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11. 发明申请

US20150154795A1 CREATING A MESH FROM A SPARSE STRUCTURE-FROM-MOTION POINT CLOUD USING CO-VISIBILITY OF POINTS 有权
标题翻译：使用点的可视性创建一个从运动的运动点云组成的泥沙
公开(公告)号：US20150154795A1
公开(公告)日：2015-06-04
申请号：US13478652
申请日：2012-05-23
申请人： Abhijit Ogale
发明人： Abhijit Ogale
IPC分类号： G06T17/05 , G06T17/00 , G06T7/00 , G06T19/20 , G06T7/20
CPC分类号： G06T7/20 , G06T7/593 , G06T17/00 , G06T17/05 , G06T17/10 , G06T17/20 , G06T19/20 , G06T2200/04 , G06T2200/08 , G06T2207/10012
摘要： A method for creating a three-dimensional mesh model of a structure includes accessing a set of three-dimensional points associated with a set of images of the structure. For each three-dimensional point in the set of three-dimensional points, the method determines a reference image, identifies a subset of images from the set of images of the structure taken within a distance from the reference image, determines a subset of three-dimensional points seen by the subset of images, filters the subset of three-dimensional points to retain only a set of co-visible points that lie in a visibility cone of the reference image, and selects a normal using the set of co-visible points. The three-dimensional mesh model of the structure is computed using the selected normal, and the model may be provided to a second computing device.
摘要翻译：用于创建结构的三维网格模型的方法包括访问与该结构的一组图像相关联的一组三维点。对于三维点集合中的每个三维点，该方法确定参考图像，从距离参考图像的一定距离内拍摄的结构图像集合中识别图像子集，确定三维点的子集，由图像子集看到的三维点，对三维点的子集进行滤波，以仅保留位于参考图像的可见度锥中的一组共同可见点，并使用该组可见点选择正常。使用所选择的法线来计算结构的三维网格模型，并且可以将模型提供给第二计算设备。

12. 发明申请

US20140063232A1 Construction Zone Sign Detection 有权
标题翻译：施工区域标志检测
公开(公告)号：US20140063232A1
公开(公告)日：2014-03-06
申请号：US13603615
申请日：2012-09-05
申请人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
发明人： Nathaniel Fairfield , David Ian Ferguson , Abhijit Ogale , Matthew Wang , Yangli Hector Yee
IPC分类号： G06K9/78 , H04N7/18
CPC分类号： G06K9/78 , B60T1/10 , B60T7/12 , B60T7/18 , B60T7/22 , B60T2201/08 , B60W30/10 , B60W30/143 , B60W40/06 , B60W2420/42 , B60W2550/14 , B60W2550/22 , B62D6/00 , B62D15/025 , B62D15/0255 , B62D15/0265 , G01S7/4802 , G01S7/4808 , G01S13/865 , G01S13/867 , G01S13/931 , G01S17/89 , G01S17/936 , G01S2013/9353 , G01S2013/936 , G05D1/0088 , G05D1/0214 , G05D1/024 , G05D1/0246 , G05D1/0257 , G05D1/027 , G05D1/0278 , G05D2201/0213 , G06K9/00798 , G06K9/00805 , G06K9/00818 , H04N7/18
摘要： Methods and systems for detection of a construction zone sign are described. A computing device, configured to control the vehicle, may be configured to receive, from an image-capture device coupled to the computing device, images of a vicinity of the road on which the vehicle is travelling. Also, the computing device may be configured to determine image portions in the images that may depict sides of the road at a predetermined height range. Further, the computing device may be configured to detect a construction zone sign in the image portions, and determine a type of the construction zone sign. Accordingly, the computing device may be configured to modify a control strategy associated with a driving behavior of the vehicle; and control the vehicle based on the modified control strategy.
摘要翻译：描述了用于检测结构区域符号的方法和系统。被配置为控制车辆的计算设备可以被配置为从耦合到计算设备的图像捕获设备接收车辆行驶的道路附近的图像。此外，计算设备可以被配置为确定可以在预定高度范围处描绘道路的侧面的图像中的图像部分。此外，计算装置可以被配置为检测图像部分中的构造区域标记，并且确定构造区域符号的类型。因此，计算设备可以被配置为修改与车辆的驾驶行为相关联的控制策略; 并根据修改的控制策略控制车辆。

13. 发明授权

US08160391B1 Panoramic image fill 有权
标题翻译：全景图像填充
公开(公告)号：US08160391B1
公开(公告)日：2012-04-17
申请号：US12133240
申请日：2008-06-04
申请人： Jiajun Zhu , Abhijit Ogale
发明人： Jiajun Zhu , Abhijit Ogale
IPC分类号： G06K9/36
CPC分类号： G06T5/005 , G06T3/4038
摘要： Systems and methods for filling panoramic images having valid and invalid pixel regions are provided. An invalid region is identified in an initial panoramic image. Pixel data of invalid pixels in the initial panoramic image are replaced with pixel data of pixels from a valid region in at least one nearby panoramic image to obtain a valid fill region.
摘要翻译：提供了用于填充具有有效和无效像素区域的全景图像的系统和方法。在初始全景图像中识别无效区域。初始全景图像中的无效像素的像素数据被替换为来自至少一个附近全景图像中的有效区域的像素的像素数据，以获得有效的填充区域。

