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31. 发明授权

US09031809B1 Method and apparatus for generating three-dimensional pose using multi-modal sensor fusion 有权
标题翻译：使用多模式传感器融合产生三维姿势的方法和装置
公开(公告)号：US09031809B1
公开(公告)日：2015-05-12
申请号：US13182987
申请日：2011-07-14
申请人： Rakesh Kumar , Supun Samarasekera , Han-Pang Chiu , Zhiwei Zhu , Taragay Oskiper , Lu Wang , Raia Hadsell
发明人： Rakesh Kumar , Supun Samarasekera , Han-Pang Chiu , Zhiwei Zhu , Taragay Oskiper , Lu Wang , Raia Hadsell
IPC分类号： G01C21/16 , G06T7/00 , G06F3/01 , G01C21/00 , G06K9/00 , G01S1/00
CPC分类号： G01C21/165 , G01C21/005 , G01S1/00 , G01S5/163 , G06F3/012 , G06F3/017 , G06F3/0304 , G06K9/00671 , G06T7/246 , G06T7/277 , G06T7/285 , G06T2207/10021 , G06T2207/30244
摘要： A method and apparatus for providing three-dimensional navigation for a node comprising an inertial measurement unit for providing gyroscope, acceleration and velocity information (collectively IMU information); a ranging unit for providing distance information relative to at least one reference node; at least one visual sensor for providing images of an environment surrounding the node; a preprocessor, coupled to the inertial measurement unit, the ranging unit and the plurality of visual sensors, for generating error states for the IMU information, the distance information and the images; and an error-state predictive filter, coupled to the preprocessor, for processing the error states to produce a three-dimensional pose of the node.
摘要翻译：一种用于为节点提供三维导航的方法和装置，包括用于提供陀螺仪，加速度和速度信息（统称IMU信息）的惯性测量单元; 测距单元，用于相对于至少一个参考节点提供距离信息; 至少一个视觉传感器，用于提供围绕该节点的环境的图像; 耦合到惯性测量单元，测距单元和多个视觉传感器的预处理器，用于产生IMU信息，距离信息和图像的误差状态; 以及耦合到所述预处理器的错误状态预测滤波器，用于处理所述错误状态以产生所述节点的三维姿态。

32. 发明授权

US08532863B2 Audio based robot control and navigation 有权
标题翻译：基于音频的机器人控制和导航
公开(公告)号：US08532863B2
公开(公告)日：2013-09-10
申请号：US12892048
申请日：2010-09-28
申请人： Raia Hadsell , Supun Samarasekera , Ajay Divakaran
发明人： Raia Hadsell , Supun Samarasekera , Ajay Divakaran
IPC分类号： G05D1/00
CPC分类号： G05D1/0246 , G05D1/0251
摘要： A computer implemented method for unattended detection of a current terrain to be traversed by a mobile device is disclosed. Visual input of the current terrain is received for a plurality of positions. Audio input corresponding to the current terrain is received for the plurality of positions. The video input is fused with the audio input using a classifier. The type of the current terrain is classified with the classifier. The classifier may also be employed to predict the type of terrain proximal to the current terrain. The classifier is constructed using an expectation-maximization (EM) method.
摘要翻译：公开了一种用于无人值守检测由移动设备穿过的当前地形的计算机实现的方法。针对多个位置接收当前地形的视觉输入。针对多个位置接收与当前地形相对应的音频输入。使用分类器将视频输入与音频输入进行融合。当前地形的类型与分类器分类。分类器也可以用于预测当前地形附近的地形类型。分类器使用期望最大化（EM）方法构建。

33. 发明授权

US07522186B2 Method and apparatus for providing immersive surveillance 失效
标题翻译：用于提供沉浸式监视的方法和装置
公开(公告)号：US07522186B2
公开(公告)日：2009-04-21
申请号：US10202546
申请日：2002-07-24
申请人： Aydin Arpa , Keith J. Hanna , Rakesh Kumar , Supun Samarasekera , Harpreet Singh Sawhney , Manoj Aggarwal , David Nister , Stephen Hsu
发明人： Aydin Arpa , Keith J. Hanna , Rakesh Kumar , Supun Samarasekera , Harpreet Singh Sawhney , Manoj Aggarwal , David Nister , Stephen Hsu
IPC分类号： H04N7/18
CPC分类号： G06T15/205 , G06T7/251 , G06T7/30 , G06T7/50 , G06T19/006 , G06T2207/30241 , G08B13/19608 , G08B13/19641 , G08B13/19693 , H04N7/181
摘要： A method and apparatus for providing immersive surveillance wherein a remote security guard may monitor a scene using a variety of imagery sources that are rendered upon a model to provide a three-dimensional conceptual view of the scene. Using a view selector, the security guard may dynamically select a camera view to be displayed on his conceptual model, perform a walk through of the scene, identify moving objects and select the best view of those moving objects and so on.
摘要翻译：一种用于提供沉浸式监视的方法和装置，其中远程安全保卫可以使用在模型上呈现的各种图像源来监视场景以提供场景的三维概念视图。使用视图选择器，安全警卫可以动态地选择要在其概念模型上显示的相机视图，执行场景的走过，识别移动对象并选择那些移动物体的最佳视图等等。

