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11. 发明授权

US07711182B2 Method and system for sensing 3D shapes of objects with specular and hybrid specular-diffuse surfaces 有权
标题翻译：用于用镜面和混合镜面漫反射表面感测物体的3D形状的方法和系统
公开(公告)号：US07711182B2
公开(公告)日：2010-05-04
申请号：US11497962
申请日：2006-08-01
申请人： Paul A. Beardsley
发明人： Paul A. Beardsley
IPC分类号： G06K9/46
CPC分类号： G01B11/2527 , G06T7/521
摘要： Surface normals and other 3D shape descriptors are determined for a specular or hybrid specular-diffuse object. A camera records an image of a smoothly spatially-varying pattern being reflected in the surface of the object, with the pattern placed at an initial position. The camera then records multiple images of the pattern undergoing a sequence of subsequent displacements to a final position distinct from the initial position. For a pixel in the images, the pattern displacement that corresponds to the minimum difference between the pixel value in the initial image and any of the final images is determined. The incident ray that strikes the surface of the object at the point being imaged by the pixel is then determined using the determined pattern displacement. The surface normal at that same surface point is then determined using the determined incident ray. Other 3D shape descriptors are determined from the surface normals of the object, such as principal curvatures, or the principal axes of a parametric surface, or the 3D shape, or the object pose.
摘要翻译：为镜面或混合镜面漫反射物体确定表面法线和其他3D形状描述符。相机记录在物体表面上反射的平滑空间变化图案的图像，其中图案置于初始位置。相机然后将经历一系列后续位移的图案的多个图像记录到与初始位置不同的最终位置。对于图像中的像素，确定对应于初始图像中的像素值与任何最终图像之间的最小差异的图案位移。然后使用确定的图案位移来确定在由像素成像的点处撞击物体表面的入射光线。然后使用确定的入射光线确定该同一表面点处的表面法线。其他3D形状描述符是从对象的表面法线确定的，例如主曲率，或参数曲面的主轴，或3D形状，或物体姿态。

12. 发明申请

US20080030744A1 Method and system for sensing 3D shapes of objects with specular and hybrid specular-diffuse surfaces 有权
标题翻译：用于用镜面和混合镜面漫反射表面感测物体的3D形状的方法和系统
公开(公告)号：US20080030744A1
公开(公告)日：2008-02-07
申请号：US11497962
申请日：2006-08-01
申请人： Paul A. Beardsley
发明人： Paul A. Beardsley
IPC分类号： G01B11/24
CPC分类号： G01B11/2527 , G06T7/521
摘要： Surface normals and other 3D shape descriptors are determined for a specular or hybrid specular-diffuse object. A camera records an image of a smoothly spatially-varying pattern being reflected in the surface of the object, with the pattern placed at an initial position. The camera then records multiple images of the pattern undergoing a sequence of subsequent displacements to a final position distinct from the initial position. For a pixel in the images, the pattern displacement that corresponds to the minimum difference between the pixel value in the initial image and any of the final images is determined. The incident ray that strikes the surface of the object at the point being imaged by the pixel is then determined using the determined pattern displacement. The surface normal at that same surface point is then determined using the determined incident ray. Other 3D shape descriptors are determined from the surface normals of the object, such as principal curvatures, or the principal axes of a parametric surface, or the 3D shape, or the object pose.
摘要翻译：为镜面或混合镜面漫反射物体确定表面法线和其他3D形状描述符。相机记录在物体表面上反射的平滑空间变化图案的图像，其中图案置于初始位置。相机然后将经历一系列后续位移的图案的多个图像记录到与初始位置不同的最终位置。对于图像中的像素，确定对应于初始图像中的像素值与任何最终图像之间的最小差异的图案位移。然后使用确定的图案位移来确定在由像素成像的点处撞击物体表面的入射光线。然后使用确定的入射光线确定该同一表面点处的表面法线。其他3D形状描述符是从对象的表面法线确定的，例如主曲率，或参数曲面的主轴，或3D形状，或物体姿态。

