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1. 发明申请

US20110243442A1 Video Camera for Acquiring Images with Varying Spatio-Temporal Resolutions 审中-公开
标题翻译：用于通过不同的时空分辨率获取图像的摄像机
公开(公告)号：US20110243442A1
公开(公告)日：2011-10-06
申请号：US12751216
申请日：2010-03-31
申请人： Amit K. Agrawal , Ashok Veeraraghavan , Srinivasa G. Narasimhan , Mohit Gupta
发明人： Amit K. Agrawal , Ashok Veeraraghavan , Srinivasa G. Narasimhan , Mohit Gupta
IPC分类号： H04N5/262 , G06K9/34
CPC分类号： H04N5/3456 , H04N5/341
摘要： A sequence of images of a scene having varying spatio-temporal resolutions is acquired by a sensor of a camera. Adjacent pixels of the sensor are partitioned into a multiple sets of the pixels. An integration time for acquiring each set of pixels is partitioned into multiple time intervals. The images are acquired while some of the pixels in each set are ON for some of the intervals, while other pixels are OFF. Then, the pixels are combined into a space-time volume of voxels, wherein the voxels have varying spatial resolutions and varying temporal resolutions.
摘要翻译：通过照相机的传感器获取具有变化的时空分辨率的场景的图像序列。传感器的相邻像素被划分成多组像素。用于获取每组像素的积分时间被划分成多个时间间隔。获取图像，而对于某些间隔，每组中的一些像素为ON，而其他像素为OFF。然后，像素被组合成时空体积的体素，其中体素具有变化的空间分辨率和变化的时间分辨率。

2. 发明授权

US07780364B2 Apparatus and method for reducing glare in images 有权
标题翻译：降低图像眩光的装置和方法
公开(公告)号：US07780364B2
公开(公告)日：2010-08-24
申请号：US12113359
申请日：2008-05-01
申请人： Ramesh Raskar , Cyrus A. Wilson , Amit K. Agrawal
发明人： Ramesh Raskar , Cyrus A. Wilson , Amit K. Agrawal
IPC分类号： G03B7/00 , G03B9/02
CPC分类号： G02B27/0018 , H04N5/2171 , H04N5/2254 , H04N5/3572 , H04N17/002
摘要： Glare is reduced by acquiring an input image with a camera having a lens and a sensor, in which a pin-hole mask is placed in close proximity to the sensor. The mask localizes the glare at readily identifiable pixels, which can then be filtered to produce a glare reduce output image.
摘要翻译：通过用具有透镜和传感器的相机获取输入图像来减少眩光，其中将针孔掩模放置在靠近传感器的位置。掩模将容易识别的像素的眩光定位，然后可以对其进行滤波以产生眩光减少输出图像。

3. 发明申请

US20090116728A1 Method and System for Locating and Picking Objects Using Active Illumination 有权
标题翻译：使用主动照明定位和拾取物体的方法和系统
公开(公告)号：US20090116728A1
公开(公告)日：2009-05-07
申请号：US11936416
申请日：2007-11-07
申请人： Amit K. Agrawal , Ramesh Raskar
发明人： Amit K. Agrawal , Ramesh Raskar
IPC分类号： G06K9/00
CPC分类号： B22D46/00 , B22D11/1265 , G06T7/74 , G06T7/75
摘要： A method and system determines a 3D pose of an object in a scene. Depth edges are determined from a set of images acquired of a scene including multiple objects while varying illumination in the scene. The depth edges are linked to form contours. The images are segmented into regions according to the contours. An occlusion graph is constructed using the regions. The occlusion graph includes a source node representing an unoccluded region of an unoccluded object in scene. The contour associated with the unoccluded region is compared with a set of silhouettes of the objects, in which each silhouette has a known pose. The known pose of a best matching silhouette is selected as the pose of the unoccluded object.
摘要翻译：方法和系统确定场景中对象的3D姿态。深度边缘由在场景中改变照明的包括多个对象的场景获取的一组图像确定。连接深度边缘以形成轮廓。根据轮廓将图像分割成多个区域。使用这些区域构建闭塞图。闭塞图包括表示场景中未被占用对象的未被占领区域的源节点。将与未被占领区域相关联的轮廓与对象的一组轮廓进行比较，其中每个轮廓具有已知姿势。选择最佳匹配轮廓的已知姿势作为未被占用对象的姿势。

4. 发明申请

US20120250977A1 Method and System for Determining Projections in Non-Central Catadioptric Optical Systems 失效
标题翻译：用于确定非中央反射折射光学系统中的投影的方法和系统
公开(公告)号：US20120250977A1
公开(公告)日：2012-10-04
申请号：US13077810
申请日：2011-03-31
申请人： Amit K. Agrawal , Yuichi Taguchi , Srikumar Ramalingam
发明人： Amit K. Agrawal , Yuichi Taguchi , Srikumar Ramalingam
IPC分类号： G06K9/00
CPC分类号： G02B17/08 , G06T7/514
摘要： A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.
摘要翻译：确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在反射点与对称轴。

