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1. 发明授权

US06674895B2 Methods for enhancing performance and data acquired from three-dimensional image systems 有权
标题翻译：用于增强从三维图像系统获得的性能和数据的方法
公开(公告)号：US06674895B2
公开(公告)日：2004-01-06
申请号：US10013069
申请日：2001-12-10
申请人： Abbas Rafii , Cyrus Bamji , Cheng-Feng Sze , Iihami Torunoglu
发明人： Abbas Rafii , Cyrus Bamji , Cheng-Feng Sze , Iihami Torunoglu
IPC分类号： G06K9100
CPC分类号： G06F3/0426 , G01C3/08 , G01S7/4802 , G01S7/486 , G01S7/497 , G01S17/10 , G01S17/105 , G01S17/46 , G01S17/89 , G06F1/1626 , G06F1/1632 , G06F1/1673 , G06F3/0221 , G06K9/00355 , G06K9/224 , G06T7/70 , G06T7/75
摘要： A three-dimension distance time-of-flight system is disclosed in which distance values are acquired by a plurality of sensors independently from each other. For use with this and similar systems, Z-distance accuracy and resolution are enhanced using various techniques including over-sampling acquired sensor data and forming running averages, or forming moving averages. Acquired data may be rejected if it fails to meet criteria associated with distance, luminosity, velocity, or estimated shape information reported by neighboring sensors. A sub-target having at least one pre-calibrated reflectance zone is used to improve system measurement accuracy. Elliptical error is corrected for using a disclosed method, and reversible mapping of Z-values into RGB is provided.
摘要翻译：公开了三维距离飞行时间系统，其中距离值彼此独立地由多个传感器获取。为了与这种和类似的系统一起使用，使用各种技术来增强Z距离精度和分辨率，包括过采样采集的传感器数据和形成运行平均值，或形成移动平均值。获取的数据如果不符合与相邻传感器报告的距离，亮度，速度或估计形状信息相关的标准，则可能会被拒绝。使用具有至少一个预校准反射区的子目标来提高系统测量精度。使用公开的方法校正椭圆误差，并提供Z值到RGB的可逆映射。

2. 发明授权

US06512838B1 Methods for enhancing performance and data acquired from three-dimensional image systems 有权
公开(公告)号：US06512838B1
公开(公告)日：2003-01-28
申请号：US09684368
申请日：2000-10-05
申请人： Abbas Rafii , Cyrus Bamji , Cheng-Feng Sze , Iihami Torunoglu
发明人： Abbas Rafii , Cyrus Bamji , Cheng-Feng Sze , Iihami Torunoglu
IPC分类号： G06K900
CPC分类号： G06F3/0426 , G01C3/08 , G01S7/4802 , G01S7/486 , G01S7/497 , G01S17/10 , G01S17/105 , G01S17/46 , G01S17/89 , G06F1/1626 , G06F1/1632 , G06F1/1673 , G06F3/0221 , G06K9/00355 , G06K9/224 , G06T7/70 , G06T7/75
摘要： A three-dimension distance time-of-flight system is disclosed in which distance values are acquired by a plurality of sensors independently from each other. For use with this and similar systems, Z-distance accuracy and resolution are enhanced using various techniques including over-sampling acquired sensor data and forming running averages, or forming moving averages. Acquired data may be rejected if it fails to meet criteria associated with distance, luminosity, velocity, or estimated shape information reported by neighboring sensors. A sub-target having at least one pre-calibrated reflectance zone is used to improve system measurement accuracy. Elliptical error is corrected for using a disclosed method, and reversible mapping of Z-values into RGB is provided.

