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1. 发明授权

US06903738B2 Image-based 3D modeling rendering system 失效
标题翻译：基于图像的3D建模渲染系统
公开(公告)号：US06903738B2
公开(公告)日：2005-06-07
申请号：US10173069
申请日：2002-06-17
申请人： Hanspeter Pfister , Wojciech Matusik , Wai Kit Addy Ngan , Leonard McMillan, Jr. , Paul Beardsley
发明人： Hanspeter Pfister , Wojciech Matusik , Wai Kit Addy Ngan , Leonard McMillan, Jr. , Paul Beardsley
IPC分类号： G06T15/20 , G06T17/10 , G06T17/30 , G06T17/00
CPC分类号： G06T15/205 , G06T17/20
摘要： A method models a three-dimensional object by first acquiring alpha mattes of the object for multiple viewpoints. The alpha mattes are then projected onto a surface hull completely enclosing the object to construct an opacity hull storing opacity values of the surface of the object. The object is illuminated for various lighting conditions while images are acquired. The images are projected onto the opacity hull to render the object under arbitrary lighting conditions for arbitrary viewpoints.
摘要翻译：一种方法通过首先获取多个视点的对象的alpha遮罩来建模三维对象。然后将alpha mattes投影到完全包围对象的表面船体上，以构建存储对象表面的不透明度值的不透明度船体。当获取图像时，对象被照亮用于各种照明条件。将图像投影到不透明度船体上，以便在任意视点的任意照明条件下渲染物体。

2. 发明授权

US06792140B2 Image-based 3D digitizer 失效
标题翻译：基于图像的3D数字化仪
公开(公告)号：US06792140B2
公开(公告)日：2004-09-14
申请号：US09842972
申请日：2001-04-26
申请人： Wojciech Matusik , Hanspeter Pfister , Paul Beardsley , Leonard McMillan, Jr.
发明人： Wojciech Matusik , Hanspeter Pfister , Paul Beardsley , Leonard McMillan, Jr.
IPC分类号： G06K900
CPC分类号： G06T7/564 , G06T7/557 , G06T2200/08
摘要： A system digitizes a three-dimensional object as a three-dimension model by placing the object on a turntable while taking two sets of corresponding images. The first set of images and the second set of images are obtained while rotating the turntable to a various positions and illuminated the object with the overhead lights and backlights. There is a one to one correspondence for images in each set for each position of the turntable. Object shape data and texture data are respectively extracted from the first and second set of images. The object shape data is correlated with the object texture data to construct the three-dimensional digital model stored in a memory of a computer system.
摘要翻译：系统通过将对象放置在转盘上同时采取两组相应的图像，将三维物体数字化为三维模型。获得第一组图像和第二组图像，同时将转盘旋转到各种位置，并用顶灯和背光照亮物体。对于转盘的每个位置，每组中的图像有一对一的对应关系。从第一和第二组图像分别提取对象形状数据和纹理数据。对象形状数据与对象纹理数据相关联，以构建存储在计算机系统的存储器中的三维数字模型。

3. 发明授权

US09067320B2 Robotic texture 有权
标题翻译：机器人纹理
公开(公告)号：US09067320B2
公开(公告)日：2015-06-30
申请号：US13458875
申请日：2012-04-27
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Federico Perazzi , Alexander Hornung
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Federico Perazzi , Alexander Hornung
IPC分类号： G09G5/00 , B25J9/16 , G06T11/00
CPC分类号： B25J9/1666 , G06T11/001
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of a real-world video texture. Mobile robots with controllable color may generate visual representations of the real-world video texture to create an effect like fire, sunlight on water, leaves fluttering in sunlight, a wheat field swaying in the wind, crowd flow in a busy city, and clouds in the sky. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic and holonomic robots to guarantee smooth and collision-free motions.
摘要翻译：公开了用于控制机器人像素以显示真实世界视频纹理的视觉表示的技术。具有可控色彩的移动机器人可能产生现实世界视频纹理的视觉表示，以产生如火，阳光在水中，阳光下飘飘的小麦，风中摇摆的麦田，繁忙城市的群众流动，以及云中的云彩天空。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了在多个非完整和完整的机器人之间进行分布式碰撞避免的技术，以保证平稳无碰撞的运动。

