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11. 发明授权

US08761439B1 Method and apparatus for generating three-dimensional pose using monocular visual sensor and inertial measurement unit 有权
标题翻译：使用单目视觉传感器和惯性测量单元产生三维姿势的方法和装置
公开(公告)号：US08761439B1
公开(公告)日：2014-06-24
申请号：US13217014
申请日：2011-08-24
申请人： Rakesh Kumar , Supun Samarasekera , Taragay Oskiper
发明人： Rakesh Kumar , Supun Samarasekera , Taragay Oskiper
IPC分类号： G06K9/00
CPC分类号： G06T7/73
摘要： An apparatus for providing three-dimensional pose comprising monocular visual sensors for providing images of an environment surrounding the apparatus, an inertial measurement unit (IMU) for providing gyroscope, acceleration and velocity information, collectively IMU information, a feature tracking module for generating feature tracking information for the images, and an error-state filter, coupled to the feature track module, the IMU and the one or more visual sensors, for correcting IMU information and producing a pose estimation based on at least one error-state model chosen according to the sensed images, the IMU information and the feature tracking information.
摘要翻译：一种用于提供三维姿势的装置，包括用于提供围绕设备的环境的图像的单目视觉传感器，用于提供陀螺仪的惯性测量单元（IMU），集体IMU信息的加速度和速度信息，用于产生特征跟踪的特征跟踪模块用于图像的信息以及耦合到特征轨道模块，IMU和一个或多个视觉传感器的误差状态滤波器，用于校正IMU信息，并且基于至少一个根据以下的选择的错误状态模型产生姿态估计：感测图像，IMU信息和特征跟踪信息。

12. 发明授权

US08340349B2 Moving target detection in the presence of parallax 有权
标题翻译：在存在视差的情况下移动目标检测
公开(公告)号：US08340349B2
公开(公告)日：2012-12-25
申请号：US11763559
申请日：2007-06-15
申请人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Russell Bergen , Rakesh Kumar , Feng Han
发明人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Russell Bergen , Rakesh Kumar , Feng Han
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , G06K9/209 , G06T7/285 , G06T2207/10021 , G06T2207/30212 , G06T2207/30252
摘要： A method for detecting a moving target is disclosed that receives a plurality of images from at least one camera; receives a measurement of scale from one of a measurement device and a second camera; calculates the pose of the at least one camera over time based on the plurality of images and the measurement of scale; selects a reference image and an inspection image from the plurality of images of the at least one camera; and detects a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displays any detected moving target on a display. The measurement of scale can derived from a second camera or, for example, a wheel odometer. The method can also detect moving targets by combining the above epipolar method with a method based on changes in depth between the inspection image and the reference image and based on changes in flow between the inspection image and the reference image.
摘要翻译：公开了一种用于检测移动目标的方法，其从至少一个相机接收多个图像; 从测量装置和第二相机中的一个接收刻度的测量; 基于多个图像和尺度的测量来计算随时间的至少一个相机的姿态; 从所述至少一个照相机的多个图像中选择参考图像和检查图像; 并且基于所述参考图像和所述检查图像中的对应部分相对于所述参考图像和所述检查图像共同的核极方向的位置的取向，从所述参考图像和所述检查图像中检测移动目标; 并在显示器上显示任何检测到的移动目标。刻度的测量可以从第二相机或例如车轮里程表得到。该方法还可以通过将上述对极方法与基于检查图像和参考图像之间的深度变化的方法并基于检查图像与参考图像之间的流动变化组合来检测移动目标。