34. 发明申请

US20080089556A1 Moving Target Detection in the Presence of Parallax 有权
标题翻译：在视差存在下移动目标检测
公开(公告)号：US20080089556A1
公开(公告)日：2008-04-17
申请号：US11763559
申请日：2007-06-15
申请人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Bergen , Rakesh Kumar , Feng Han
发明人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James 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。

35. 发明申请

US20070247525A1 Video Flashlight/Vision Alert 有权
标题翻译：视频手电/视觉警报
公开(公告)号：US20070247525A1
公开(公告)日：2007-10-25
申请号：US11628376
申请日：2005-06-01
申请人： Supun Samarasekera , Vincent Paragano , Harpreet Sawhney , Manoj Aggarwal , Keith Hanna , Rakesh Kumar , Aydin Arpa , Philip Miller
发明人： Supun Samarasekera , Vincent Paragano , Harpreet Sawhney , Manoj Aggarwal , Keith Hanna , Rakesh Kumar , Aydin Arpa , Philip Miller
IPC分类号： H04N7/18
CPC分类号： H04N7/181 , G06T15/205 , G06T19/006 , G08B13/19641 , G08B13/19667 , G08B13/19693
摘要： A method and apparatus for providing a “Video Flashlight” system for managing large numbers of videos by overlaying them within a 2D or 3D model of a scene.
摘要翻译：一种用于提供“视频手电筒”系统的方法和装置，用于通过将它们重叠在场景的2D或3D模型中来管理大量视频。

36. 发明申请

US20070086621A1 Flexible layer tracking with weak online appearance model 有权
标题翻译：柔性层跟踪与弱在线外观模型
公开(公告)号：US20070086621A1
公开(公告)日：2007-04-19
申请号：US11250181
申请日：2005-10-13
申请人： Manoj Aggarwal , Harpreet Sawhney , Rakesh Kumar , Supun Samarasekera
发明人： Manoj Aggarwal , Harpreet Sawhney , Rakesh Kumar , Supun Samarasekera
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06K9/00369 , G06T7/251 , G06T7/277 , G06T2207/10016 , G06T2207/30196 , G06T2207/30232
摘要： Method for tracking an object recorded within a selected frame of a sequence of frames of video data, using a plurality of layers, where at least one object layer of the plurality of layers represents the object includes initializing layer ownership probabilities for pixels of the selected frame using a non-parametric motion model, estimating a set of motion parameters of the plurality of layers for the selected frame using a parametric maximization algorithm and tracking the object. The non-parametric motion model is optical flow and includes warping the mixing probabilities, the appearances of the plurality of layers, and the observed pixel data from the pixels of the preceding frame to the pixels of the selected frame to initialize the layer ownership probabilities for the pixels of the selected frame.
摘要翻译：用于使用多个层来跟踪记录在视频数据帧序列的所选帧内的对象的方法，其中多个层中的至少一个对象层表示对象包括初始化所选帧的像素的层所有权概率使用非参数运动模型，使用参数最大化算法估计所选择的帧的所述多个层的运动参数的集合并跟踪所述对象。非参数运动模型是光流，包括混合概率，多层的出现以及从前一帧的像素到所选帧的像素的观察像素数据的变形，以初始化层所有权概率所选帧的像素。

37. 发明申请

US20050024206A1 Method and apparatus for providing a scalable multi-camera distributed video processing and visualization surveillance system 失效
标题翻译：用于提供可扩展的多摄像机分布式视频处理和可视化监视系统的方法和装置
公开(公告)号：US20050024206A1
公开(公告)日：2005-02-03
申请号：US10872964
申请日：2004-06-21
申请人： Supun Samarasekera , Rakesh Kumar , Keith Hanna , Harpreet Sawhney , Aydin Arpa , Manoj Aggarwal , Vincent Paragano
发明人： Supun Samarasekera , Rakesh Kumar , Keith Hanna , Harpreet Sawhney , Aydin Arpa , Manoj Aggarwal , Vincent Paragano
IPC分类号： G08B13/00 , H04N20060101 , H04N7/18
CPC分类号： G08B13/19689 , G08B13/19645 , G08B13/19691
摘要： A scalable architecture for providing real-time multi-camera distributed video processing and visualization. An exemplary system comprises at least one video capture and storage system for capturing and storing a plurality of input videos, at least one vision based alarm system for detecting and reporting alarm situations or events, and at least one video rendering system (e.g., a video flashlight system) for displaying an alarm situation in a context that speeds up comprehension and response. One advantage of the present architecture is that these systems are all scalable, such that additional sensors (e.g., cameras, motion sensors, infrared sensors, chemical sensors, biological sensors, temperature sensors and like) can be added in large numbers without overwhelming the ability of security forces to comprehend the alarm situation.
摘要翻译：用于提供实时多摄像机分布式视频处理和可视化的可扩展架构。示例性系统包括用于捕获和存储多个输入视频的至少一个视频捕获和存储系统，用于检测和报告警报情况或事件的至少一个基于视觉的警报系统，以及至少一个视频呈现系统（例如，视频手电筒系统），用于在加速理解和响应的上下文中显示报警情况。本架构的一个优点是这些系统都是可扩展的，使得可以大量添加附加的传感器（例如，摄像机，运动传感器，红外传感器，化学传感器，生物传感器，温度传感器等），而不会压倒能力的安全部队了解报警情况。

