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51. 发明授权

US08284990B2 Social network construction based on data association 有权
标题翻译：基于数据关联的社会网络建设
公开(公告)号：US08284990B2
公开(公告)日：2012-10-09
申请号：US12369692
申请日：2009-02-11
申请人： Yunqian Ma , Kirk Schloegel , Roland Miezianko , Petr Cisar
发明人： Yunqian Ma , Kirk Schloegel , Roland Miezianko , Petr Cisar
IPC分类号： G06K9/00
CPC分类号： H04N7/18 , G06K9/00335 , G06K9/00677 , G06K9/00771 , G06K2009/00738 , G06Q50/01
摘要： A system for social network construction. Video analytics and association may be used to develop a social network. Also, social groups may be developed from temporal proximity of persons. In the case of several social networks, they may be collapsed into one network or a weighted graph that mining algorithms can handle.
摘要翻译：社会网络建设体系。视频分析和关联可用于开发社交网络。此外，社会团体可以从人的时间上接近而发展。在几个社交网络的情况下，它们可能被折叠成一个网络或挖掘算法可以处理的加权图。

52. 发明申请

US20120150441A1 SYSTEMS AND METHODS FOR NAVIGATION USING CROSS CORRELATION ON EVIDENCE GRIDS 有权
标题翻译：使用证据网络的交叉关联进行导航的系统和方法
公开(公告)号：US20120150441A1
公开(公告)日：2012-06-14
申请号：US12963893
申请日：2010-12-09
申请人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
发明人： Yunqian Ma , John B. McKitterick , Wesley J. Hawkinson
IPC分类号： G01C21/16
CPC分类号： G01S5/0252 , G01S5/0263 , G01S5/16
摘要： Systems and methods for navigation using cross correlation on evidence grids are provided. In one embodiment, a system for using cross-correlated evidence grids to acquire navigation information comprises: a navigation processor coupled to an inertial measurement unit, the navigation processor configured to generate a navigation solution; a sensor configured to scan an environment; an evidence grid creator coupled to the sensor and the navigation processor, wherein the evidence grid creator is configured to generate a current evidence grid based on data received from the sensor and the navigation solution; a correlator configured to correlate the current evidence grid against a historical evidence grid stored in a memory to produce displacement information; and where the navigation processor receives correction data derived from correlation of evidence grids and adjusts the navigation solution based on the correction data.
摘要翻译：提供了在证据网格上使用互相关的导航系统和方法。在一个实施例中，一种用于使用相互关联的证据网格来获取导航信息的系统包括：与惯性测量单元耦合的导航处理器，所述导航处理器被配置为产生导航解决方案; 被配置为扫描环境的传感器; 耦合到所述传感器和所述导航处理器的证据格网创建器，其中所述证据格网创建器被配置为基于从所述传感器和所述导航解决方案接收的数据来生成当前证据网格; 相关器，其被配置为将当前证据格栅与存储在存储器中的历史证据网格相关联以产生位移信息; 并且其中导航处理器接收从证据网格的相关性导出的校正数据，并且基于校正数据来调整导航解决方案。

53. 发明申请

US20120130284A1 SYSTEM AND METHOD FOR CONSTRUCTING DISTANCE ESTIMATE MODELS FOR PERSONAL NAVIGATION 审中-公开
标题翻译：用于构建个人航行距离估计模型的系统和方法
公开(公告)号：US20120130284A1
公开(公告)日：2012-05-24
申请号：US12953565
申请日：2010-11-24
申请人： Yunqian Ma , Joel Hesch
发明人： Yunqian Ma , Joel Hesch
IPC分类号： A61B5/103
CPC分类号： G01C21/20 , G01C21/005 , G01C21/165 , G01C22/006
摘要： Systems and methods for constructing distance estimate models for personal navigation are provided. In one embodiment, a distance estimation system comprises: a gait information memory configured to store gait information about a gait mode; a biometric data memory configured to store a biometric profile for a user; a frequency module configured to identify a gait frequency; and a distance calculation module configured to calculate the distance traveled by the user by creating a distance estimate model based on the gait mode, the biometric profile, and the gait frequency, wherein the distance calculation module creates the distance estimate model by performing a regression analysis on movement information from at least one user.
摘要翻译：提供了构建个人导航距离估计模型的系统和方法。在一个实施例中，距离估计系统包括：步态信息存储器，被配置为存储关于步态模式的步态信息; 生物特征数据存储器，被配置为存储用户的生物特征; 频率模块，被配置为识别步态频率; 以及距离计算模块，被配置为通过基于步态模式，生物特征图和步态频率创建距离估计模型来计算用户行进的距离，其中距离计算模块通过执行回归分析来创建距离估计模型来自至少一个用户的移动信息。