5. 发明授权

US08229242B2 Method for reconstructing surfaces of specular object from sparse reflection correspondences 有权
标题翻译：从稀疏反射对应重建镜面物体表面的方法
公开(公告)号：US08229242B2
公开(公告)日：2012-07-24
申请号：US12731333
申请日：2010-03-25
申请人： Ashok Veeraraghavan , Oncel C. Tuzel , Aswin Sankaranarayanan , Amit K Agrawal
发明人： Ashok Veeraraghavan , Oncel C. Tuzel , Aswin Sankaranarayanan , Amit K Agrawal
IPC分类号： G06K9/40 , G01B11/30
CPC分类号： G06T7/514 , G06T2207/10016
摘要： A point correspondence procedure is applied to a set of images of a specular object to produce sparse reflection correspondences. The set of images is subject to rotation while acquired by a camera. That is, either the camera, the environment or the object rotates. Either a linear system AΘ=0 is solved or a related second order cone program (SOCP) is solved, where Θ is a vector of local surface parameters. Gradients of the surface are obtained from the local quadric surface parameters, and the gradients are integrated to obtain normals, wherein the normals define a shape of the surface.
摘要翻译：点对应程序应用于镜面对象的一组图像以产生稀疏反射对应。相机拍摄时，该组图像会转动。也就是说，相机，环境或对象旋转。求解线性系统AΘ= 0或相关的二阶锥体程序（SOCP），其中Θ是局部表面参数的向量。表面的梯度从局部二次曲面参数获得，并且梯度被积分以获得法线，其中法线定义了表面的形状。

6. 发明授权

US08134786B2 Method and system for determining projections in non-central catadioptric optical systems 有权
标题翻译：用于确定非中心反射折射光学系统中的投影的方法和系统
公开(公告)号：US08134786B2
公开(公告)日：2012-03-13
申请号：US12826823
申请日：2010-06-30
申请人： Yuichi Taguchi , Amit K. Agrawal , Srikumar Ramalingam
发明人： Yuichi Taguchi , Amit K. Agrawal , Srikumar Ramalingam
IPC分类号： G02B17/00 , G06K9/00 , G06F7/60
CPC分类号： G02B17/08 , G02B27/0012
摘要： Embodiment of invention discloses a system and a method for determining a three-dimensional (3D) location of a folding point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system. One embodiment maps the catadioptric system, including 3D locations of the PS and the COP on a two-dimensional (2D) plane defined by an axis of symmetry of a folding optical element and the PS to produce a conic and 2D locations of the PS and COP on the 2D plane, and determines a 2D location of the folding point on the 2D plane based on the conic, the 2D locations of the PS and the COP. Next, the embodiment determines the 3D location of the folding point from the 2D location of the folding point on the 2D plane.
摘要翻译：发明的实施方式公开了一种用于确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的折叠点的三维（3D）位置的系统和方法。一个实施例将反射折射系统（包括PS和COP的3D位置）映射在由折叠光学元件和PS的对称轴限定的二维（2D）平面上，以产生PS的圆锥和2D位置， COP在2D平面上，并且基于二次曲线，PS和COP的2D位置来确定2D平面上的折叠点的2D位置。接下来，该实施例从2D平面上的折叠点的2D位置确定折叠点的3D位置。

7. 发明申请

US20100098323A1 Method and Apparatus for Determining 3D Shapes of Objects 审中-公开
标题翻译：用于确定对象的3D形状的方法和装置
公开(公告)号：US20100098323A1
公开(公告)日：2010-04-22
申请号：US12175883
申请日：2008-07-18
申请人： Amit K. Agrawal , Ramesh Raskar , Douglas Robert Lanman , Gabriel Taubin
发明人： Amit K. Agrawal , Ramesh Raskar , Douglas Robert Lanman , Gabriel Taubin
IPC分类号： G06K9/00 , F21V11/00
CPC分类号： G01B11/2513 , G06T7/521 , G06T7/557 , G06T2207/10152 , G06T2207/20056
摘要： An apparatus and method determine a 3D shape of an object in a scene. The object is illuminated to cast multiple silhouettes on a diffusing screen coplanar and in close proximity to a mask. A single image acquired of the diffusing screen is partitioned into subview according to the silhouettes. A visual hull of the object is then constructed according to isosurfaces of the binary images to approximate the 3D shape of the object.
摘要翻译：一种装置和方法确定场景中物体的3D形状。物体被照亮以在漫射屏幕上投射多个轮廓，共同平面并且靠近掩模。根据剪影将获取的漫射屏幕的单个图像划分为子视图。然后根据二进制图像的等值面构建对象的视觉外壳，以近似对象的3D形状。