13. 发明申请

US20120206596A1 UNIFIED FRAMEWORK FOR PRECISE VISION-AIDED NAVIGATION 审中-公开
标题翻译：用于精准视觉辅助导航的统一框架
公开(公告)号：US20120206596A1
公开(公告)日：2012-08-16
申请号：US13451037
申请日：2012-04-19
申请人： SUPUN SAMARASEKERA , RAKESH KUMAR , TARAGAY OSKIPER , ZHIWEI ZHU , OLEG NARODITSKY , HARPREET SAWHNEY
发明人： SUPUN SAMARASEKERA , RAKESH KUMAR , TARAGAY OSKIPER , ZHIWEI ZHU , OLEG NARODITSKY , HARPREET SAWHNEY
IPC分类号： H04N7/18
CPC分类号： G06K9/00791 , B60R1/00 , G01C21/005 , G01C21/165 , G06K9/3216 , G06K9/4642 , G06K9/52 , G06K9/6215 , G06T7/74 , H04N13/239 , H04N2013/0081
摘要： A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
摘要翻译：一种用于使用由多个摄像机捕获的视频信息有效地定位目标场景中的感兴趣对象的系统和方法。该系统和方法提供多摄像机视觉测距，其中由多摄像机配置中的所有摄像机为每个摄像机生成姿态估计。此外，系统和方法可以使用多摄像机配置中的任何摄像机来定位和识别目标场景中的突出地标，并将识别的地标与先前识别的地标的数据库进行比较。另外，该系统和方法提供了基于视频的姿势估计与由一个或多个二次测量传感器捕获的位置测量数据的集成，例如惯性测量单元（IMU）和全球定位系统（GPS）单元。

14. 发明申请

US20100202657A1 SYSTEM AND METHOD FOR OBJECT DETECTION FROM A MOVING PLATFORM 有权
标题翻译：用于移动平台对象检测的系统和方法
公开(公告)号：US20100202657A1
公开(公告)日：2010-08-12
申请号：US12604298
申请日：2009-10-22
申请人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
发明人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
IPC分类号： G06K9/48 , G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： The present invention relates to a system and method for detecting one or more targets belonging to a first class (e.g., moving and/or stationary people), from a moving platform in a 3D-rich environment. The framework described here is implemented using a number of monocular or stereo cameras distributed around the vehicle to provide 360 degrees coverage. Furthermore, the framework described here utilizes numerous filters to reduce the number of false positive identifications of the targets.
摘要翻译：本发明涉及一种用于在富3D环境中从移动平台检测属于第一类（例如移动和/或固定人物）的一个或多个目标的系统和方法。这里描述的框架使用分布在车辆周围的多个单目或立体摄像机来实现，以提供360度覆盖。此外，这里描述的框架利用许多过滤器来减少目标的假阳性识别的数量。

15. 发明申请

US20070070069A1 System and method for enhanced situation awareness and visualization of environments 审中-公开
标题翻译：增强环境意识和可视化的系统和方法
公开(公告)号：US20070070069A1
公开(公告)日：2007-03-29
申请号：US11527987
申请日：2006-09-26
申请人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Harpreet Sawhney , Manoj Aggarwal
发明人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Harpreet Sawhney , Manoj Aggarwal
IPC分类号： G06T15/20
CPC分类号： G06T17/05 , G06F3/011 , G06F16/748
摘要： The present invention provides a system and method for processing real-time rapid capture, annotation and creation of an annotated hyper-video map for environments. The method includes processing video, audio and GPS data to create the hyper-video map which is further enhanced with textual, audio and hyperlink annotations that will enable the user to see, hear, and operate in an environment with cognitive awareness. Thus, this annotated hyper-video map provides a seamlessly navigable, situational awareness and indexable high-fidelity immersive visualization of the environment.
摘要翻译：本发明提供了一种用于处理用于环境的带注释的超视频映射的实时快速捕获，注释和创建的系统和方法。该方法包括处理视频，音频和GPS数据以创建超视频地图，其进一步增强了文本，音频和超链接注释，这将使用户能够在具有认知意识的环境中看到，听到和操作。因此，该注释的超视频地图提供了无缝导航的情境感知和可索引的高保真度的环境可视化。