54. 发明申请

US20120078510A1 CAMERA AND INERTIAL MEASUREMENT UNIT INTEGRATION WITH NAVIGATION DATA FEEDBACK FOR FEATURE TRACKING 有权
标题翻译：摄像机和惯性测量单元集成导航数据反馈功能跟踪
公开(公告)号：US20120078510A1
公开(公告)日：2012-03-29
申请号：US12889728
申请日：2010-09-24
申请人： Yunqian Ma , Wesley J. Hawkinson
发明人： Yunqian Ma , Wesley J. Hawkinson
IPC分类号： G01C21/16
CPC分类号： G01C21/165 , G01S5/16 , G05D1/0246 , G05D1/027
摘要： A navigation device is provided herein comprising an inertial measurement unit (IMU), a camera, and a processor. The IMU provides an inertial measurement to the processor and the camera provides at least one image frame to the processor. The processor is configured to determine navigation data based on the inertial measurement and the at least one image frame, wherein at least one feature is extracted from the at least one image frame based on the navigation data.
摘要翻译：本文提供的导航装置包括惯性测量单元（IMU），照相机和处理器。 IMU向处理器提供惯性测量，并且相机向处理器提供至少一个图像帧。处理器被配置为基于惯性测量和至少一个图像帧来确定导航数据，其中基于导航数据从至少一个图像帧中提取至少一个特征。

55. 发明申请

US20100013935A1 MULTIPLE TARGET TRACKING SYSTEM INCORPORATING MERGE, SPLIT AND REACQUISITION HYPOTHESES 审中-公开
标题翻译：多目标跟踪系统，包含合并，分割和反应假设
公开(公告)号：US20100013935A1
公开(公告)日：2010-01-21
申请号：US11761171
申请日：2007-06-11
申请人： Yunqian Ma , Qian Yu , Isaac Cohen
发明人： Yunqian Ma , Qian Yu , Isaac Cohen
IPC分类号： H04N5/225
CPC分类号： G06K9/32 , G06K9/00771 , G06T7/277 , G06T2207/30241
摘要： A tracking system having a video detector for associating observations of blobs and objects and deriving objects' or blobs' paths. Hypotheses may be computed by the system for merging, splitting and reacquisition of the observations. There may be objects tracked among the observations, and best paths selected as trajectories of corresponding objects. The observations may be placed in a sliding window containing a series of observations inferred from a collection of frames for improving the accuracy of the tracking (or data association). The processed observations and data may be represented graphically.
摘要翻译：跟踪系统具有视频检测器，用于将斑点和对象的观察结果相关联并导出对象或斑点的路径。系统可以通过系统计算假设来合并，分解和重新获取观测值。在观察中可能会跟踪对象，并选择最佳路径作为相应对象的轨迹。观察结果可以放置在滑动窗口中，其包含从帧集合推断的一系列观察结果，用于提高跟踪（或数据关联）的准确性。经处理的观察和数据可以用图形表示。

56. 发明申请

US20090141993A1 SYSTEM FOR FINDING ARCHIVED OBJECTS IN VIDEO DATA 有权
标题翻译：在视频数据中查找存档对象的系统
公开(公告)号：US20090141993A1
公开(公告)日：2009-06-04
申请号：US11949519
申请日：2007-12-03
申请人： Yunqian Ma , Ben A. Miller , Andrew H. Johnson , Thomas R. Markham
发明人： Yunqian Ma , Ben A. Miller , Andrew H. Johnson , Thomas R. Markham
IPC分类号： G06K9/46
CPC分类号： G06K9/621 , G06F17/30277 , G06F17/30781
摘要： A system includes a motion detection processor, a motion tracking processor, a people detection processor, a controller, a fusion processor, an appearance model generator processor, a database, a fast search processor, and a matching processor. The motion detection processor, the motion tracking processor, the controller, the people detection processor, the fusion processor, and the appearance model generator processor comprise an analytics pipeline, and the database and the fast search processor comprise a data index pipeline.
摘要翻译：系统包括运动检测处理器，运动跟踪处理器，人物检测处理器，控制器，融合处理器，外观模型生成器处理器，数据库，快速搜索处理器和匹配处理器。运动检测处理器，运动跟踪处理器，控制器，人物检测处理器，融合处理器和外观模型生成器处理器包括分析流水线，并且数据库和快速搜索处理器包括数据索引流水线。

