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1. 发明授权

US08774950B2 Apparatuses, systems, and methods for apparatus operation and remote sensing 有权
标题翻译：装置操作和遥感的装置，系统和方法
公开(公告)号：US08774950B2
公开(公告)日：2014-07-08
申请号：US12812800
申请日：2009-01-22
申请人： Alonzo James Kelly , Herman Herman , Peter William Rander , Randon Warner
发明人： Alonzo James Kelly , Herman Herman , Peter William Rander , Randon Warner
IPC分类号： G08B17/00 , G05B23/02
CPC分类号： G05B23/0267
摘要： A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.
摘要翻译：一种用于控制装置的方法和系统，包括接收指示装置的实际状态的数据，相对于环境和装置中的至少一个定义第一视点，在时间T确定装置的第一预测状态，确定在时刻T首先预测环境状态，从第一视点产生第一虚拟视图，在产生第一虚拟视图之后向设备发送第一控制信号，相对于装置和环境中的至少一个定义第二视点，在时间T +ΔT确定装置的第二预测状态，在时刻T + delta T确定环境的第二预测状态，从第二视点产生第二虚拟视图，在第二视点之后向设备发送第二控制信号产生第二虚拟视图，并且基于第一控制信号改变装置的实际状态。

2. 发明授权

US07139440B2 Method and apparatus for encoding photographic images 有权
公开(公告)号：US07139440B2
公开(公告)日：2006-11-21
申请号：US10227136
申请日：2002-08-23
申请人： Michael Rondinelli , Herman Herman
发明人： Michael Rondinelli , Herman Herman
IPC分类号： G06K9/32
CPC分类号： G06T3/0062
摘要： A method of encoding images comprising the steps of retrieving a source image file including pixel data, transforming the source image file pixel data into a destination data set of pixel data representative of a modified partial equi-rectangular projection, and outputting the pixel data from the destination data set as a destination image file. The source image file can include an annular source image file. An apparatus for encoding images in accordance with the method is also provided.

3. 发明授权

US08730322B2 Telepresence using panoramic imaging and directional sound and motion 有权
公开(公告)号：US08730322B2
公开(公告)日：2014-05-20
申请号：US11194177
申请日：2005-08-01
申请人： Michael Rondinelli , Anthony Stentz , Sanjiv Singh , Herman Herman
发明人： Michael Rondinelli , Anthony Stentz , Sanjiv Singh , Herman Herman
IPC分类号： H04N11/18
CPC分类号： H04N21/4307 , H04N5/04 , H04N5/144 , H04N5/23238 , H04N5/76 , H04N5/772 , H04N7/18 , H04N7/181 , H04N9/89 , H04N21/41415 , H04N21/47217
摘要： An imaging system comprising a panoramic visual image display, an associated directional sound playback device, and an associated motion reproduction device is disclosed. The imaging system conveys visual, sound and motion information related to a particular viewing direction to provide a realistic experience for the viewer. The imaging system can also comprise a panoramic visual image recording device capable of recording panoramic images, an associated directional sound capturing device capable of recording sound, and an associated directional motion capturing device capable of recording motion. Recorded panoramic images, sound and motion can be synchronously recorded to a common time code for simultaneous playback.

4. 发明申请

US20110066262A1 Apparatuses, Systems, and Methods for Apparatus Operation and Remote Sensing 有权
标题翻译：装置操作和遥感的装置，系统和方法
公开(公告)号：US20110066262A1
公开(公告)日：2011-03-17
申请号：US12812800
申请日：2009-01-22
申请人： Alonzo James Kelly , Herman Herman , Peter William Rander , Randon Warner
发明人： Alonzo James Kelly , Herman Herman , Peter William Rander , Randon Warner
IPC分类号： G06F17/00 , G06G7/62
CPC分类号： G05B23/0267
摘要： A method and system for controlling an apparatus including receiving data indicative of an actual state of the apparatus, defining a first viewpoint relative to at least one of the environment and the apparatus, determining a first predicted state of the apparatus at time T, determining a first predicted state of the environment at time T, producing a first virtualized view from the first viewpoint, sending a first control signal to the apparatus after producing the first virtualized view, defining a second viewpoint relative to at least one of the apparatus and the environment, determining a second predicted state of the apparatus at time T+delta T, determining a second predicted state of the environment at time T+delta T, producing the second virtualized view from the second viewpoint, sending a second control signal to the apparatus after producing the second virtualized view, and changing the actual state of the apparatus based on the first control signal.
摘要翻译：一种用于控制装置的方法和系统，包括接收指示装置的实际状态的数据，相对于环境和装置中的至少一个定义第一视点，在时间T确定装置的第一预测状态，确定在时刻T首先预测环境状态，从第一视点产生第一虚拟视图，在产生第一虚拟视图之后向设备发送第一控制信号，相对于装置和环境中的至少一个定义第二视点，在时间T +ΔT确定装置的第二预测状态，在时刻T + delta T确定环境的第二预测状态，从第二视点产生第二虚拟视图，在第二视点之后向设备发送第二控制信号产生第二虚拟视图，并且基于第一控制信号改变装置的实际状态。