16. 发明申请

US20070064107A1 Method and apparatus for performing coordinated multi-PTZ camera tracking 有权
标题翻译：执行协调的多PTZ摄像机跟踪的方法和装置
公开(公告)号：US20070064107A1
公开(公告)日：2007-03-22
申请号：US11524134
申请日：2006-09-20
申请人： Manoj Aggarwal , Deepak Sethi , Supun Samarasekera , Vince Paragano
发明人： Manoj Aggarwal , Deepak Sethi , Supun Samarasekera , Vince Paragano
IPC分类号： H04N7/18
CPC分类号： H04N7/181 , G01S3/7864
摘要： A system for tracking at least one object, comprising: a plurality of communicatively connected visual sensing units configured to capture visual data related to the at least one object; and a manager component communicatively connected to the plurality of visual sensing units, where the manager component is configured to assign one visual sensing unit to act as a visual sensing unit in a master mode and at least one visual sensing unit to act as a visual sensing unit in a slave mode, transmit at least one control signal to the plurality of visual sensing units, and receive the visual data from the plurality of visual sensing units.
摘要翻译：一种用于跟踪至少一个对象的系统，包括：多个通信连接的视觉感测单元，被配置为捕获与所述至少一个对象有关的视觉数据; 以及管理器组件，其通信地连接到所述多个视觉感测单元，其中所述管理器组件被配置为分配一个视觉感测单元以用作主模式中的视觉感测单元，以及至少一个视觉感测单元用作视觉感测单元处于从模式，将至少一个控制信号发送到多个视觉感测单元，并从多个视觉感测单元接收视觉数据。

17. 发明申请

US20050243323A1 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：US20050243323A1
公开(公告)日：2005-11-03
申请号：US10825946
申请日：2004-04-16
申请人： Stephen Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith Hanna
发明人： Stephen Hsu , Supun Samarasekera , Rakesh Kumar , Wen-Yi Zhao , Keith Hanna
IPC分类号： G01B9/02 , G01B11/14 , G01C3/08 , G01J3/45 , G06T20060101
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。

18. 发明授权

US5901196A Reduction of hitlist size in spiral cone beam CT by use of local radon origins 失效
标题翻译：通过使用局部氡气起源减少螺旋锥束CT中的击打表大小
公开(公告)号：US5901196A
公开(公告)日：1999-05-04
申请号：US940489
申请日：1997-09-30
申请人： Frank Sauer , Supun Samarasekera , Kwok Tam
发明人： Frank Sauer , Supun Samarasekera , Kwok Tam
IPC分类号： A61B6/03 , G01N23/04 , G06T1/00
CPC分类号： G01N23/046 , A61B6/027 , G01N2223/419 , Y10S378/901
摘要： A method and apparatus for reconstructing an image of an object using a three dimensional (3D) computerized tomographic (CT) imager having a cone beam radiation source and detector arrangement for acquiring measurement data. The source and detector arrangement is operated at a plurality of source positions along a spiral scan path so as to acquire a corresponding plurality of sets of measurement data representative of radiation attenuation caused by the object. Image reconstruction processing information required for processing of the acquired measurement data in a Radon space partitioned by plurality of vertically oriented coaxial .phi.-planes for reconstructing the image, is pre-calculated and stored in a hitlist. The stored information is pre-calculated on less that all of the .phi.-planes, but due to a symmetry that is induced in the reconstruction processing, the stored information can be used for calculating Radon data for all of the .phi.-planes that partition the Radon space. The size of the hitlist is thus reduced by a factor equal to the number of .phi.-planes for which the stored information is re-used, e.g., 360 for 1/2 degree .phi.-plane spacing and storage of reconstruction processing information for a single .phi.-plane.
摘要翻译：一种使用具有用于获取测量数据的锥形束辐射源和检测器装置的三维（3D）计算机断层摄影（CT）成像器来重建物体的图像的方法和装置。源和检测器布置在沿着螺旋扫描路径的多个源位置处操作，以便获取表示由对象引起的辐射衰减的相应多组测量数据。在由用于重构图像的多个垂直取向的同轴电极划分的氡空间中处理所获取的测量数据所需的图像重建处理信息被预先计算并存储在命中列表中。所存储的信息预先计算得比所有的phi-plane少，但是由于在重构处理中引起的对称性，所存储的信息可以用于计算所有分区的phi-plane的Radon数据氡空间。因此，命中列表的大小被减少了等于重新使用所存储的信息的电路数量的因子，例如，对于+ E，360/1 + 2 + EE度phi平面间隔和单个飞机的重建处理信息。

