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1. 发明授权

US07509241B2 Method and apparatus for automatically generating a site model 有权
标题翻译：自动生成现场模型的方法和装置
公开(公告)号：US07509241B2
公开(公告)日：2009-03-24
申请号：US10191397
申请日：2002-07-08
申请人： Yanlin Guo , Rakesh Kumar , Stephen Charles Hsu , Harpreet Singh Sawhney
发明人： Yanlin Guo , Rakesh Kumar , Stephen Charles Hsu , Harpreet Singh Sawhney
IPC分类号： G06F17/10 , G06F17/50 , G06T15/00 , G06T17/00 , G06T15/10 , G06T15/50 , G06K9/00
CPC分类号： G06K9/00597 , G06F17/5004 , G06T17/05 , G06T17/10 , G06T2200/08
摘要： A method and apparatus for automatically combining aerial images and oblique images to form a three-dimensional (3D) site model. The apparatus or method is supplied with aerial and oblique imagery. The imagery is processed to identify building boundaries and outlines as well as to produce a depth map. The building boundaries and the depth map may be combined to form a 3D plan view model or used separately as a 2D plan view model. The imagery and plan view model is further processed to determine roof models for the buildings in the scene. The result is a 3D site model having buildings represented rectangular boxes with accurately defined roof shapes.
摘要翻译：一种用于自动组合航空图像和倾斜图像以形成三维（3D）站点模型的方法和装置。该装置或方法具有空中和倾斜的图像。处理图像以识别建筑边界和轮廓，并生成深度图。建筑边界和深度图可以组合形成3D平面图模型，或者单独用作2D平面图模型。图像和平面图模型进一步处理，以确定场景中建筑物的屋顶模型。结果是一个3D站点模型，建筑物表示具有精确定义的屋顶形状的矩形框。

2. 发明授权

US06512857B1 Method and apparatus for performing geo-spatial registration 失效
标题翻译：执行地理空间配准的方法和装置
公开(公告)号：US06512857B1
公开(公告)日：2003-01-28
申请号：US09075462
申请日：1998-05-08
申请人： Stephen Charles Hsu , Rakesh Kumar , Harpreet Singh Sawhney , Jane Asmuth
发明人： Stephen Charles Hsu , Rakesh Kumar , Harpreet Singh Sawhney , Jane Asmuth
IPC分类号： G06K932
CPC分类号： G06T7/70 , G06T7/30
摘要： A system and method for accurately mapping between camera coordinates and geo-coordinates, called geo-spatial registration. The system utilizes the imagery and terrain information contained in the geo-spatial database to precisely align geographically calibrated reference imagery with an input image, e.g., dynamically generated video images, and thus achieve a high accuracy identification of locations within the scene. When a sensor, such as a video camera, images a scene contained in the geo-spatial database, the system recalls a reference image pertaining to the imaged scene. This reference image is aligned very accurately with the sensor's images using a parametric transformation. Thereafter, other information that is associated with the reference image can easily be overlaid upon or otherwise associated with the sensor imagery.
摘要翻译：一种用于在相机坐标和地理坐标之间精确映射的系统和方法，称为地理空间注册。该系统利用地理空间数据库中包含的图像和地形信息精确地对准地理校准的参考图像与输入图像，例如动态生成的视频图像，从而实现对场景内位置的高精度识别。当诸如摄像机的传感器对包含在地理空间数据库中的场景进行成像时，系统调用与成像场景相关的参考图像。该参考图像使用参数变换与传感器的图像非常准确地对齐。此后，与参考图像相关联的其他信息可以容易地覆盖在传感器图像上或以其他方式与传感器图像相关联。

