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1. 发明申请

US20150002507A1 SPACE CARVING BASED ON HUMAN PHYSICAL DATA 审中-公开
标题翻译：基于人体物理数据的空间雕刻
公开(公告)号：US20150002507A1
公开(公告)日：2015-01-01
申请号：US13931507
申请日：2013-06-28
申请人： Anthony J. Ambrus , Jea Gon Park , Adam G. Poulos , Justin Avram Clark , Michael Jason Gourlay , Brian J. Mount , Daniel J. McCulloch , Arthur C. Tomlin
发明人： Anthony J. Ambrus , Jea Gon Park , Adam G. Poulos , Justin Avram Clark , Michael Jason Gourlay , Brian J. Mount , Daniel J. McCulloch , Arthur C. Tomlin
IPC分类号： G06T15/10 , G02B27/01
CPC分类号： G02B27/017 , G02B2027/0134 , G02B2027/014 , G02B2027/0178 , G06T19/00 , G06T19/003 , G06T2215/16
摘要： Technology is described for (3D) space carving of a user environment based on movement through the user environment of one or more users wearing a near-eye display (NED) system. One or more sensors on the near-eye display (NED) system provide sensor data from which a distance and direction of movement can be determined. Spatial dimensions for a navigable path can be represented based on user height data and user width data of the one or more users who have traversed the path. Space carving data identifying carved out space can be stored in a 3D space carving model of the user environment. The navigable paths can also be related to position data in another kind of 3D mapping like a 3D surface reconstruction mesh model of the user environment generated from depth images.
摘要翻译：基于通过穿戴近眼显示（NED）系统的一个或多个用户的用户环境的移动来描述用于（3D）用户环境的空间雕刻技术。靠近眼睛显示器（NED）系统上的一个或多个传感器提供传感器数据，从中可以确定运动的距离和方向。可以基于用户高度数据和已经遍历路径的一个或多个用户的用户宽度数据来表示可导航路径的空间维度。识别雕刻空间的空间雕刻数据可以存储在用户环境的3D空间雕刻模型中。导航路径还可以与另一种3D映射中的位置数据相关联，如从深度图像生成的用户环境的3D表面重建网格模型。

2. 发明申请

US20150145985A1 Large-Scale Surface Reconstruction That Is Robust Against Tracking And Mapping Errors 有权
标题翻译：大规模的表面重建是鲁棒的跟踪和映射错误
公开(公告)号：US20150145985A1
公开(公告)日：2015-05-28
申请号：US14091262
申请日：2013-11-26
申请人： Michael Jason Gourlay , Justin Avram Clark
发明人： Michael Jason Gourlay , Justin Avram Clark
IPC分类号： G06T7/00 , H04N7/18 , G06T11/20
CPC分类号： H04N7/183 , G06T7/246 , G06T7/33 , G06T17/00 , G06T2200/08 , G06T2207/10016 , G06T2207/10028 , G06T2207/20072 , G06T2207/30244
摘要： Depth maps of a physical space are obtained using a depth sensor carried by a rig such as a robot or a head mounted display device worn by a user. Visible light images are also obtained. The images and orientation readings are used to create a pose graph which includes nodes connected by links. The nodes are associated with different poses of the rig and the corresponding images. Links between the nodes represent correspondences between the images, and transforms between coordinate systems of the nodes. As new images are captured, the pose graph is updated to reduce an accumulation of errors. Furthermore, surfaces in the physical space can be reconstructed at any time according to the current state of the pose graph. Volumes used in a surface reconstruction process are anchored to the nodes such that the positions of the volumes are adjusted as the pose graph is updated.
摘要翻译：物理空间的深度图是使用由诸如机器人的钻机所携带的深度传感器或由用户佩戴的头戴式显示装置获得的。还可以获得可见光图像。图像和方向读数用于创建包括通过链接连接的节点的姿态图。节点与钻机的不同姿势和相应的图像相关联。节点之间的链接表示图像之间的对应关系，并且在节点的坐标系之间进行变换。当捕获新图像时，更新姿势图以减少错误的累积。此外，物理空间中的表面可以根据姿势图的当前状态随时重建。在表面重构过程中使用的体积被锚定到节点，使得当姿势图被更新时，体积的位置被调整。

3. 发明申请

US20160314612A1 Removing Redundant Volumetric Information From A Volume-Based Data Representation 有权
标题翻译：从基于卷的数据表示中删除冗余容量信息
公开(公告)号：US20160314612A1
公开(公告)日：2016-10-27
申请号：US14697407
申请日：2015-04-27
申请人： Michael John Schoenberg , Michael Jason Gourlay
发明人： Michael John Schoenberg , Michael Jason Gourlay
IPC分类号： G06T15/40 , G06T19/20 , G06T15/30 , G06T15/08
CPC分类号： G06T15/40
摘要： An environment includes different objects that are each made up of one or more 3-dimensional volumes. These volumes can overlap one another, resulting in situations in which a particular volume that is overlapped is redundant and can be removed from the set of volumes describing the environment. A two-phase approach is applied in determining whether a particular volume is redundant. In the first phase, a candidate list of source volumes is quickly generated with a small amount of computational effort. In the second phase, the source volumes on the candidate list are analyzed to determine whether the particular volume is fully overlapped by one or a combination of the source volumes.
摘要翻译：环境包括由一个或多个三维卷组成的不同对象。这些卷可能彼此重叠，导致重叠的特定卷是冗余的并且可以从描述环境的卷集中删除的情况。应用两阶段方法来确定特定卷是否是冗余的。在第一阶段，以少量的计算量快速生成源卷的候选列表。在第二阶段中，分析候选列表上的源卷以确定特定卷是否由源卷的一个或组合完全重叠。

4. 发明申请

US20160086385A1 Using Free-Form Deformations In Surface Reconstruction 有权
标题翻译：在表面重建中使用自由形变
公开(公告)号：US20160086385A1
公开(公告)日：2016-03-24
申请号：US14489802
申请日：2014-09-18
申请人： Michael Jason Gourlay , Justin Avram Clark
发明人： Michael Jason Gourlay , Justin Avram Clark
IPC分类号： G06T19/20 , G06T7/00
CPC分类号： G06T19/20 , G06T17/00 , G06T2207/10004 , G06T2207/20228 , G06T2219/2021
摘要： Volumes of a 3D physical space are used in a surface reconstruction process, where adjacent volumes share vertices so that no gaps or overlaps between the volumes exist. As a result, a continuous surface is obtained in the surface reconstruction process. The vertices are anchored to nodes in a pose graph, such that locations of the vertices are adjusted as the pose graph is updated. As a result, a deformation of the volumes is permitted. Based on the deformation of a volume, a region of a depth map of the physical space is deformed correspondingly. Each vertex can be anchored to a closest node of the pose graph, or to a point which is based on a combination of nodes. In one approach, the point is defined based on the closest node and other nodes within a defined radius of the closest node.
摘要翻译： 3D物理空间的体积用于表面重建过程，其中相邻体积共享顶点，使得存在体积之间不存在间隙或重叠。结果，在表面重建处理中获得连续的表面。顶点被锚定到姿势图中的节点，使得当姿势图被更新时，顶点的位置被调整。结果，允许体积的变形。基于体积的变形，物理空间的深度图的区域相应地变形。每个顶点可以锚定到姿势图的最接近的节点，或者基于节点的组合的点。在一种方法中，该点是基于最近节点和最近节点的定义半径内的其他节点来定义的。

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