207/10024 , G06T2207/10028 , G06T2207/30244
摘要： A method for estimating a camera motion and for determining a three-dimensional model of an environment is provided that includes the steps of: providing intrinsic parameters of a camera; providing a set of reference two-dimensional imaged points captured by the camera at a first camera pose and reference depth samples; determining a three-dimensional model of the environment; providing a set of current two-dimensional imaged points captured by the camera at a second camera pose and current depth samples associated to the set of current two-dimensional imaged points and determining a current three-dimensional model; estimating a camera motion between the first camera pose and the second camera pose; determining a similarity measure between the three-dimensional model and the current three-dimensional model, and if it is determined that the similarity measure meets a first condition, updating the three-dimensional model of the environment and adding the set of current two-dimensional imaged points to the set of reference two-dimensional imaged points.
摘要翻译：提供了一种用于估计相机运动和用于确定环境的三维模型的方法，其包括以下步骤：提供相机的内在参数; 提供由相机在第一相机姿态和参考深度样本处捕获的一组参考二维成像点; 确定环境的三维模型; 提供由相机在第二相机姿态和与当前二维成像点的集合相关联的当前深度样本捕获的当前二维成像点集合，并确定当前的三维模型; 估计第一相机姿态和第二相机姿态之间的相机运动; 确定三维模型和当前三维模型之间的相似性度量，并且如果确定相似性度量满足第一条件，则更新环境的三维模型并将当前二维的集合成像点指向一组参考二维成像点。

2. 发明申请

US20140050357A1 METHOD FOR DETERMINING A PARAMETER SET DESIGNED FOR DETERMINING THE POSE OF A CAMERA AND/OR FOR DETERMINING A THREE-DIMENSIONAL STRUCTURE OF THE AT LEAST ONE REAL OBJECT 有权
标题翻译：用于确定用于确定相机位置的参数集合和/或用于确定至少一个真实对象的三维结构的方法
公开(公告)号：US20140050357A1
公开(公告)日：2014-02-20
申请号：US13996408
申请日：2010-12-21
申请人： Selim Benhimane , Sebastian Lieberknecht
发明人： Selim Benhimane , Sebastian Lieberknecht
IPC分类号： G06T7/00
CPC分类号： G06T7/70 , G06T7/251 , G06T7/579 , G06T7/75 , G06T2207/30244
摘要： A method for determining a parameter set which is designed to be used for determining the pose of a camera with regard to at least one real object and/or for determining a three-dimensional structure of the at least one real object, comprises the steps of providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration.
摘要翻译：一种用于确定被设计为用于确定相机对于至少一个实际对象的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法，包括以下步骤：提供包括所述至少一个真实对象的至少一部分的参考图像，捕获包括所述至少一个实际对象的至少一部分的至少一个当前图像，提供至少包括所述至少一个实体的参数集的初始估计，在拍摄当前图像时捕获参考图像和相机的姿态时相机姿态之间的公共坐标系中的三维平移以及至少一个真实对象的至少第一点的深度公共坐标系，以及通过迭代最小化处理确定参数集的估计的更新，其中在迭代最小化处理中，r中的第一组像素将参考图像与当前图像中的计算的像素组进行比较，并且用于比较的当前图像中计算的像素组在每次迭代时变化。