3. 发明授权

US6078701A Method and apparatus for performing local to global multiframe alignment to construct mosaic images 失效
标题翻译：用于执行局部到全局多帧对准以构建马赛克图像的方法和装置
公开(公告)号：US6078701A
公开(公告)日：2000-06-20
申请号：US87242
申请日：1998-05-29
申请人： Stephen Charles Hsu , Rakesh Kumar , Harpreet Singh Sawhney , James R. Bergen , Doug Dixon , Vince Paragano , Gary Gendel
发明人： Stephen Charles Hsu , Rakesh Kumar , Harpreet Singh Sawhney , James R. Bergen , Doug Dixon , Vince Paragano , Gary Gendel
IPC分类号： G06T3/00 , G06T3/40 , G06T7/00 , G06T11/00 , H04N7/26 , G06K9/32
CPC分类号： G06T7/0026 , G06K9/32 , G06T11/00 , G06T3/4038 , G06T7/0028 , H04N19/23 , G06K2009/2045
摘要： A method and apparatus that determines the topology of a sequence of images and then globally aligns the images with respect to each image's neighboring images. The apparatus includes a topology determination module, a local coarse registration module, a local fine registration module, a global consistency module, and a color matching/blending module. To accurately render a mosaic image from a sequence of images the topology determination and global alignment processes are iterated to progressively produce accurately aligned images. The apparatus efficiently and accurately combines a plurality of source images into a seamless panoramic mosaic representation of a scene, of arbitrarily wide spatial and angular extent, regardless of the order of image acquisition.
摘要翻译：确定图像序列的拓扑并且然后相对于每个图像的相邻图像对图像进行全局对准的方法和装置。该装置包括拓扑确定模块，局部粗略注册模块，本地精细注册模块，全局一致性模块和颜色匹配/混合模块。为了从图像序列精确地渲染马赛克图像，迭代拓扑确定和全局对齐过程逐渐产生精确对齐的图像。无论图像获取的顺序如何，该设备将多个源图像有效且精确地组合成场景的无缝全景马赛克表示，具有任意宽的空间和角度范围。

4. 发明授权

US07728833B2 Method for generating a three-dimensional model of a roof structure 有权
标题翻译：一种用于产生屋顶结构的三维模型的方法
公开(公告)号：US07728833B2
公开(公告)日：2010-06-01
申请号：US11206665
申请日：2005-08-18
申请人： Vivek Verma , Rakesh Kumar , Stephen Charles Hsu , Harpreet Sawhney
发明人： Vivek Verma , Rakesh Kumar , Stephen Charles Hsu , Harpreet Sawhney
IPC分类号： G06T17/00
CPC分类号： G06T17/20 , G06T17/00
摘要： A method and apparatus for automatically generating a three-dimensional computer model from a “point cloud” of a scene produced by a laser radar (LIDAR) system. Given a point cloud of an indoor or outdoor scene, the method extracts certain structures from the imaged scene, i.e., ceiling, floor, furniture, rooftops, ground, and the like, and models these structures with planes and/or prismatic structures to achieve a three-dimensional computer model of the scene. The method may then add photographic and/or synthetic texturing to the model to achieve a realistic model.
摘要翻译：一种用于由激光雷达（LIDAR）系统产生的场景的“点云”自动生成三维计算机模型的方法和装置。给定室内或室外场景的点云，该方法从成像场景（即，天花板，地板，家具，屋顶，地面等）中提取某些结构，并且利用平面和/或棱柱结构对这些结构进行建模以实现一个三维计算机模型的现场。然后，该方法可以向模型添加照相和/或合成纹理，以实现真实的模型。

5. 发明申请

US20080181487A1 METHOD AND APPARATUS FOR AUTOMATIC REGISTRATION AND VISUALIZATION OF OCCLUDED TARGETS USING LADAR DATA 审中-公开
标题翻译：使用LADAR数据自动注册和查看目标目标的方法和装置
公开(公告)号：US20080181487A1
公开(公告)日：2008-07-31
申请号：US11767811
申请日：2007-06-25
申请人： Stephen Charles Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith J. Hanna
发明人： Stephen Charles Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith J. Hanna
IPC分类号： G06K9/20 , G01C3/00
CPC分类号： G06T5/20 , G01S17/89 , G06K9/3241 , G06T5/002 , G06T7/30 , G06T7/33 , G06T2200/04 , G06T2207/10028 , G06T2207/20016 , G06T2207/30212 , G06T2207/30236
摘要： A method and apparatus for high-resolution 3D imaging ladar system which can penetrate foliage and camouflage to sample fragments of concealed surfaces of interest is disclosed. Samples collected while the ladar moves can be integrated into a coherent object shape. In one embodiment, a system and method for automatic data-driven registration of ladar frames, comprises a coarse search stage, a pairwise fine registration stage using an iterated closest points algorithm, and a multi-view registration strategy. After alignment and aggregation, it is often difficult for human observers to find, assess and recognize objects from a point cloud display. Basic display manipulations, surface fitting techniques, and clutter suppression to enhance visual exploitation of 3D imaging ladar data may be utilized.
摘要翻译：公开了一种用于高分辨率3D成像系统的方法和装置，其可以穿透叶子并伪装成对所关注的隐藏表面的碎片进行采样。收集的样本可以集成到一个连贯的物体形状。在一个实施例中，用于自动数据驱动的装载帧的注册的系统和方法包括粗搜索阶段，使用迭代最近点算法的成对精细注册阶段和多视图注册策略。对齐和聚合后，人类观察者往往难以从点云显示中发现，评估和识别物体。可以利用基本的显示操作，表面拟合技术和杂波抑制来增强3D成像数据的视觉利用。