57. 发明申请

US20060233436A1 3D dense range calculations using data fusion techniques 审中-公开
标题翻译：使用数据融合技术的3D密集范围计算
公开(公告)号：US20060233436A1
公开(公告)日：2006-10-19
申请号：US11213527
申请日：2005-08-26
申请人： Yunqian Ma , Michael Bazakos
发明人： Yunqian Ma , Michael Bazakos
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , G06K9/00624 , G06K9/2081 , G06K2209/40 , G06T7/50
摘要： Systems and methods of establishing 3D coordinates from 2D image domain data acquired from an image sensor are disclosed. An illustrative method may include the steps of acquiring at least one image frame from the image sensor, selecting at least one polygon defining a region of interest within the image frame, measuring the distance from an origin of the image sensor to a number of reference points on the polygon, determining the distance between the selected reference points, and then determining 3D reference coordinates for one or more points on the polygon using a data fusion technique in which 2D image data from the image sensor is geometrically converted to 3D coordinates based at least in part on measured values of the reference points. An interpolation technique can be used to determine the 3D coordinates for all of the pixels within the polygon.
摘要翻译：公开了从从图像传感器获取的2D图像域数据建立3D坐标的系统和方法。说明性方法可以包括以下步骤：从图像传感器获取至少一个图像帧，选择至少一个限定图像帧内的感兴趣区域的多边形，测量从图像传感器的原点到参考点的数量的距离在所述多边形上确定所选参考点之间的距离，然后使用数据融合技术确定所述多边形上的一个或多个点的3D参考坐标，其中来自所述图像传感器的2D图像数据至少几何地被转换为3D坐标部分是参考点的测量值。可以使用内插技术来确定多边形内所有像素的3D坐标。

58. 发明授权

US08868323B2 Collaborative navigation using conditional updates 有权
标题翻译：使用条件更新的协作导航
公开(公告)号：US08868323B2
公开(公告)日：2014-10-21
申请号：US13053811
申请日：2011-03-22
申请人： Peter Lommel , Benjamin Mohr , Yunqian Ma
发明人： Peter Lommel , Benjamin Mohr , Yunqian Ma
IPC分类号： G06F17/10 , G01C21/00 , G06T7/00
CPC分类号： G01C21/00 , G06T7/593 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212 , G06T2207/30241 , G06T2207/30252
摘要： A method for collaborative navigation between two or more platforms is provided. The method comprises establishing a communication link between a first platform and a second platform, making a sensor measurement from the first platform, updating state and covariance elements of the first platform, and transmitting the updated state and covariance elements from the first platform to the second platform. A conditional update is performed on the second platform to compute a new estimate of state and covariance elements on the second platform, which takes into account the measurement from the first platform. The method further comprises making a sensor measurement from the second platform, updating state and covariance elements of the second platform, and transmitting the updated state and covariance elements from the second platform to the first platform. A conditional update is performed on the first platform to compute a new estimate of state and covariance elements on the first platform, which takes into account the measurement from the second platform.
摘要翻译：提供了一种用于在两个或多个平台之间进行协作导航的方法。该方法包括在第一平台和第二平台之间建立通信链路，从第一平台进行传感器测量，更新第一平台的状态和协方差元素，以及将更新的状态和协方差元素从第一平台发送到第二平台平台。在第二平台上执行条件更新以计算第二平台上的状态和协方差元素的新估计，其考虑了来自第一平台的测量。该方法还包括从第二平台进行传感器测量，更新第二平台的状态和协方差元素，以及将更新的状态和协方差元素从第二平台发送到第一平台。在第一平台上执行条件更新以计算第一平台上的状态和协方差元素的新估计，其考虑了来自第二平台的测量。