3. 发明授权

US09208563B2 Method for determining a parameter set designed for determining the pose of a camera and/or for determining a three-dimensional structure of the at least one real object 有权
标题翻译：用于确定设计用于确定相机的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法
公开(公告)号：US09208563B2
公开(公告)日：2015-12-08
申请号：US13996408
申请日：2010-12-21
申请人： Selim Benhimane , Sebastian Lieberknecht
发明人： Selim Benhimane , Sebastian Lieberknecht
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/70 , G06T7/251 , G06T7/579 , G06T7/75 , G06T2207/30244
摘要： A method for determining a parameter set which is designed to be used for determining the pose of a camera with regard to at least one real object and/or for determining a three-dimensional structure of the at least one real object, comprises the steps of providing a reference image including at least a part of the at least one real object, capturing at least one current image including at least a part of the at least one real object, providing an initial estimate of a parameter set which is including at least the three-dimensional translation in the common coordinate system between the pose of the camera when capturing the reference image and the pose of the camera when capturing the current image, and the depth of at least a first point of the at least one real object in the common coordinate system, and determining an update of the estimate of the parameter set by means of an iterative minimization process, wherein in the iterative minimization process a first set of pixels in the reference image is compared with a computed set of pixels in the current image and the computed set of pixels in the current image used for the comparison varies at each iteration.
摘要翻译：一种用于确定被设计为用于确定相机对于至少一个实际对象的姿态和/或用于确定所述至少一个真实对象的三维结构的参数集的方法，包括以下步骤：提供包括所述至少一个真实对象的至少一部分的参考图像，捕获包括所述至少一个实际对象的至少一部分的至少一个当前图像，提供至少包括所述至少一个实体的参数集的初始估计，在拍摄当前图像时捕获参考图像和相机的姿态时相机姿态之间的公共坐标系中的三维平移以及至少一个真实对象的至少第一点的深度公共坐标系，以及通过迭代最小化处理确定参数集的估计的更新，其中在迭代最小化处理中，r中的第一组像素将参考图像与当前图像中的计算的像素组进行比较，并且用于比较的当前图像中计算的像素组在每次迭代时变化。

4. 发明申请

US20140293016A1 METHOD FOR ESTIMATING A CAMERA MOTION AND FOR DETERMINING A THREE-DIMENSIONAL MODEL OF A REAL ENVIRONMENT 有权
标题翻译：用于估计摄像机运动并确定真实环境的三维模型的方法
公开(公告)号：US20140293016A1
公开(公告)日：2014-10-02
申请号：US14240995
申请日：2011-08-31
申请人： Selime Benhimane , Sebastian Lieberknecht , Andrea Huber
发明人： Selime Benhimane , Sebastian Lieberknecht , Andrea Huber
IPC分类号： H04N13/02 , G06T17/00
CPC分类号： H04N13/221 , G06T7/246 , G06T7/33 , G06T17/00 , G06T2200/08 , G06T2207/10024 , G06T2207/10028 , G06T2207/30244
摘要： A method for estimating a camera motion and for determining a three-dimensional model of an environment is provided that includes the steps of: providing intrinsic parameters of a camera; providing a set of reference two-dimensional imaged points captured by the camera at a first camera pose and reference depth samples; determining a three-dimensional model of the environment; providing a set of current two-dimensional imaged points captured by the camera at a second camera pose and current depth samples associated to the set of current two-dimensional imaged points and determining a current three-dimensional model; estimating a camera motion between the first camera pose and the second camera pose; determining a similarity measure between the three-dimensional model and the current three-dimensional model, and if it is determined that the similarity measure meets a first condition, updating the three-dimensional model of the environment and adding the set of current two-dimensional imaged points to the set of reference two-dimensional imaged points.
摘要翻译：提供了一种用于估计相机运动和用于确定环境的三维模型的方法，其包括以下步骤：提供相机的内在参数; 提供由相机在第一相机姿态和参考深度样本处捕获的一组参考二维成像点; 确定环境的三维模型; 提供由相机在第二相机姿态和与当前二维成像点的集合相关联的当前深度样本中捕获的一组当前二维成像点并确定当前的三维模型; 估计第一相机姿态和第二相机姿态之间的相机运动; 确定三维模型和当前三维模型之间的相似性度量，并且如果确定相似性度量满足第一条件，则更新环境的三维模型并将当前二维的集合成像点指向一组参考二维成像点。