19. 发明授权

US08289390B2 Method and apparatus for total situational awareness and monitoring 有权
标题翻译：全面情境意识和监测的方法和装置
公开(公告)号：US08289390B2
公开(公告)日：2012-10-16
申请号：US11192486
申请日：2005-07-28
申请人： Manoj Aggarwal , Keith Hanna , Harpreet Sawhney , Vincent Paragano , Rakesh Kumar , Supun Samarasekera , Aydin Arpa , Thomas Germano , Tao Zhao , David Kalokitis , David R. Patterson
发明人： Manoj Aggarwal , Keith Hanna , Harpreet Sawhney , Vincent Paragano , Rakesh Kumar , Supun Samarasekera , Aydin Arpa , Thomas Germano , Tao Zhao , David Kalokitis , David R. Patterson
IPC分类号： H04N7/18
CPC分类号： G01S3/7864 , G06K9/00771 , G06K9/32 , G06K9/6289 , G06T7/246 , G06T7/285 , G06T7/292 , G06T7/70 , G06T2207/30232 , G06T2207/30241 , G08B13/19608 , G08B13/19641 , G08B13/19645 , G08B13/19682 , H04N5/2224 , H04N5/76 , H04N13/204 , H04N13/239 , H04N13/243 , H04N2013/0081 , H04N2013/0085
摘要： A sentient system combines detection, tracking, and immersive visualization of a cluttered and crowded environment, such as an office building, terminal, or other enclosed site using a network of stereo cameras. A guard monitors the site using a live 3D model, which is updated from different directions using the multiple video streams. As a person moves within the view of a camera, the system detects its motion and tracks the person's path, it hands off the track to the next camera when the person goes out of that camera's view. Multiple people can be tracked simultaneously both within and across cameras, with each track shown on a map display. The track system includes a track map browser that displays the tracks of all moving objects as well as a history of recent tracks and a video flashlight viewer that displays live immersive video of any person that is being tracked.
摘要翻译：有声系统使用立体相机网络将杂乱无章的环境（例如办公楼，终端或其他封闭场所）的检测，跟踪和沉浸式可视化相结合。守卫使用实时3D模型监视站点，该模型使用多个视频流从不同方向更新。当一个人在相机的视野内移动时，系统会检测到其运动并跟踪人的路径，当人离开该相机视图时，它将该轨迹移离下一个相机。可以在摄像机内和摄像机上同时跟踪多个人，每个轨道显示在地图显示上。轨道系统包括轨迹映射浏览器，其显示所有运动对象的轨迹以及最近轨道的历史以及显示正在被跟踪的任何人的现场沉浸式视频的视频手电筒观看者。

20. 发明授权

US08174568B2 Unified framework for precise vision-aided navigation 有权
标题翻译：精准视觉辅助导航的统一框架
公开(公告)号：US08174568B2
公开(公告)日：2012-05-08
申请号：US11949433
申请日：2007-12-03
申请人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
发明人： Supun Samarasekera , Rakesh Kumar , Taragay Oskiper , Zhiwei Zhu , Oleg Naroditsky , Harpreet Sawhney
IPC分类号： H04N7/00 , H04N7/18 , G01C22/00 , G01C21/30
CPC分类号： G06K9/00791 , B60R1/00 , G01C21/005 , G01C21/165 , G06K9/3216 , G06K9/4642 , G06K9/52 , G06K9/6215 , G06T7/74 , H04N13/239 , H04N2013/0081
摘要： A system and method for efficiently locating in 3D an object of interest in a target scene using video information captured by a plurality of cameras. The system and method provide for multi-camera visual odometry wherein pose estimates are generated for each camera by all of the cameras in the multi-camera configuration. Furthermore, the system and method can locate and identify salient landmarks in the target scene using any of the cameras in the multi-camera configuration and compare the identified landmark against a database of previously identified landmarks. In addition, the system and method provide for the integration of video-based pose estimations with position measurement data captured by one or more secondary measurement sensors, such as, for example, Inertial Measurement Units (IMUs) and Global Positioning System (GPS) units.
摘要翻译：一种用于使用由多个摄像机捕获的视频信息有效地定位目标场景中的感兴趣对象的系统和方法。该系统和方法提供多摄像机视觉测距，其中由多摄像机配置中的所有摄像机为每个摄像机生成姿态估计。此外，系统和方法可以使用多摄像机配置中的任何摄像机来定位和识别目标场景中的突出地标，并将识别的地标与先前识别的地标的数据库进行比较。另外，该系统和方法提供了基于视频的姿势估计与由一个或多个二次测量传感器捕获的位置测量数据的集成，例如惯性测量单元（IMU）和全球定位系统（GPS）单元。

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