6. 发明授权

US06597818B2 Method and apparatus for performing geo-spatial registration of imagery 有权
标题翻译：用于执行图像的地理空间注册的方法和装置
公开(公告)号：US06597818B2
公开(公告)日：2003-07-22
申请号：US09803700
申请日：2001-03-09
申请人： Rakesh Kumar , Stephen Charles Hsu , Keith Hanna , Supun Samarasekera , Richard Patrick Wildes , David James Hirvonen , Thomas Edward Klinedinst , William Brian Lehman , Bodgan Matei , Wenyi Zhao , Barbara Levienaise-Obadia
发明人： Rakesh Kumar , Stephen Charles Hsu , Keith Hanna , Supun Samarasekera , Richard Patrick Wildes , David James Hirvonen , Thomas Edward Klinedinst , William Brian Lehman , Bodgan Matei , Wenyi Zhao , Barbara Levienaise-Obadia
IPC分类号： G06K932
CPC分类号： G06T3/4038 , G06T3/0081 , G06T7/35 , Y10S707/99943
摘要： A system and method for accurately mapping between image coordinates and geo-coordinates, called geo-spatial registration. The system utilizes the imagery and terrain information contained in the geo-spatial database to precisely align geodetically calibrated reference imagery with an input image, e.g., dynamically generated video images, and thus achieve a high accuracy identification of locations within the scene. When a sensor, such as a video camera, images a scene contained in the geo-spatial database, the system recalls a reference image pertaining to the imaged scene. This reference image is aligned very accurately with the sensor's images using a parametric transformation. Thereafter, other information that is associated with the reference image can easily be overlaid upon or otherwise associated with the sensor imagery.
摘要翻译：用于在图像坐标和地理坐标之间精确映射的系统和方法，称为地理空间注册。该系统利用包含在地理空间数据库中的图像和地形信息来精确地对准地质学校准的参考图像与输入图像，例如动态生成的视频图像，从而实现对场景内部的位置的高精确度识别。当诸如摄像机的传感器对包含在地理空间数据库中的场景进行成像时，系统调用与成像场景相关的参考图像。该参考图像使用参数变换与传感器的图像非常准确地对齐。此后，与参考图像相关联的其他信息可以容易地覆盖在传感器图像上或以其他方式与传感器图像相关联。

7. 发明授权

US07242460B2 Method and apparatus for automatic registration and visualization of occluded targets using ladar data 有权
标题翻译：使用拉达数据自动注册和闭塞目标可视化的方法和装置
公开(公告)号：US07242460B2
公开(公告)日：2007-07-10
申请号：US10825946
申请日：2004-04-16
申请人： Stephen Charles Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith J. Hanna
发明人： Stephen Charles Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith J. Hanna
IPC分类号： G01C3/08
CPC分类号： G06T5/20 , G01S17/89 , G06K9/3241 , G06T5/002 , G06T7/30 , G06T7/33 , G06T2200/04 , G06T2207/10028 , G06T2207/20016 , G06T2207/30212 , G06T2207/30236
摘要： A method and apparatus for high-resolution 3D imaging ladar system which can penetrate foliage and camouflage to sample fragments of concealed surfaces of interest is disclosed. Samples collected while the ladar moves can be integrated into a coherent object shape. In one embodiment, a system and method for automatic data-driven registration of ladar frames, comprises a coarse search stage, a pairwise fine registration stage using an iterated closest points algorithm, and a multi-view registration strategy. After alignment and aggregation, it is often difficult for human observers to find, assess and recognize objects from a point cloud display. Basic display manipulations, surface fitting techniques, and clutter suppression to enhance visual exploitation of 3D imaging ladar data may be utilized.
摘要翻译：公开了一种用于高分辨率3D成像系统的方法和装置，其可以穿透叶子并伪装成对所关注的隐藏表面的碎片进行采样。收集的样本可以集成到一个连贯的物体形状。在一个实施例中，用于自动数据驱动的装载帧的注册的系统和方法包括粗搜索阶段，使用迭代最近点算法的成对精细注册阶段和多视图注册策略。对齐和聚合后，人类观察者往往难以从点云显示中发现，评估和识别物体。可以利用基本的显示操作，表面拟合技术和杂波抑制来增强3D成像数据的视觉利用。