5. 发明申请

US20100013615A1 Obstacle detection having enhanced classification 审中-公开
标题翻译：障碍物检测具有增强的分类
公开(公告)号：US20100013615A1
公开(公告)日：2010-01-21
申请号：US11096687
申请日：2005-03-31
申请人： Martial Hebert , Herman Herman , Cristian Sergiu Dima , Anthony Joseph Stentz
发明人： Martial Hebert , Herman Herman , Cristian Sergiu Dima , Anthony Joseph Stentz
IPC分类号： B60Q1/00
CPC分类号： B60Q9/006 , G01S7/4802 , G01S17/023 , G01S17/936 , G06K9/00805 , G06T7/74 , G06T2207/10024 , G06T2207/10028 , G06T2207/10048 , G06T2207/30261
摘要： A method and system for sensing an obstacle comprises transmitting an electromagnetic signal from a mobile machine to an object. A reflected electromagnetic signal is received from the object to determine a distance between the object and the mobile machine. An image patch is extracted from a region associated with the object. Each image patch comprises coordinates (e.g., three dimensional coordinates) associated with corresponding image data (e.g., pixels). If an object is present, image data may include at least one of object density data and object color data. Object density data is determined based on a statistical measure of variation associated with the image patch. Object color data based on the color of the object detected with brightness normalization. An object is classified or identified based on the determined object density and determined object color data.
摘要翻译：用于感测障碍物的方法和系统包括将电磁信号从移动机器发送到对象。从对象接收反射的电磁信号，以确定物体和移动机器之间的距离。从与对象相关联的区域中提取图像补丁。每个图像补丁包括与对应的图像数据（例如像素）相关联的坐标（例如，三维坐标）。如果存在对象，则图像数据可以包括对象密度数据和对象颜色数据中的至少一个。基于与图像补丁相关联的变化的统计度量来确定对象密度数据。对象颜色数据基于用亮度归一化检测到的对象的颜色。基于确定的对象密度和确定的对象颜色数据对对象进行分类或识别。

6. 发明授权

US07123777B2 System and method for panoramic imaging 有权
公开(公告)号：US07123777B2
公开(公告)日：2006-10-17
申请号：US10256743
申请日：2002-09-26
申请人： Michael Rondinelli , Herman Herman , Sanjiv Singh
发明人： Michael Rondinelli , Herman Herman , Sanjiv Singh
IPC分类号： G06K9/36
CPC分类号： G02B13/06 , G03B37/06 , G06T3/0062
摘要： The present invention provides a system for processing panoramic photographic images. The system includes a mirror for reflecting an image of a scene, a mounting assembly for mounting the mirror on an axis, a camera for capturing the image reflected by the mirror, a digital converter device for producing pixel data representative of the captured image, and means for radially linearly mapping the pixel data into a viewable image. The mirror includes a convex reflective surface defined by rotating around the axis: an equi-angular shape or a compensated equi-angular shape. Methods for processing images in accordance with the system are also provided.

7. 发明授权

US06856472B2 Panoramic mirror and system for producing enhanced panoramic images 失效
标题翻译：全景镜和制作增强全景图像的系统
公开(公告)号：US06856472B2
公开(公告)日：2005-02-15
申请号：US10080834
申请日：2002-02-22
申请人： Herman Herman , Sanjiv Singh
发明人： Herman Herman , Sanjiv Singh
IPC分类号： G02B13/06 , G02B17/00
CPC分类号： G02B13/06 , G02B13/08 , G02B17/08 , G03B17/565 , G03B37/06 , G06T3/0062
摘要： The present invention relates to providing enhanced panoramic images with an improved panoramic mirror. A panoramic mirror is provided with a controlled vertical field of view. The controlled vertical field of view improves the resolution of a viewable panoramic image by eliminating portions of unwanted images from the viewable panoramic image.
摘要翻译：本发明涉及提供具有改进的全景镜的增强全景图像。全景镜具有受控的垂直视野。受控的垂直视野通过从可见的全景图像中消除不想要的图像的部分来提高可视的全景图像的分辨率。

