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1. 发明申请

US20060188131A1 System and method for camera tracking and pose estimation 有权
标题翻译：摄像机跟踪和姿态估计的系统和方法
公开(公告)号：US20060188131A1
公开(公告)日：2006-08-24
申请号：US11359673
申请日：2006-02-22
申请人： Xiang Zhang , Yakup Genc , Visvanathan Ramesh , Yanghai Tsin
发明人： Xiang Zhang , Yakup Genc , Visvanathan Ramesh , Yanghai Tsin
IPC分类号： G06K9/00
CPC分类号： G06T7/246 , G06T7/74
摘要： A method of tracking a pose of a moving camera includes receiving a first image from a camera, receiving a sequence of digitized images from said camera, recording, for each of said sequence of digitized images, the pose and 2D correspondences of landmarks, reconstructing a location and appearance of a 2-dimensional texture patch from 2D correspondences of the landmarks by triangulation and optimization, computing back-projection errors by comparing said reconstructed texture patch with said first received image; and reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors.
摘要翻译：跟踪移动摄像机的姿态的方法包括：从相机接收第一图像，从所述照相机接收数字化图像序列，针对所述数字化图像序列中的每一个记录地标的姿态和2D对应，重建通过三角测量和优化从地标的2D对应的二维纹理贴片的位置和外观，通过将所述重建纹理贴片与所述第一接收图像进行比较来计算反投影误差; 以及通过三角测量和优化，从所述数字化图像序列的地标的二维对应中重建所述二维纹理补片的所述位置和外观，并且消除了具有大的反投影误差的这些地标。

2. 发明授权

US08477154B2 Method and system for interactive virtual inspection of modeled objects 有权
标题翻译：用于模拟对象的交互式虚拟检查的方法和系统
公开(公告)号：US08477154B2
公开(公告)日：2013-07-02
申请号：US11875092
申请日：2007-10-19
申请人： Fredrick M. Davis , Yakup Genc , Sergey Kabanov , Robert E. Shannon , Xiang Zhang
发明人： Fredrick M. Davis , Yakup Genc , Sergey Kabanov , Robert E. Shannon , Xiang Zhang
IPC分类号： G09G5/00
CPC分类号： G09G5/00 , G06T19/00 , G06T2200/24 , G06T2219/028 , G06T2219/2004
摘要： A method of using a Graphic User Interface (GUI) for interactive virtual inspection of modeled objects. The method includes acquiring a three-dimensional model of a modeled object and displaying a first view of the modeled object for a user to identify locations of interest on a surface of the modeled object visible within the first view. The user enters information to create a markup tag that annotates the location of interest, and the markup tag is automatically associated with the location of interest on the modeled object. A second view of the modeled object is displayed including the user identified location of interest and the markup tag.
摘要翻译：使用图形用户界面（GUI）进行模拟对象的交互式虚拟检查的方法。该方法包括获取建模对象的三维模型并显示用于用户的建模对象的第一视图以识别在第一视图内可见的所建模对象的表面上的感兴趣位置。用户输入信息以创建标注感兴趣位置的标记标签，并且标记标签自动与建模对象上的感兴趣位置相关联。显示建模对象的第二视图，包括用户识别的兴趣位置和标记标签。