8. 发明授权

US08493432B2 Digital refocusing for wide-angle images using axial-cone cameras 有权
标题翻译：使用轴向锥形相机对广角图像进行数字重新对焦
公开(公告)号：US08493432B2
公开(公告)日：2013-07-23
申请号：US12825608
申请日：2010-06-29
申请人： Yuichi Taguchi , Amit K. Agrawal , Ashok N. Veeraraghavan , Srikumar Ramalingam , Ramesh Raskar
发明人： Yuichi Taguchi , Amit K. Agrawal , Ashok N. Veeraraghavan , Srikumar Ramalingam , Ramesh Raskar
IPC分类号： H04N7/00
CPC分类号： G06T5/50 , G06T2200/21 , G06T2207/10052 , H04N5/23238
摘要： A single camera acquires an input image of a scene as observed in an array of spheres, wherein pixels in the input image corresponding to each sphere form a sphere image. A set of virtual cameras are defined for each sphere on a line joining a center of the sphere and a center of projection of the camera, wherein each virtual camera has a different virtual viewpoint and an associated cone of rays, appearing as a circle of pixels on its virtual image plane. A projective texture mapping of each sphere image is applied to all of the virtual cameras on the virtual image plane to produce a virtual camera image comprising circle of pixels. Each virtual camera image for each sphere is then projected to a refocusing geometry using a refocus viewpoint to produce a wide-angle lightfield view, which are averaged to produce a refocused wide-angle image.
摘要翻译：单个相机获取在球体阵列中观察到的场景的输入图像，其中与每个球体对应的输入图像中的像素形成球面图像。在连接球体中心的线和摄像机的投影中心的线上为每个球体定义一组虚拟照相机，其中每个虚拟照相机具有不同的虚拟视点和相关联的光线锥，呈现为像素圆在其虚拟图像平面上。每个球体图像的投影纹理映射被应用于虚拟图像平面上的所有虚拟相机，以产生包括像素圆的虚拟相机图像。然后使用重聚焦点将每个球体的每个虚拟照相机图像投影到重聚焦几何，以产生广角光场视图，其被平均以产生重新聚焦的广角图像。

9. 发明申请

US20120002304A1 Method and System for Determining Projections in Non-Central Catadioptric Optical Systems 有权
标题翻译：用于确定非中央反射折射光学系统中的投影的方法和系统
公开(公告)号：US20120002304A1
公开(公告)日：2012-01-05
申请号：US12826823
申请日：2010-06-30
申请人： Yuichi Taguchi , Amit K. Agrawal , Srikumar Ramalingam
发明人： Yuichi Taguchi , Amit K. Agrawal , Srikumar Ramalingam
IPC分类号： G02B17/08
CPC分类号： G02B17/08 , G02B27/0012
摘要： Embodiment of invention discloses a system and a method for determining a three-dimensional (3D) location of a folding point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system. One embodiment maps the catadioptric system, including 3D locations of the PS and the COP on a two-dimensional (2D) plane defined by an axis of symmetry of a folding optical element and the PS to produce a conic and 2D locations of the PS and COP on the 2D plane, and determines a 2D location of the folding point on the 2D plane based on the conic, the 2D locations of the PS and the COP. Next, the embodiment determines the 3D location of the folding point from the 2D location of the folding point on the 2D plane.
摘要翻译：本发明的实施例公开了一种用于确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的折叠点的三维（3D）位置的系统和方法。一个实施例将反射折射系统（包括PS和COP的3D位置）映射在由折叠光学元件和PS的对称轴限定的二维（2D）平面上，以产生PS的圆锥和2D位置， COP在2D平面上，并且基于二次曲线，PS和COP的2D位置来确定2D平面上的折叠点的2D位置。接下来，该实施例从2D平面上的折叠点的2D位置确定折叠点的3D位置。

10. 发明授权

US07983487B2 Method and system for locating and picking objects using active illumination 有权
标题翻译：使用有源照明定位和拾取物体的方法和系统
公开(公告)号：US07983487B2
公开(公告)日：2011-07-19
申请号：US11936416
申请日：2007-11-07
申请人： Amit K. Agrawal , Ramesh Raskar
发明人： Amit K. Agrawal , Ramesh Raskar
IPC分类号： G06K9/00 , G06K9/34 , G06K9/40 , G06T15/50 , G09G5/00
CPC分类号： B22D46/00 , B22D11/1265 , G06T7/74 , G06T7/75
摘要： A method and system determines a 3D pose of an object in a scene. Depth edges are determined from a set of images acquired of a scene including multiple objects while varying illumination in the scene. The depth edges are linked to form contours. The images are segmented into regions according to the contours. An occlusion graph is constructed using the regions. The occlusion graph includes a source node representing an unoccluded region of an unoccluded object in scene. The contour associated with the unoccluded region is compared with a set of silhouettes of the objects, in which each silhouette has a known pose. The known pose of a best matching silhouette is selected as the pose of the unoccluded object.
摘要翻译：方法和系统确定场景中对象的3D姿态。深度边缘由在场景中改变照明的包括多个对象的场景获取的一组图像确定。连接深度边缘以形成轮廓。根据轮廓将图像分割成多个区域。使用这些区域构建闭塞图。闭塞图包括表示场景中未被占用对象的未被占领区域的源节点。将与未被占领区域相关联的轮廓与对象的一组轮廓进行比较，其中每个轮廓具有已知姿势。选择最佳匹配轮廓的已知姿势作为未被占用对象的姿势。

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