13. 发明授权

US07280685B2 Object segmentation from images acquired by handheld cameras 失效
标题翻译：由手持相机获取的图像的对象分割
公开(公告)号：US07280685B2
公开(公告)日：2007-10-09
申请号：US10294050
申请日：2002-11-14
申请人： Paul A. Beardsley
发明人： Paul A. Beardsley
IPC分类号： G06K9/00
CPC分类号： G06K9/342 , G06T7/187 , G06T7/564 , G06T7/579 , G06T2207/20132
摘要： A method determines a shape of an object in from an image. A visual hull larger than the object is constructed such that the object can be entirely contained within the visual hull. An image is acquired of the object by a camera. The visual hull is projected onto the image according to a position and pose of the camera.Seed pixels in the image are selected. The seed pixels are located on the projected visual hull, and a region is grown around each seed pixel. Each region includes neighboring pixels resembling the seed pixel. Then, the visual hull is reduced in size according to the grown regions to determine a two-dimensional shape of the object. When multiple images are used from different points of view, the three-dimensional shape can be determined.
摘要翻译：一种方法从图像中确定对象的形状。构造大于物体的视觉船体，使得物体可以完全包含在视觉船体内。通过相机获取对象的图像。根据相机的位置和姿势将视觉外壳投影到图像上。选择图像中的种子像素。种子像素位于投影的视觉船体上，并且在每个种子像素周围生长一个区域。每个区域包括类似于种子像素的相邻像素。然后，根据生长区域，视觉船体的尺寸减小以确定物体的二维形状。当从不同的角度使用多个图像时，可以确定三维形状。

14. 发明授权

US08721132B2 Flow sensing system and method 有权
标题翻译：流量传感系统及方法
公开(公告)号：US08721132B2
公开(公告)日：2014-05-13
申请号：US13287329
申请日：2011-11-02
申请人： Paul A. Beardsley , Martin M. Rufli , Pirmin Mattmann
发明人： Paul A. Beardsley , Martin M. Rufli , Pirmin Mattmann
IPC分类号： F21V15/00 , F21V19/02
CPC分类号： H05B37/0272 , H05B37/0227
摘要： A visual display is provided through the combined effect of many devices that individually illuminate in response to wind flow. The devices are distributed at different locations within a three-dimensional space, so as to provide an overall illumination effect throughout the space that visually indicates wind (air) or other fluid flowing through the space. Each device can include a housing, at least one light source, a sensor system, and a device controller. The sensor system can include any of various types of sensor subsystems, each having one or more sensors, but includes at least a flow sensor subsystem. The device controller is configured to activate the light source in response to the sensor system detecting a change in an environmentally-related input, such as air flow, sensed by the sensor system.
摘要翻译：通过响应于风流单独照亮的许多装置的组合效果提供视觉显示。这些装置分布在三维空间内的不同位置处，以便在整个空间中提供整体照明效果，其视觉上指示风（空气）或流过该空间的其它流体。每个设备可以包括壳体，至少一个光源，传感器系统和设备控制器。传感器系统可以包括各种类型的传感器子系统，每个传感器子系统具有一个或多个传感器，但至少包括一个流量传感器子系统。设备控制器被配置为响应于传感器系统检测由传感器系统感测到的环境相关输入（例如气流）的变化而激活光源。

15. 发明申请

US20130106312A1 FLOW SENSING SYSTEM AND METHOD 有权
标题翻译：流量传感系统及方法
公开(公告)号：US20130106312A1
公开(公告)日：2013-05-02
申请号：US13287329
申请日：2011-11-02
申请人： Paul A. Beardsley , Martin M. Rufli , Pirmin Mattmann
发明人： Paul A. Beardsley , Martin M. Rufli , Pirmin Mattmann
IPC分类号： H05B37/00
CPC分类号： H05B37/0272 , H05B37/0227
摘要： A visual display is provided through the combined effect of many devices that individually illuminate in response to wind flow. The devices are distributed at different locations within a three-dimensional space, so as to provide an overall illumination effect throughout the space that visually indicates wind (air) or other fluid flowing through the space. Each device can include a housing, at least one light source, a sensor system, and a device controller. The sensor system can include any of various types of sensor subsystems, each having one or more sensors, but includes at least a flow sensor subsystem. The device controller is configured to activate the light source in response to the sensor system detecting a change in an environmentally-related input, such as air flow, sensed by the sensor system.
摘要翻译：通过响应于风流单独照亮的许多装置的组合效果提供视觉显示。这些装置分布在三维空间内的不同位置处，以便在整个空间中提供整体照明效果，其视觉上指示风（空气）或流过该空间的其它流体。每个设备可以包括壳体，至少一个光源，传感器系统和设备控制器。传感器系统可以包括各种类型的传感器子系统，每个传感器子系统具有一个或多个传感器，但至少包括一个流量传感器子系统。设备控制器被配置为响应于传感器系统检测由传感器系统感测到的环境相关输入（例如气流）的变化而激活光源。