59. 发明授权

US08849832B2 Method and system for building a support vector machine binary tree for fast object search 有权
标题翻译：用于构建支持向量机二叉树的快速对象搜索的方法和系统
公开(公告)号：US08849832B2
公开(公告)日：2014-09-30
申请号：US12061377
申请日：2008-04-02
申请人： Yunqian Ma
发明人： Yunqian Ma
IPC分类号： G06F7/00 , G06F17/30 , G06K9/62 , G06K9/00 , G06F17/00
CPC分类号： G06F17/30259 , G06K9/00771 , G06K9/6253 , G06K9/6269 , G06K9/6282 , Y10S707/914 , Y10S707/915
摘要： Method and system for building a support vector machine binary tree for fast object search. An appearance model can be generated for objects in a database and computed on regions detected in an image frame. A covariance matrix can be utilized for representing the appearance model of the detected regions. The covariance matrix appearance model can be preprocessed and/or transferred into a vector-based format. The data in the vector-based format can be added with a class label to form labeled data. A support vector machine (SVM) can be utilized on the labeled data to generate a classifier with an optimal hyperplane and a margin area in order to hierarchically build a balanced SVM binary tree. A query appearance model can be searched rapidly utilizing the SVM binary tree during a search phase.
摘要翻译：用于构建支持向量机二叉树的快速对象搜索的方法和系统。可以为数据库中的对象生成外观模型，并对图像帧中检测到的区域进行计算。可以使用协方差矩阵来表示检测到的区域的外观模型。协方差矩阵外观模型可以被预处理和/或转移到基于矢量的格式。基于向量格式的数据可以添加类标签，以形成标记数据。可以在标记数据上利用支持向量机（SVM）来生成具有最佳超平面和边缘区域的分类器，以便分层构建平衡的SVM二叉树。在搜索阶段可以使用SVM二叉树快速搜索查询外观模型。

60. 发明授权

US08818722B2 Rapid lidar image correlation for ground navigation 有权
标题翻译：快速激光雷达图像相关的地面导航
公开(公告)号：US08818722B2
公开(公告)日：2014-08-26
申请号：US13302831
申请日：2011-11-22
申请人： Michael R. Elgersma , Yunqian Ma
发明人： Michael R. Elgersma , Yunqian Ma
IPC分类号： G01S17/89
CPC分类号： G01S17/42 , G01S7/4802 , G01S7/4808 , G01S17/89 , G01S17/93 , G05D1/024 , G05D1/0274 , G05D1/0278 , G06T7/74 , G06T2207/10016 , G06T2207/10028 , G06T2207/10044 , G06T2207/20021 , G06T2207/30181
摘要： A method includes generating current coarse edge count representation based on current fine grid representation of current section, correlating current edge quantity values of current coarse pixels with historical edge quantity values of historical coarse pixels of historical coarse edge count representation of environment, and identifying first subsection of historical coarse edge count representation with highest correlation to current coarse edge count representation. Each current coarse pixel in current coarse edge count representation represents current fine pixels from current fine grid representation. Fine grid representation of current section of environment is based on data from range and attitude sensor. Each current coarse pixel within current coarse edge count representation includes current edge quantity value that represents quantity of current fine pixels represented by current coarse pixel that include edge. Each historical coarse pixel corresponds to historical fine pixels in historical fine grid representation of environment.
摘要翻译：一种方法包括基于当前部分的当前精细网格表示产生当前粗略边缘计数表示，将当前粗略像素的当前边缘量值与历史粗略边缘数表示环境的历史粗略像素的历史边缘数量值相关联，以及识别第一部分具有与当前粗边数计数表示最高相关性的历史粗边数计数表示。当前粗略边缘计数表示中的每个当前粗略像素表示当前精细网格表示的当前精细像素。当前环境部分的精细网格表示是基于距离和姿态传感器的数据。当前粗略边缘计数表示中的每个当前粗略像素包括当前边缘量值，其表示由包括边缘的当前粗略像素表示的当前精细像素的数量。每个历史粗略像素对应于历史细网格表示环境中的历史精细像素。

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