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1. 发明授权

US10192347B2 3D photogrammetry 有权
公开(公告)号：US10192347B2
公开(公告)日：2019-01-29
申请号：US15596590
申请日：2017-05-16
申请人： VanGogh Imaging, Inc.
发明人： Huy Bui , Ken Lee , Jun Yin
IPC分类号： G06K9/00 , G06T15/04 , G06T7/00 , G06T5/00 , G06T17/20
摘要： Described herein are methods and systems for texturing a three-dimensional (3D) model using photogrammetry. A sensor captures scans of a physical object, including related pose information, and color images corresponding to each scan. A computing device generates a 3D mesh of the physical object. The computing device preprocesses the color images to remove blurry images and detect textured regions of the object in each non-blurry image. The computing device optimizes the pose information for each color image by generating associations between the color images and vertices in the 3D mesh and classifying the vertices as textured or non-textured. The computing device generates texture coordinates for the 3D mesh by segmenting the mesh, parameterizing the segments, and packing the parameterized segments into a texture atlas. The computing device paint the texture atlas using the color images that have optimized pose information to generate a model having texture coordinates for each vertex.

2. 发明申请

US20210347053A1 VIRTUAL PRESENCE FOR TELEROBOTICS IN A DYNAMIC SCENE 有权
公开(公告)号：US20210347053A1
公开(公告)日：2021-11-11
申请号：US17314866
申请日：2021-05-07
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Craig Cambias , Xin Hou
IPC分类号： B25J9/16 , B25J13/00 , G05D1/00
摘要： Described herein are methods and systems for providing virtual presence for telerobotics in a dynamic scene. A sensor captures frames of a scene comprising one or more objects. A computing device generates a set of feature points corresponding to objects in the scene and matches the set of feature points to 3D points in a map of the scene. The computing device generates a dense mesh of the scene and the objects using the matched feature points and transmits the dense mesh the frame to a remote viewing device. The remote viewing device generates a 3D representation of the scene and the objects for display to a user and receives commands from the user corresponding to interaction with the 3D representation of the scene. The remote viewing device transmits the commands to a robot device that executes the commands to perform operations on the objects in the scene.

3. 发明授权

US09715761B2 Real-time 3D computer vision processing engine for object recognition, reconstruction, and analysis 有权
公开(公告)号：US09715761B2
公开(公告)日：2017-07-25
申请号：US14324891
申请日：2014-07-07
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Jun Yin , Xin Hou , Greg Werth , Yasmin Jahir
IPC分类号： G06T17/10 , G06K9/46 , G06T5/00 , G06T17/20 , G06T7/00 , G06K9/00
CPC分类号： G06T17/10 , G06K9/00201 , G06T7/55 , G06T7/75 , G06T17/20 , G06T2207/10028 , G06T2207/20028
摘要： Methods and systems are described for generating a three-dimensional (3D) model of a fully-formed object represented in a noisy or partial scene. An image processing module of a computing device receives images captured by a sensor. The module generates partial 3D mesh models of physical objects in the scene based upon analysis of the images, and determines a location of at least one target object in the scene by comparing the images to one or more 3D reference models and extracting a 3D point cloud of the target object. The module matches the 3D point cloud of the target object to a selected 3D reference model based upon a similarity parameter, and detects one or more features of the target object. The module generates a fully formed 3D model of the target object using partial or noisy 3D points from the scene, extracts the detected features of the target object and features of the 3D reference models that correspond to the detected features, and calculates measurements of the detected features.

4. 发明授权

US11620779B2 Remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice 有权
公开(公告)号：US11620779B2
公开(公告)日：2023-04-04
申请号：US17139792
申请日：2020-12-31
申请人： VanGogh Imaging, Inc.
发明人： Xiang Zhang , Xin Hou , Ken Lee , Yasmin Jahir
IPC分类号： G06T13/20 , G06T7/246 , G06T13/40 , G06T7/90 , G06T19/20 , G06T13/80 , G06V40/10 , G06V40/16
摘要： Described herein are methods and systems for remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice. A sensor captures frames of a face of a person, each frame comprising color images of the face, depth maps of the face, voice data associated with the person, and a timestamp. The sensor generates a 3D face model of the person using the depth maps. A computing device receives the frames of the face and the 3D face model. The computing device preprocesses the 3D face model. For each frame, the computing device: detects facial landmarks using the color images; matches the 3D face model to the depth maps using non-rigid registration; updates a texture on a front part of the 3D face model using the color images; synchronizes the 3D face model with a segment of the voice data using the timestamp; and transmits the synchronized 3D face model and voice data to a remote device.