4. 发明授权

US06259815B1 System and method for recognizing scanned objects with deformable volumetric templates 有权
标题翻译：用可变形体积模板识别扫描对象的系统和方法
公开(公告)号：US06259815B1
公开(公告)日：2001-07-10
申请号：US09262376
申请日：1999-03-04
申请人： David B. Anderson , Aseem Agarwala , Paul Beardsley , Joseph W. Marks
发明人： David B. Anderson , Aseem Agarwala , Paul Beardsley , Joseph W. Marks
IPC分类号： G06K968
CPC分类号： G06K9/6206
摘要： A method recognizes three-dimensional physical objects using three-dimensional deformable templates. A particular object is scanned with a camera to generate volumetric data representing the object. The volumetric data is compared to each of a plurality of three-dimensional deformable templates stored in a database to obtain a score for each comparison. The deforming of the template is done by optimizing an objective function.
摘要翻译：一种使用三维可变形模板识别三维物体的方法。用相机扫描特定物体以产生表示物体的体积数据。将体积数据与存储在数据库中的多个三维可变形模板中的每一个进行比较，以获得每个比较的得分。通过优化目标函数来完成模板的变形。

5. 发明授权

US5894309A System for modifying lighting in photographs 失效
标题翻译：修改照片照明系统
公开(公告)号：US5894309A
公开(公告)日：1999-04-13
申请号：US805209
申请日：1997-02-27
申请人： William T. Freeman , Joseph Marks , Paul Beardsley
发明人： William T. Freeman , Joseph Marks , Paul Beardsley
IPC分类号： G06T15/50 , G06F15/00
CPC分类号： G06T15/50
摘要： A system for creating lighting for a photograph generates a large number ofmages based upon structures determined from the photograph and randomly selected light positions, types and directions. One or more photographs are analyzed to determine the three-dimensional structures in the photographs. These structures are represented as gray surfaces, to which lighting is applied. The images are culled to provide a set of images which best spans the lighting space represented by the large number of images. The culling process is iterative; at each iteration, the image which is most dissimilar from a nearest neighbor in the selected set is added to the selected set. The images are organized in a hierarchical structure. A user interface allows the user to review and select images in the hierarchical structure. The images selected by the user are combined to create a final image with composite lighting. The lighting specifications can be saved for future reference by the lighting system or other applications. The lighting of the gray surface images are used to modify the intensity of pixels in the photograph in order to change lighting in the photograph.
摘要翻译：用于创建照片照明的系统基于从照片和随机选择的光位置，类型和方向确定的结构生成大量图像。分析一张或多张照片以确定照片中的三维结构。这些结构表示为施加照明的灰色表面。图像被剔除以提供最佳跨越由大量图像表示的照明空间的一组图像。剔除过程是迭代的; 在每次迭代中，与所选集中的最近邻居最不相似的图像被添加到所选择的集合中。图像以分层结构组织。用户界面允许用户在层次结构中查看和选择图像。组合用户选择的图像以创建具有复合照明的最终图像。照明规格可以保存，以供将来参考照明系统或其他应用。灰色表面图像的照明用于修改照片中像素的强度，以便改变照片中的照明。

6. 发明申请

US20120313937A1 COUPLED RECONSTRUCTION OF HAIR AND SKIN 有权
标题翻译：头发和皮肤的联合重建
公开(公告)号：US20120313937A1
公开(公告)日：2012-12-13
申请号：US13588841
申请日：2012-08-17
申请人： Thabo D. Beeler , Paul Beardsley , Robert Sumner , Bernd Bickel , Steve Marschner
发明人： Thabo D. Beeler , Paul Beardsley , Robert Sumner , Bernd Bickel , Steve Marschner
IPC分类号： G06T17/00
CPC分类号： G06T7/596 , G06T19/00 , G06T2207/10012 , G06T2207/20016 , G06T2207/30201 , H04N13/261 , H04N2013/0081
摘要： Techniques are provided to model hair and skin. Multiscopic images are received that depict at least part of a subject having hair. The multiscopic images are analyzed to determine hairs depicted. Two-dimensional hair segments are generated that represent the hairs. Three-dimensional hair segments are generated based on the two-dimensional hair segments. A three-dimensional model of skin is generated based on the three-dimensional hair segments.
摘要翻译：提供技术来模拟头发和皮肤。接收描绘具有头发的受试者的至少一部分的多视图。分析多镜像图像以确定所描绘的毛发。生成代表毛发的二维毛发片段。基于二维毛发片段生成三维毛发片段。基于三维毛发片段生成皮肤的三维模型。