38. 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。

39. 发明授权

US5970111A Fast and efficient multiprocessor implementation for exact for an exact cone beam image reconstruction 失效
标题翻译：快速高效的多处理器实现，用于精确的锥形束图像重建
公开(公告)号：US5970111A
公开(公告)日：1999-10-19
申请号：US109266
申请日：1998-06-30
申请人： Supun Samarasekera , Frank Sauer , Kwok Tam , Ali R. Bani-Hashemi
发明人： Supun Samarasekera , Frank Sauer , Kwok Tam , Ali R. Bani-Hashemi
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 computed tomographic imaging apparatus performs three-dimensional (3D) image reconstruction of a region of interest of an object using a plurality of processors for processing successive sets of cone beam measurement data that are acquired by scanning about the object with a cone beam radiation source and an area detector. A central memory has stored therein a plurality of subsets of pre-calculated image processing information, and the plurality of processors are responsive to a given sequence of successive ones of the subsets of pre-calculated image processing information for converting the cone beam measurement data to Radon derivative data on a plurality of Radon .phi.-planes. In a preferred embodiment each of the processors has a first input coupled for receiving in a broadcast manner the successive sets of cone beam measurement data, and a second input coupled for receiving the subsets of pre-calculated image processing information in a given sequence so that each one of the plurality of processors converts the cone beam measurement data broadcast to its second input into Radon derivative data for a respective subset of the Radon .phi.-planes.
摘要翻译：计算机断层成像装置使用多个处理器来执行对象的感兴趣区域的三维（3D）图像重构，以处理通过用锥束辐射源扫描关于物体的连续的锥束测量数据集合和区域检测器。中央存储器在其中存储有多个预先计算的图像处理信息的子集，并且多个处理器响应于预先计算的图像处理信息的子集中的连续的子集的给定序列，用于将锥形束测量数据转换为氡衍生数据在多个氡气平面上。在优选实施例中，每个处理器具有耦合的第一输入，用于以广播方式接收连续的锥形束测量数据集合，以及耦合用于以给定序列接收预先计算的图像处理信息的子集的第二输入，使得多个处理器中的每个处理器将锥形束测量数据广播转换成其第二输入，用于Radon扇形板的相应子集的Radon导数数据。

40. 发明授权

US5901195A Two-step radon inversion processing for .phi.-planes having local radon origins 失效
标题翻译：具有局部氡起源的电极的两步骤氡反演处理
公开(公告)号：US5901195A
公开(公告)日：1999-05-04
申请号：US940324
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： G01N23/04 , A61B6/03 , G06F17/14 , G06T1/00 , G06T11/00
CPC分类号： G06T11/006 , A61B6/027 , G06T2211/421 , Y10S378/901
摘要： A two-step 3D Radon inversion processor for processing Radon data on a set of vertically oriented co-axial .phi.-planes that partition Radon space, wherein each of the .phi.-planes is sampled during the processing so as to have its own independent local Radon origin. In accordance with further principles of the present invention, a 3D Radon data generator generates Radon data on a set of vertically oriented co-axial .phi.-planes that partition Radon space, wherein each of the .phi.-planes is sampled so as to have its own independent local Radon origin, and a two-step 3D Radon inversion processor independently processes each of the .phi.-planes. Any shift of the local Radon origins with respect to a global coordinate system is compensated for during the 3D Radon inversion processing. Compensation for the origin shift may be made during or after a first step of the Radon inversion processing.
摘要翻译：一种两步3D氡反演处理器，用于处理一组垂直定向的同轴电极上的Radon数据，分配Radon空间，其中每个phi-plane在处理期间被采样，以便拥有自己的独立的本地Radon 起源。根据本发明的进一步原理，3D氡数据发生器在分配氡空间的一组垂直取向的同轴电极上产生氡数据，其中每个电极被采样以具有其自己的独立的本地Radon起源，并且两步骤3D Radon倒置处理器独立地处理每个phi-plane。相对于全局坐标系的本地氡原点的任何偏移在3D氡反演处理期间被补偿。原点偏移的补偿可以在Radon反转处理的第一步骤期间或之后进行。

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