3. 发明授权

US07616807B2 System and method for using texture landmarks for improved markerless tracking in augmented reality applications 有权
标题翻译：用于在增强现实应用中使用纹理地标改进无标记跟踪的系统和方法
公开(公告)号：US07616807B2
公开(公告)日：2009-11-10
申请号：US11359673
申请日：2006-02-22
申请人： Xiang Zhang , Yakup Genc , Visvanathan Ramesh , Yanghai Tsin
发明人： Xiang Zhang , Yakup Genc , Visvanathan Ramesh , Yanghai Tsin
IPC分类号： G06K9/00 , G06K9/32 , G06T15/00
CPC分类号： G06T7/246 , G06T7/74
摘要： A method of tracking a pose of a moving camera includes receiving a first image from a camera, receiving a sequence of digitized images from said camera, recording, for each of said sequence of digitized images, the pose and 2D correspondences of landmarks, reconstructing a location and appearance of a 2-dimensional texture patch from 2D correspondences of the landmarks by triangulation and optimization, computing back-projection errors by comparing said reconstructed texture patch with said first received image; and reconstructing said location and appearance of said 2-dimensional texture patch from the 2D correspondences of the landmarks of said sequence of digitized images by triangulation and optimization after eliminating those landmarks with large back-projection errors.
摘要翻译：跟踪移动摄像机的姿态的方法包括：从相机接收第一图像，从所述照相机接收数字化图像序列，针对所述数字化图像序列中的每一个记录地标的姿态和2D对应，重建通过三角测量和优化从地标的2D对应的二维纹理贴片的位置和外观，通过将所述重建纹理贴片与所述第一接收图像进行比较来计算反投影误差; 以及通过三角测量和优化，从所述数字化图像序列的地标的二维对应中重建所述二维纹理补片的所述位置和外观，并且消除了具有大的反投影误差的这些地标。

4. 发明申请

US20080247635A1 Method of Coalescing Information About Inspected Objects 有权
标题翻译：检查对象合并信息的方法
公开(公告)号：US20080247635A1
公开(公告)日：2008-10-09
申请号：US11875089
申请日：2007-10-19
申请人： Fredrick M. Davis , Yakup Genc , Robert E. Shannon , Xiang Zhang
发明人： Fredrick M. Davis , Yakup Genc , Robert E. Shannon , Xiang Zhang
IPC分类号： G06K9/00
CPC分类号： G06K9/00 , G06T7/75 , G06T19/00 , G06T2200/24 , G06T2207/10012 , G06T2207/30164 , G06T2219/028
摘要： A method of coalescing information about inspected objects. The method includes acquiring an image set of an object to be inspected, the image set having a three-dimensional model of the object and a plurality of two-dimensional images of the object. A location of interest is identified on a surface of the modeled object and global coordinate points of the three-dimensional model are designated that characterize the location of interest of the modeled object. A markup tag annotating the location of interest is associate with the designated global coordinate points of the three-dimensional model, and the markup tag is conveyed when viewing any one of the plurality of two-dimensional images of the image set that have at least one image point that correlates to a corresponding designated global coordinate point of the three-dimensional model that characterize the location of interest.
摘要翻译：合并有关被检查对象的信息的方法。所述方法包括获取待检查对象的图像集合，所述图像组具有所述对象的三维模型和所述对象的多个二维图像。在建模对象的表面上识别感兴趣的位置，并且指定三维模型的全局坐标点，其表征建模对象的兴趣位置。注释感兴趣的位置的标记标签与三维模型的指定的全局坐标点相关联，并且当查看具有至少一个的图像集的多个二维图像中的任何一个时，传送标记标签图像点与表征感兴趣位置的三维模型的对应的指定全局坐标点相关。

5. 发明申请

US20060027658A1 Object localization 有权
标题翻译：对象本地化
公开(公告)号：US20060027658A1
公开(公告)日：2006-02-09
申请号：US11195311
申请日：2005-08-02
申请人： Yakup Genc , Xiang Zhang
发明人： Yakup Genc , Xiang Zhang
IPC分类号： G06K7/10
CPC分类号： G01S13/876 , G01S13/825
摘要： A computer-implemented method for object localization includes providing a plurality of tags having fixed positions within an environment and known identifications, and providing a reader, for detecting the tags and reading the identifications, wherein the reader detects a plurality of tags within a scanning volume having a known shape. The method further includes determining positions for the plurality of tags within the scanning volume, and determining a position of the reader according to the positions for the plurality of tags within the scanning volume and the known shape of the scanning volume.
摘要翻译：用于对象定位的计算机实现的方法包括提供在环境和已知标识内具有固定位置的多个标签，以及提供用于检测标签和读取标识的读取器，其中读取器检测扫描卷内的多个标签具有已知的形状。该方法还包括确定扫描体积内的多个标签的位置，以及根据扫描体积内的多个标签的位置和扫描体积的已知形状来确定读取器的位置。