5. 发明授权

US10169676B2 Shape-based registration for non-rigid objects with large holes 有权
公开(公告)号：US10169676B2
公开(公告)日：2019-01-01
申请号：US15441166
申请日：2017-02-23
申请人： VanGogh Imaging, Inc.
发明人： Xin Hou , Yasmin Jahir , Jun Yin
IPC分类号： G06K9/62 , G06K9/00 , G06K9/46 , G06K9/68 , G06T17/00 , G06T19/20
摘要： Described herein are methods and systems for closed-form 3D model generation of non-rigid complex objects from scans with large holes. A computing device receives (i) a partial scan of a non-rigid complex object captured by a sensor coupled to the computing device; (ii) a partial 3D model corresponding to the object, and (iii) a whole 3D model corresponding to the object, wherein the partial 3D scan and the partial 3D model each includes one or more large holes. The device performs a rough match on the partial 3D model and changes the whole 3D model using the rough match to generate a deformed 3D model. The device refines the deformed 3D model using a deformation graph, reshapes the refined deformed 3D model to have greater detail, and adjusts the whole 3D model according to the reshaped 3D model to generate a closed-form 3D model that closes holes in the scan.

6. 发明授权

US09710960B2 Closed-form 3D model generation of non-rigid complex objects from incomplete and noisy scans 有权
公开(公告)号：US09710960B2
公开(公告)日：2017-07-18
申请号：US14954775
申请日：2015-11-30
申请人： VanGogh Imaging, Inc.
发明人： Xin Hou
IPC分类号： G06T5/00 , G06T17/00 , G06T7/33
CPC分类号： G06T17/00 , G06T5/005 , G06T7/344 , G06T2200/04
摘要： Described herein are methods and systems for closed-form 3D model generation of non-rigid complex objects from incomplete and noisy scans. An image processing module receives a scan of a non-rigid complex object captured by a sensor, a 3D model corresponding to the object, and a camera trace, where the scan includes one or more holes. The module cleans the scan and the 3D model using the camera trace. The module deforms the cleaned 3D model to the cleaned scan and matches the deformed 3D model to the cleaned scan. The module determines one or more portions of the deformed 3D model that are unmatched and deforms the unmatched portions of the deformed 3D model to the scan using the matched portions of the deformed 3D model to generate a closed-form 3D model that closes the holes in the scan.

7. 发明申请

US20130187915A1 Three Dimensional Data Compression 有权
标题翻译：三维数据压缩
公开(公告)号：US20130187915A1
公开(公告)日：2013-07-25
申请号：US13355364
申请日：2012-01-20
申请人： Ken Lee , Xin Hou
发明人： Ken Lee , Xin Hou
IPC分类号： G06T17/00
CPC分类号： G06T9/001 , G06T17/20
摘要： Described are computer-based methods and apparatuses, including computer program products, for compressing three dimensional data of a scene. Data is received comprising (i) three dimensional data of a scene, and (ii) depth data associated with the three dimensional data. A triangle mesh is generated based on the three dimensional data, the triangle mesh comprising a plurality of triangles, each triangle including three vertices and three edges connecting the three vertices. For each edge in the triangle mesh, a metric is calculated for the edge based on data from the depth data associated with the edge, a length of the edge, and a curvature of the edge. A set of edges is collapsed based on a metric associated with each edge in the set of edges to generate a compressed triangle mesh.
摘要翻译：描述了用于压缩场景的三维数据的基于计算机的方法和装置，包括计算机程序产品。接收数据包括（i）场景的三维数据，和（ii）与三维数据相关联的深度数据。基于三维数据生成三角形网格，三角形网格包括多个三角形，每个三角形包括连接三个顶点的三个顶点和三个边。对于三角形网格中的每个边缘，基于与边缘相关联的深度数据，边缘的长度和边缘的曲率的数据计算边缘的度量。基于与该组边缘中的每个边缘相关联的度量来折叠一组边缘以生成压缩三角形网格。