14. 发明申请

US20110242271A1 Synthesizing Panoramic Three-Dimensional Images 审中-公开
标题翻译：合成全景三维图像
公开(公告)号：US20110242271A1
公开(公告)日：2011-10-06
申请号：US12752007
申请日：2010-03-31
申请人： Abhijit Ogale , Stephane Lafon
发明人： Abhijit Ogale , Stephane Lafon
IPC分类号： H04N7/00 , G06T15/00
CPC分类号： H04N13/139 , H04N13/111 , H04N2213/003
摘要： A method for synthesizing three-dimensional images is provided. A displacement map based on distance data, is generated for a two-dimensional image. The distance data represents a distance between an image object and a position. A shifted version of the two-dimensional image is then produced based on the displacement map. The two-dimensional image and the shifted version of the two-dimensional image are then combined to produce a three-dimensional image. A system is also presented.
摘要翻译：提供了一种用于合成三维图像的方法。为二维图像生成基于距离数据的位移图。距离数据表示图像对象和位置之间的距离。然后基于位移图生成二维图像的偏移版本。然后组合二维图像和二维图像的偏移版本以产生三维图像。还提出了一个系统。

15. 发明授权

US08855849B1 Object detection based on known structures of an environment of an autonomous vehicle 有权
标题翻译：基于自主车辆的环境的已知结构的对象检测
公开(公告)号：US08855849B1
公开(公告)日：2014-10-07
申请号：US13775554
申请日：2013-02-25
申请人： David I. Ferguson , Abhijit Ogale
发明人： David I. Ferguson , Abhijit Ogale
IPC分类号： G05D1/00
CPC分类号： G05D1/00 , G05D1/0214 , G05D1/0246 , G05D2201/0213 , G06K9/00805
摘要： An autonomous vehicle may be configured to detect objects based on known structures of an environment. The vehicle may be configured to obtain image data from a sensor and be configured to operate in an autonomous mode. The image data may include data indicative of a known structure in the environment. The vehicle may include a computer system. The computer system may determine, based on a first portion of the image data, information indicative of an appearance of the known structure. The computer system may determine, based on a second portion of the image data, information indicative of an appearance of an unknown object in the environment. The computer system may also compare the information indicative of the appearance of the known structure with the information indicative of the appearance of the unknown object and provide instructions to control the vehicle in the autonomous mode based on the comparison.
摘要翻译：自主车辆可以被配置为基于环境的已知结构来检测对象。车辆可以被配置为从传感器获得图像数据并且被配置为以自主模式操作。图像数据可以包括指示环境中的已知结构的数据。车辆可以包括计算机系统。计算机系统可以基于图像数据的第一部分来确定指示已知结构的外观的信息。计算机系统可以基于图像数据的第二部分来确定指示环境中的未知对象的外观的信息。计算机系统还可以将表示已知结构的外观的信息与指示未知对象的外观的信息进行比较，并且基于比较提供以自主模式控制车辆的指令。

16. 发明授权

US08611696B1 Panoramic image fill 有权
标题翻译：全景图像填充
公开(公告)号：US08611696B1
公开(公告)日：2013-12-17
申请号：US13441588
申请日：2012-04-06
申请人： Jiajun Zhu , Abhijit Ogale
发明人： Jiajun Zhu , Abhijit Ogale
IPC分类号： G06K9/36
CPC分类号： G06T5/005 , G06T3/4038
摘要： Systems and methods for filling panoramic images having valid and invalid pixel regions are provided. An invalid region is identified in an initial panoramic image. Pixel data of invalid pixels in the initial panoramic image are replaced with pixel data of pixels from a valid region in at least one nearby panoramic image to obtain a valid fill region.
摘要翻译：提供了用于填充具有有效和无效像素区域的全景图像的系统和方法。在初始全景图像中识别无效区域。初始全景图像中的无效像素的像素数据被替换为来自至少一个附近全景图像中的有效区域的像素的像素数据，以获得有效的填充区域。

17. 发明授权

US08209121B1 Registration of location data to street maps using hidden markov models, and application thereof 有权
标题翻译：使用隐马尔可夫模型将位置数据注册到街道地图及其应用
公开(公告)号：US08209121B1
公开(公告)日：2012-06-26
申请号：US11870265
申请日：2007-10-10
申请人： Abhijit Ogale
发明人： Abhijit Ogale
IPC分类号： G01C21/12
CPC分类号： G01C21/30
摘要： The present invention provides systems and methods for improving the accuracy of location data, such as GPS data. In an embodiment, the present invention adjusts coordinates by receiving a sequence of coordinates corresponding to a plurality of locations; identifying in a map database, for each location, polyline features within a distance from the coordinates for the location; calculating emission probabilities for the polyline features; calculating transition probabilities for the polyline feature; and adjusting the coordinates for the plurality of locations so that the adjusted coordinates correspond to polyline features belonging to a sequence of polyline features selected, based on the emission probabilities and the transition probabilities, to be the most likely sequence of polyline features that correspond to the sequence of coordinates. Besides improving accuracy, embodiments of this invention enable novel geospatial applications and user interfaces by adding a large amount of meta-information to a location.
摘要翻译：本发明提供用于提高诸如GPS数据的位置数据的精度的系统和方法。在一个实施例中，本发明通过接收对应于多个位置的坐标序列来调整坐标; 在地图数据库中识别每个位置，距离该位置的坐标一定距离内的折线特征; 计算折线特征的排放概率; 计算折线特征的转移概率; 以及调整所述多个位置的坐标，使得所调整的坐标对应于属于所选择的折线特征序列的折线特征，基于所述发射概率和所述转变概率，所述多线线要素是对应于坐标序列除了提高精度之外，本发明的实施例通过向一个位置添加大量元信息来实现新颖的地理空间应用和用户界面。

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