6. 发明授权

US07274380B2 Augmented reality system 有权
标题翻译：增强现实系统
公开(公告)号：US07274380B2
公开(公告)日：2007-09-25
申请号：US10263578
申请日：2002-10-03
申请人： Nassir Navab , Xiang Zhang , Yakup Genc , Vijay Kumar
发明人： Nassir Navab , Xiang Zhang , Yakup Genc , Vijay Kumar
IPC分类号： G09G5/00
CPC分类号： G01S5/163 , A63F2300/1012 , G01S5/16 , G05B2219/32014
摘要： An augmented reality system includes a video source, and a database. The video source resides at a location and produces an image. At least one encoded marker resides within the image. A marker detector is coupled to the video source and is adapted to derive encoded data from the marker residing within the image. A localization processor is adapted to receive data from the marker detector and to generate data regarding location and orientation of the marker. The localization processor retrieves information from the database that is related to the location and orientation of the marker. The localization processor makes the information retrieved from the database available to a user.
摘要翻译：增强现实系统包括视频源和数据库。视频源位于一个位置并产生一个图像。至少有一个编码标记位于图像内。标记检测器耦合到视频源并适于从存在于图像内的标记中导出编码数据。定位处理器适于从标记检测器接收数据并产生关于标记的位置和取向的数据。本地化处理器从数据库中检索与标记的位置和方向相关的信息。本地化处理器使从数据库检索的信息可供用户使用。

7. 发明授权

US08244025B2 Method of coalescing information about inspected objects 有权
标题翻译：汇总有关被检物体信息的方法
公开(公告)号：US08244025B2
公开(公告)日：2012-08-14
申请号：US11875089
申请日：2007-10-19
申请人： Fredrick M. Davis , Yakup Genc , Robert E. Shannon , Xiang Zhang
发明人： Fredrick M. Davis , Yakup Genc , Robert E. Shannon , Xiang Zhang
IPC分类号： G06K9/00 , G06T15/00 , G06T17/00 , G06T15/40 , G06F19/00
CPC分类号： G06K9/00 , G06T7/75 , G06T19/00 , G06T2200/24 , G06T2207/10012 , G06T2207/30164 , G06T2219/028
摘要： A method of coalescing information about inspected objects. The method includes acquiring an image set of an object to be inspected, the image set having a three-dimensional model of the object and a plurality of two-dimensional images of the object. A location of interest is identified on a surface of the modeled object and global coordinate points of the three-dimensional model are designated that characterize the location of interest of the modeled object. A markup tag annotating the location of interest is associate with the designated global coordinate points of the three-dimensional model, and the markup tag is conveyed when viewing any one of the plurality of two-dimensional images of the image set that have at least one image point that correlates to a corresponding designated global coordinate point of the three-dimensional model that characterize the location of interest.
摘要翻译：合并有关被检查对象的信息的方法。所述方法包括获取待检查对象的图像集合，所述图像组具有所述对象的三维模型和所述对象的多个二维图像。在建模对象的表面上识别感兴趣的位置，并且指定三维模型的全局坐标点，其表征建模对象的兴趣位置。注释感兴趣的位置的标记标签与三维模型的指定的全局坐标点相关联，并且当查看具有至少一个的图像集的多个二维图像中的任何一个时，传送标记标签图像点与表征感兴趣位置的三维模型的对应的指定全局坐标点相关。