8. 发明授权

US06480290B1 Method and apparatus to measure the cross-sectional area of an object 失效
标题翻译：测量物体横截面积的方法和装置
公开(公告)号：US06480290B1
公开(公告)日：2002-11-12
申请号：US09494906
申请日：2000-01-31
申请人： Sanjiv Singh , Bruce Digney , Herman Herman , Michael Joseph Rondinelli
发明人： Sanjiv Singh , Bruce Digney , Herman Herman , Michael Joseph Rondinelli
IPC分类号： G07B1128
CPC分类号： G01B11/28 , G01B11/08 , G01N23/06
摘要： An apparatus for determining a cross-sectional area of an object. The apparatus includes a plurality of radiant energy sources, a plurality of radiant energy detectors oriented to receive radiant energy emitted by the plurality of radiant energy sources, a strobing module in communication with the plurality of radiant energy sources for strobing the plurality of light sources, and a profile determination module in communication with the plurality of radiant energy sources and the strobing module for determining the cross-sectional area of an object disposed between the plurality of radiant energy sources and the plurality of radiant energy detectors.
摘要翻译：一种用于确定物体的横截面积的装置。该装置包括多个辐射能量源，多个辐射能量检测器，其被定向成接收由多个辐射能量源发射的辐射能量;选通模块，与多个辐射能源通信，用于选通多个光源; 以及与所述多个辐射能量源和所述选通模块通信的轮廓确定模块，用于确定设置在所述多个辐射能量源和所述多个辐射能量检测器之间的物体的横截面积。

9. 发明授权

US06203111B1 Miner guidance using laser and image analysis 有权
标题翻译：使用激光和图像分析的矿工指导
公开(公告)号：US06203111B1
公开(公告)日：2001-03-20
申请号：US09430567
申请日：1999-10-29
申请人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
发明人： Mark Ollis , Steven John Scheding , Christopher C. Fromme , Jorgen Pederson , John Bares , Herman Herman , Anthony J. Stentz , David K. Herdle , Frank Higgins , Bryan G. Campbell
IPC分类号： E21C3508
CPC分类号： E21C27/24 , E21C35/24 , E21D9/004
摘要： A mining machine comprising a vehicle body having forward and rearward ends, the vehicle body being movable along a mine floor, a cutter head mounted on the forward end of the vehicle body, and a position sensing and control apparatus including first and second generally vertical, generally parallel surfaces on the vehicle body, an off-board light source emitting a light beam that strikes the surfaces, an imaging device for imaging both of the plates in a single image, and a computer receiving the single image from the camera, the computer using the single image to determine at least one of the roll, yaw and lateral offset of the machine.
摘要翻译：一种采矿机，包括具有前端和后端的车体，所述车身可沿矿井移动，安装在所述车身前端的刀头，以及包括第一和第二大致垂直的位置检测和控制装置，车身上的大体上平行的表面，发射表面光束的板外光源，用于在单个图像中成像两个板的成像装置和从相机接收单个图像的计算机，计算机使用单个图像来确定机器的滚动，偏航和横向偏移中的至少一个。

10. 发明授权

US07058239B2 System and method for panoramic imaging 失效
公开(公告)号：US07058239B2
公开(公告)日：2006-06-06
申请号：US10282187
申请日：2002-10-28
申请人： Sanjiv Singh , Michael Rondinelli , Herman Herman
发明人： Sanjiv Singh , Michael Rondinelli , Herman Herman
IPC分类号： G06K9/36
CPC分类号： G02B13/06 , G03B37/06 , G06T3/0062
摘要： The present invention provides a system for processing panoramic photographic images. The system includes a mirror for reflecting an image of a scene, a mounting assembly for mounting the mirror on an axis, a first camera for capturing the image reflected by the mirror, at least one secondary camera for capturing a portion of the scene, means for mapping pixel data of the image captured by the first camera into a viewable image, and means for cooperatively displaying the viewable image and the portion of the scene captured by the at least one of the secondary cameras. The mirror may include a convex reflective surface defined by rotating around the axis: an equi-angular shape or a compensated equi-angular shape. The secondary camera may also capture a portion of the image reflected by the mirror. Alternatively, the system may include a single camera including an active-pixel image sensor for capturing at least a portion of the image reflected by the mirror. Methods for processing images in accordance with the system are also provided.

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