16. 发明授权

US08107721B2 Method and system for determining poses of semi-specular objects 有权
标题翻译：用于确定半镜面物体姿态的方法和系统
公开(公告)号：US08107721B2
公开(公告)日：2012-01-31
申请号：US12129386
申请日：2008-05-29
申请人： Paul A. Beardsley , Moritz Baecher
发明人： Paul A. Beardsley , Moritz Baecher
IPC分类号： G06K9/00
CPC分类号： G06T7/13 , G06T7/521 , G06T7/586 , G06T2207/10152
摘要： A camera acquires a set of coded images and a set of flash images of a semi-specular object. The coded images are acquired while scanning the object with a laser beam pattern, and the flash images are acquired while illuminating the object with a set of light sources at different locations near the camera, there being one flash image for each light source. 3D coordinates of points on the surface of the object are determined from the set of coded images, and 2D silhouettes of the object are determined from shadows cast in the set of flash images. Surface normals are obtained for the 3D points from photometric stereo on the set of flash images. The 3D coordinates, 2D silhouettes and surface normals are compared with a known 3D model of the object to determine the pose of the object.
摘要翻译：相机获取一组编码图像和一组半镜面对象的闪光图像。在用激光束图案扫描物体的同时获取编码图像，并且在相机附近的不同位置用一组光源照射物体时获取闪光图像，每个光源存在一个闪光图像。从编码图像的集合确定物体表面上的点的3D坐标，并且通过在该组闪光图像中投射的阴影来确定对象的2D轮廓。在闪光图像集上的光度立体声的3D点获得表面法线。将3D坐标，2D剪影和表面法线与对象的已知3D模型进行比较，以确定对象的姿态。

17. 发明申请

US20090297020A1 Method and system for determining poses of semi-specular objects 有权
标题翻译：用于确定半镜面物体姿态的方法和系统
公开(公告)号：US20090297020A1
公开(公告)日：2009-12-03
申请号：US12129386
申请日：2008-05-29
申请人： Paul A. Beardsley , Moritz Baecher
发明人： Paul A. Beardsley , Moritz Baecher
IPC分类号： G06K9/00
CPC分类号： G06T7/13 , G06T7/521 , G06T7/586 , G06T2207/10152
摘要： A camera acquires a set of coded images and a set of flash images of a semi-specular object. The coded images are acquired while scanning the object with a laser beam pattern, and the flash images are acquired while illuminating the object with a set of light sources at different locations near the camera, there being one flash image for each light source. 3D coordinates of points on the surface of the object are determined from the set of coded images, and 2D silhouettes of the object are determined from shadows cast in the set of flash images. Surface normals are obtained for the 3D points from photometric stereo on the set of flash images. The 3D coordinates, 2D silhouettes and surface normals are compared with a known 3D model of the object to determine the pose of the object.
摘要翻译：相机获取一组编码图像和一组半镜面对象的闪光图像。在用激光束图案扫描物体的同时获取编码图像，并且在相机附近的不同位置用一组光源照射物体时获取闪光图像，每个光源存在一个闪光图像。从编码图像的集合确定物体表面上的点的3D坐标，并且通过在该组闪光图像中投射的阴影来确定对象的2D轮廓。在闪光图像集上的光度立体声的3D点获得表面法线。将3D坐标，2D剪影和表面法线与对象的已知3D模型进行比较，以确定对象的姿态。

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