8. 发明授权

US08884955B1 Surface simplification based on offset tiles 有权
标题翻译：基于偏移瓦的表面简化
公开(公告)号：US08884955B1
公开(公告)日：2014-11-11
申请号：US13464612
申请日：2012-05-04
申请人： Stephen Charles Hsu
发明人： Stephen Charles Hsu
IPC分类号： G06T15/40
CPC分类号： G06T17/205
摘要： An exemplary method for simplifying the geometry of a three-dimensional mesh includes dividing a first three-dimensional mesh into a first plurality of tiles along initial boundary lines. The method also includes for at least one tile of the first plurality of tiles, reducing the vertices toward a center of the tile while maintaining vertices along a perimeter of the tile, and assembling the first plurality of tiles to determine a second three-dimensional mesh. The method also includes dividing the second three-dimensional mesh into a second plurality of tiles along boundary lines offset from the initial boundary lines. The method further includes for at least one tile of the second plurality of tiles, reducing the vertices toward a center of the tile while maintaining vertices along a perimeter of the tile, and assembling the second plurality of tiles to determine a simplified three-dimensional mesh.
摘要翻译：用于简化三维网格的几何形状的示例性方法包括将第一三维网格划分成沿着初始边界线的第一多个瓦片。所述方法还包括：对于所述第一多个瓦片中的至少一个瓦片，朝向所述瓦片的中心减小所述顶点，同时沿着所述瓦片的周边保持顶点，以及组装所述第一多个瓦片以确定第二三维网格。该方法还包括沿着与初始边界线偏移的边界线将第二三维网格划分成第二多个瓦片。所述方法还包括：对于所述第二多个瓦片中的至少一个瓦片，朝着所述瓦片的中心减小所述顶点，同时沿着所述瓦片的周边保持顶点，以及组装所述第二多个瓦片以确定简化的三维网格。

9. 发明授权

US5742710A Computationally-efficient method for estimating image motion 失效
标题翻译：用于估计图像运动的计算效率方法
公开(公告)号：US5742710A
公开(公告)日：1998-04-21
申请号：US500558
申请日：1995-07-11
申请人： Stephen Charles Hsu , Padmanabhan Anandan
发明人： Stephen Charles Hsu , Padmanabhan Anandan
IPC分类号： G06T7/20 , H04N7/26 , G06K9/36
CPC分类号： G06T7/2026 , H04N19/53 , G06T2207/10016
摘要： A block-matching method for generating motion vectors performs block matching on successively higher resolution images by refining motion vectors determined in a lower resolution image. At respective higher resolution images, search areas of limited search range are defined via a motion vector associated with corresponding image areas in the immediately lower resolution search. For at least one level of image resolution, the search blocks are overlapped to provide a plurality of search areas of limited search range for performing block matching searches for each block in the next higher resolution level.
摘要翻译：用于产生运动矢量的块匹配方法通过细化在较低分辨率图像中确定的运动矢量来对连续更高分辨率图像执行块匹配。在各自的较高分辨率图像中，通过与紧接着较低分辨率搜索中的对应图像区域相关联的运动矢量来定义搜索范围有限的搜索区域。对于至少一个级别的图像分辨率，搜索块被重叠以提供有限搜索范围的多个搜索区域，用于对下一较高分辨率级别中的每个块执行块匹配搜索。

10. 发明授权

US09224233B2 Blending 3D model textures by image projection 有权
标题翻译：通过图像投影混合3D模型纹理
公开(公告)号：US09224233B2
公开(公告)日：2015-12-29
申请号：US13479952
申请日：2012-05-24
申请人： Stephen Charles Hsu
发明人： Stephen Charles Hsu
IPC分类号： G09G5/14 , G06T17/20 , G06T19/20 , G06T15/04 , G06T11/00
CPC分类号： G06T15/04 , G06T11/001 , G06T17/20 , G06T19/20 , G09G2340/10 , G09G2340/12
摘要： An example method and system for blending textures of a composite image formed by a plurality of source images mapped onto a three dimensional model are presented. The composite image is projected to obtain an unblended projected image having textures. The textures are blended to obtain a blended projected image. Both the unblended and the blended projected images are backprojected onto the three dimensional model. A difference is determined between a pixel of the backprojected, blended image and a corresponding pixel of the backprojected, unblended image. The determined difference is then applied to a further corresponding pixel of the composite image to obtain a modified composite image representing a blending of the plurality of source images in the composite image.
摘要翻译：提出了一种用于混合由映射到三维模型上的多个源图像形成的合成图像的纹理的示例性方法和系统。投影合成图像以获得具有纹理的未共享投影图像。混合纹理以获得混合的投影图像。未混合和混合的投影图像都被反投影到三维模型上。在反投影的混合图像的像素和反投影的未混合图像的对应像素之间确定差异。然后将所确定的差应用于合成图像的另一相应像素，以获得表示合成图像中的多个源图像的混合的修改的合成图像。

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