7. 发明授权

US07031525B2 Edge detection based on background change 失效
标题翻译：基于背景变化的边缘检测
公开(公告)号：US07031525B2
公开(公告)日：2006-04-18
申请号：US10210846
申请日：2002-07-30
申请人： Paul Beardsley
发明人： Paul Beardsley
IPC分类号： G06K9/48
CPC分类号： G06K9/00362 , G06T7/12 , G06T7/174 , G06T7/246 , G06T7/593 , G06T2207/10021 , G06T2207/20224 , G06T2207/30236
摘要： A method detects edges of an object in a scene by first acquiring a static image of the scene when the scene is static, and a live image of the scene including the object. A reference image is constructed from the static image. Then, image gradients of the reference image are compared with image gradients of the live image to identify edges of the object in the live image.
摘要翻译：一种方法通过在场景静态时首先获取场景的静态图像以及包括对象的场景的实时图像来检测场景中的对象的边缘。从静态图像构建参考图像。然后，将参考图像的图像梯度与实时图像的图像梯度进行比较，以识别实时图像中的对象的边缘。

8. 发明授权

US10038895B2 Image capture device calibration 有权
公开(公告)号：US10038895B2
公开(公告)日：2018-07-31
申请号：US13742256
申请日：2013-01-15
申请人： Paul Beardsley , Anselm Grundhoefer , Daniel Reetz
发明人： Paul Beardsley , Anselm Grundhoefer , Daniel Reetz
IPC分类号： H04N17/00 , G01B7/004 , G01B21/04 , G01B11/00
CPC分类号： H04N17/002 , G01B7/004 , G01B11/002 , G01B21/042
摘要： A three-dimensional coordinate position of a calibration device is determined. Further, a code is emitted to an image capture device. The code indicates the three-dimensional coordinate position of the calibration device. In addition, an image of light emitted from the calibration device is captured. The light includes the code. An image capture device three-dimensional coordinate position of the calibration device is calibrated according to the real world three-dimensional coordinate position of the calibration device indicated by the code.

9. 发明授权

US08723872B2 Display with robotic pixels 有权
标题翻译：显示机器人像素
公开(公告)号：US08723872B2
公开(公告)日：2014-05-13
申请号：US13156212
申请日：2011-06-08
申请人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
发明人： Paul Beardsley , Javier Alonso Mora , Andreas Breitenmoser , Martin Rufli , Roland Siegwart , Iain Matthews , Katsu Yamane
IPC分类号： G06T13/00 , G06F19/00
CPC分类号： G06T13/80 , B25J9/1666 , Y10S901/01 , Y10S901/46
摘要： Techniques are disclosed for controlling robot pixels to display a visual representation of an input. The input to the system could be an image of a face, and the robot pixels deploy in a physical arrangement to display a visual representation of the face, and would change their physical arrangement over time to represent changing facial expressions. The robot pixels function as a display device for a given allocation of robot pixels. Techniques are also disclosed for distributed collision avoidance among multiple non-holonomic robots to guarantee smooth and collision-free motions. The collision avoidance technique works for multiple robots by decoupling path planning and coordination.
摘要翻译：公开了用于控制机器人像素以显示输入的视觉表示的技术。系统的输入可以是面部的图像，并且机器人像素以物理布置来部署以显示面部的视觉表示，并且将随时间改变其物理布置以表示改变的面部表情。机器人像素用作用于机器人像素的给定分配的显示装置。还公开了用于多个非完整机器人中的分布式冲突避免的技术，以保证平稳和无碰撞的运动。碰撞避免技术通过解耦路径规划和协调为多机器人工作。

10. 发明申请

US20060001839A1 Projector-camera system with laser pointers 有权
标题翻译：带激光笔的投影机相机系统
公开(公告)号：US20060001839A1
公开(公告)日：2006-01-05
申请号：US10883224
申请日：2004-07-01
申请人： Paul Beardsley , Jeroen van Baar , Ramesh Raskar
发明人： Paul Beardsley , Jeroen van Baar , Ramesh Raskar
IPC分类号： G03B21/00
CPC分类号： H04N9/3185 , G03B17/54 , G03B21/26 , H04N5/74 , H04N9/3194
摘要： A rigidly-coupled projector-camera system is augmented with laser pointers. The projector-camera system and lasers can be used to determine homography between the projector and a display surface, so that a projection of any desired geometry can be made on the display surface.
摘要翻译：激光指针增强了刚性耦合的投影机相机系统。可以使用投影仪相机系统和激光器来确定投影仪和显示表面之间的单应性，使得可以在显示表面上进行任何期望的几何形状的投影。

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