8. 发明申请

US20210375020A1 REMOTE VISUALIZATION OF REAL-TIME THREE-DIMENSIONAL (3D) FACIAL ANIMATION WITH SYNCHRONIZED VOICE 有权
公开(公告)号：US20210375020A1
公开(公告)日：2021-12-02
申请号：US17139792
申请日：2020-12-31
申请人： VanGogh Imaging, Inc.
发明人： Xiang Zhang , Xin Hou , Ken Lee , Yasmin Jahir
IPC分类号： G06T13/20 , G06T7/246 , G06T13/40 , G06T7/90 , G06T19/20 , G06T13/80 , G06K9/00
摘要： Described herein are methods and systems for remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice. A sensor captures frames of a face of a person, each frame comprising color images of the face, depth maps of the face, voice data associated with the person, and a timestamp. The sensor generates a 3D face model of the person using the depth maps. A computing device receives the frames of the face and the 3D face model. The computing device preprocesses the 3D face model. For each frame, the computing device: detects facial landmarks using the color images; matches the 3D face model to the depth maps using non-rigid registration; updates a texture on a front part of the 3D face model using the color images; synchronizes the 3D face model with a segment of the voice data using the timestamp; and transmits the synchronized 3D face model and voice data to a remote device.

9. 发明授权

US11080540B2 3D vision processing using an IP block 有权
公开(公告)号：US11080540B2
公开(公告)日：2021-08-03
申请号：US16359750
申请日：2019-03-20
申请人： VanGogh Imaging, Inc.
发明人： Chao Sun , Xin Hou , Ken Lee
IPC分类号： G06K9/00 , G06T7/70 , G06T7/50 , G06T7/90 , G06K9/46 , G06T3/40 , G06T3/60 , G06T5/00
摘要： Described are methods, systems, and apparatuses for 3D vision processing using an IP block. A vision processing module comprises an integrated circuit that performs one or more 3D vision processing algorithms and a plurality of controllers that couple the integrated circuit to each of: a sensor device, a processor, a memory module, and a network interface. The vision processing module receives image data from the sensor device, the image data corresponding to one or more images captured by the sensor device. The vision processing module executes one or more of the 3D vision processing algorithms using at least a portion of the image data as input. The vision processing module transmits an output from execution of one or more of the 3D vision processing algorithms to at least one of: the processor, the memory module, or the network interface.

10. 发明授权

US10839585B2 4D hologram: real-time remote avatar creation and animation control 有权
公开(公告)号：US10839585B2
公开(公告)日：2020-11-17
申请号：US16240404
申请日：2019-01-04
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Xiang Zhang , Xin Hou
IPC分类号： G06T13/40 , G06K9/00 , G06T15/00 , H04L29/06 , G06T7/70 , G06T17/20 , G06T17/00
CPC分类号： G06T13/40 , G06K9/00248 , G06T7/70 , G06T15/005 , G06T17/00 , G06T17/20 , H04L67/38
摘要： Described are methods and systems for real-time remote avatar creation and animation control. A sensor device captures images of non-rigid objects in a scene. A server coupled to the sensor device generates an initial 3D model for each of the non-rigid objects in the scene using the images. The server detects landmark points on the non-rigid objects using the initial 3D model. The server generates a control point animation map for the 3D model using the detected points. The server applies the animation map to the 3D model to generate a mapped 3D model. A viewer coupled to the server receives (i) the mapped 3D model and (ii) tracking information associated with the objects, including a model pose and deformation of the landmark points. The viewer modifies the mapped 3D model using the tracking information, and renders a video stream on the viewer using the modified 3D model.

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