5. 发明授权

US08675965B2 Method and system for analyzing an image generated by at least one camera 有权
标题翻译：用于分析由至少一个照相机产生的图像的方法和系统
公开(公告)号：US08675965B2
公开(公告)日：2014-03-18
申请号：US13128372
申请日：2008-11-10
申请人： Sebastian Lieberknecht , Peter Meier
发明人： Sebastian Lieberknecht , Peter Meier
IPC分类号： G06K9/46
CPC分类号： G06F17/30277 , G06F3/011 , G06F17/30011 , G06F17/30247 , G06F17/30256 , G06K9/00442 , G06K9/00671
摘要： A method for analyzing an image of a real object, particularly a printed media object, generated by at least one camera comprises the following steps: generating at least a first image by the camera capturing at least one real object, defining a first search domain comprising multiple data sets of the real object, each of the data sets being indicative of a respective portion of the real object, and analyzing at least one characteristic property of the first image of the camera with respect to the first search domain, in order to determine whether the at least one characteristic property corresponds to information of at least a particular one of the data sets of the first search domain. If it is determined that the at least one characteristic property corresponds to information of at least a particular one of the data sets, a second search domain comprising only the particular one of the data sets is defined and the second search domain is used for analyzing the first image and/or at least a second image generated by the camera.
摘要翻译：一种用于分析由至少一个相机生成的真实对象，特别是打印媒体对象的图像的方法包括以下步骤：通过摄像机生成至少第一图像，捕获至少一个真实对象，定义第一搜索域，包括：实际对象的多个数据集，每个数据集指示真实对象的相应部分，以及分析相对于第一搜索域的相机的第一图像的至少一个特性，以便确定所述至少一个特征属性是否对应于所述第一搜索域的至少一个特定数据集的信息。如果确定至少一个特征属性对应于数据集中的至少一个的信息，则仅定义仅包括特定数据集的第二搜索域，并且使用第二搜索域来分析第一图像和/或由相机产生的至少第二图像。

6. 发明申请

US20110280445A1 METHOD AND SYSTEM FOR ANALYZING AN IMAGE GENERATED BY AT LEAST ONE CAMERA 有权
标题翻译：用于分析由一个摄像机生成的图像的方法和系统
公开(公告)号：US20110280445A1
公开(公告)日：2011-11-17
申请号：US13128372
申请日：2008-11-10
申请人： Sebastian Lieberknecht , Peter Meier
发明人： Sebastian Lieberknecht , Peter Meier
IPC分类号： G06K9/00
CPC分类号： G06F17/30277 , G06F3/011 , G06F17/30011 , G06F17/30247 , G06F17/30256 , G06K9/00442 , G06K9/00671
摘要： A method for analyzing an image of a real object, particularly a printed media object, generated by at least one camera comprises the following steps: generating at least a first image by the camera capturing at least one real object, defining a first search domain comprising multiple data sets of the real object, each of the data sets being indicative of a respective portion of the real object, and analyzing at least one characteristic property of the first image of the camera with respect to the first search domain, in order to determine whether the at least one characteristic property corresponds to information of at least a particular one of the data sets of the first search domain. If it is determined that the at least one characteristic property corresponds to information of at least a particular one of the data sets, a second search domain comprising only the particular one of the data sets is defined and the second search domain is used for analyzing the first image and/or at least a second image generated by the camera.
摘要翻译：一种用于分析由至少一个相机生成的真实对象，特别是打印媒体对象的图像的方法包括以下步骤：通过摄像机生成至少第一图像，捕获至少一个真实对象，定义第一搜索域，包括：实际对象的多个数据集，每个数据集指示真实对象的相应部分，以及分析相对于第一搜索域的相机的第一图像的至少一个特性，以便确定所述至少一个特征属性是否对应于所述第一搜索域的至少一个特定数据集的信息。如果确定至少一个特征属性对应于数据集中的至少一个的信息，则仅定义仅包括特定数据集的第二搜索域，并且使用第二搜索域来分析第一图像和/或由相机产生的至少第二图像。

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