8. 发明申请

US20080247636A1 Method and System for Interactive Virtual Inspection of Modeled Objects 有权
标题翻译：建模对象的交互虚拟检测方法与系统
公开(公告)号：US20080247636A1
公开(公告)日：2008-10-09
申请号：US11875092
申请日：2007-10-19
申请人： Fredrick M. Davis , Yakup Genc , Sergey Kabanov , Robert E. Shannon , Xiang Zhang
发明人： Fredrick M. Davis , Yakup Genc , Sergey Kabanov , Robert E. Shannon , Xiang Zhang
IPC分类号： G06K9/46
CPC分类号： G09G5/00 , G06T19/00 , G06T2200/24 , G06T2219/028 , G06T2219/2004
摘要： A method of using a Graphic User Interface (GUI) for interactive virtual inspection of modeled objects. The method includes acquiring a three-dimensional model of a modeled object and displaying a first view of the modeled object for a user to identify locations of interest on a surface of the modeled object visible within the first view. The user enters information to create a markup tag that annotates the location of interest, and the markup tag is automatically associated with the location of interest on the modeled object. A second view of the modeled object is displayed including the user identified location of interest and the markup tag.
摘要翻译：使用图形用户界面（GUI）进行模拟对象的交互式虚拟检查的方法。该方法包括获取建模对象的三维模型并显示用于用户的建模对象的第一视图以识别在第一视图内可见的所建模对象的表面上的感兴趣位置。用户输入信息以创建标注感兴趣位置的标记标签，并且标记标签自动与建模对象上的感兴趣位置相关联。显示建模对象的第二视图，包括用户识别的兴趣位置和标记标签。

9. 发明授权

US07374103B2 Object localization 有权
标题翻译：对象本地化
公开(公告)号：US07374103B2
公开(公告)日：2008-05-20
申请号：US11195311
申请日：2005-08-02
申请人： Yakup Genc , Xiang Zhang
发明人： Yakup Genc , Xiang Zhang
IPC分类号： G06K19/06
CPC分类号： G01S13/876 , G01S13/825
摘要： A computer-implemented method for object localization includes providing a plurality of tags having fixed positions within an environment and known identifications, and providing a reader, for detecting the tags and reading the identifications, wherein the reader detects a plurality of tags within a scanning volume having a known shape. The method further includes determining positions for the plurality of tags within the scanning volume, and determining a position of the reader according to the positions for the plurality of tags within the scanning volume and the known shape of the scanning volume.
摘要翻译：用于对象定位的计算机实现的方法包括提供在环境和已知标识内具有固定位置的多个标签，以及提供用于检测标签和读取标识的读取器，其中读取器检测扫描卷内的多个标签具有已知的形状。该方法还包括确定扫描体积内的多个标签的位置，以及根据扫描体积内的多个标签的位置和扫描体积的已知形状来确定读取器的位置。

10. 发明授权

US09494532B2 System and method for side-by-side inspection of a device 有权
标题翻译：用于并排检查设备的系统和方法
公开(公告)号：US09494532B2
公开(公告)日：2016-11-15
申请号：US13240632
申请日：2011-09-22
申请人： Binglong Xie , Yakup Genc , Xiang Gao
发明人： Binglong Xie , Yakup Genc , Xiang Gao
IPC分类号： G01N21/95 , G01B11/245 , G01N21/954 , G06T7/00
CPC分类号： G01N21/9515 , G01B11/245 , G01N21/954 , G06T7/001 , G06T2200/24 , G06T2207/30164
摘要： Systems and methods for inspecting a device include arranging the device in a known position relative to a plurality of movable cameras mounted on a controllable actuator controlled by a computing device and pointed at the device by controlling the controllable actuator to position a camera with a user interface on the computing device with a display, and the display displays a virtual image from the camera into CAD model of the device and an image of the device generated by the camera in a side-by-side or in an overlay fashion or both.
摘要翻译：用于检查设备的系统和方法包括将设备布置在相对于安装在由计算设备控制的可控制致动器上的多个可移动摄像机的已知位置，并通过控制可控致动器来定位具有用户界面的摄像机在具有显示器的计算设备上，并且显示器将来自相机的虚拟图像显示为设备的CAD模型和由相机以并排或叠加方式或两者均生成的设备的图像。

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