3. 发明申请

US20060197937A1 Methods and system to quantify depth data accuracy in three-dimensional sensors using single frame capture 有权
标题翻译：使用单帧捕获来量化三维传感器深度数据精度的方法和系统
公开(公告)号：US20060197937A1
公开(公告)日：2006-09-07
申请号：US11348737
申请日：2006-02-06
申请人： Cyrus Bamji , Iihami Torunoglu , Salih Gokturk
发明人： Cyrus Bamji , Iihami Torunoglu , Salih Gokturk
IPC分类号： G01C3/08
CPC分类号： G01C3/08 , G01S7/497
摘要： A method and system dynamically calculates confidence levels associated with accuracy of Z depth information obtained by a phase-shift time-of-flight (TOF) system that acquires consecutive images during an image frame. Knowledge of photodetector response to maximum and minimum detectable signals in active brightness and total brightness conditions is known a priori and stored. During system operation brightness threshold filtering and comparing with the a priori data permits identifying those photodetectors whose current output signals are of questionable confidence. A confidence map is dynamically generated and used to advise a user of the system that low confidence data is currently being generated. Parameter(s) other than brightness may also or instead be used.
摘要翻译：方法和系统动态地计算与通过在图像帧期间获取连续图像的相移时间飞行（TOF）系统获得的Z深度信息的精度相关联的置信水平。了解光电探测器对主动亮度和总亮度条件下的最大和最小可检测信号的响应是先验已知和存储的。在系统操作期间，亮度阈值滤波和与先验数据进行比较允许识别当前输出信号具有可信赖性的那些光电探测器。动态生成置信图，并用于向系统的用户建议当前正在生成低置信度数据。除了亮度之外的参数也可以或替代地使用。

4. 发明授权

US08139142B2 Video manipulation of red, green, blue, distance (RGB-Z) data including segmentation, up-sampling, and background substitution techniques 有权
标题翻译：红色，绿色，蓝色，距离（RGB-Z）数据的视频处理，包括分割，上采样和背景替换技术
公开(公告)号：US08139142B2
公开(公告)日：2012-03-20
申请号：US12004305
申请日：2007-12-20
申请人： Cyrus Bamji , Abbas Rafii , Ryan E. Crabb
发明人： Cyrus Bamji , Abbas Rafii , Ryan E. Crabb
IPC分类号： G03B13/00 , H04N9/07 , H04N5/225 , H04N13/02 , G01C3/08
CPC分类号： G01S17/89 , G01S17/36 , G01S17/936 , H04N5/2355 , H04N9/045 , H04N13/128 , H04N13/271
摘要： RGB-Z imaging systems acquire RGB data typically with a high X-Y resolution RGB pixel array, and acquire Z-depth data with an array of physically larger Z pixels having additive signal properties. In each acquired frame, RGB pixels are mapped to a corresponding Z pixel. Z image resolution is enhanced by identifying Z discontinuities and identifying corresponding RGB pixels where the Z discontinuities occur. Thus segmented data enables RGB background substitution, which preferably blends foreground pixel color and substitute background color. The segmented data also enables up-sampling in which a higher XY resolution Z image with accurate Z values is obtained. Up-sampling uses an equation set enabling assignment of accurate Z values to RGB pixels. Fixed acquisition frame rates are enabled by carefully culling bad Z data. Segmenting and up-sampling enhanced video effects and enable low cost, low Z resolution arrays to function comparably to higher quality, higher resolution Z arrays.
摘要翻译： RGB-Z成像系统通常采用高X-Y分辨率RGB像素阵列获取RGB数据，并采用具有加性信号特性的物理上较大的Z像素阵列获取Z深度数据。在每个获取的帧中，RGB像素被映射到相应的Z像素。通过识别Z不连续性并识别发生Z不连续性的相应RGB像素来增强Z图像分辨率。因此，分段数据可以进行RGB背景替换，其优选地将前景像素颜色和替代背景颜色混合。分段数据还可以进行上采样，其中获得具有精确Z值的较高XY分辨率Z图像。上采样使用能够将精确Z值分配给RGB像素的方程组。通过仔细剔除不良Z数据可以实现固定采集帧速率。分段和上采样增强的视频效果，并使低成本，低Z分辨率阵列能够与更高质量，更高分辨率的Z阵列相比较。

5. 发明申请

US20110285910A1 Video manipulation of red, green, blue, distance (RGB-Z) data including segmentation, up-sampling, and background substitution techniques 有权
标题翻译：红色，绿色，蓝色，距离（RGB-Z）数据的视频处理，包括分割，上采样和背景替换技术
公开(公告)号：US20110285910A1
公开(公告)日：2011-11-24
申请号：US12004305
申请日：2007-12-20
申请人： Cyrus Bamji , Abbas Rafii , Ryan E. Crabb
发明人： Cyrus Bamji , Abbas Rafii , Ryan E. Crabb
IPC分类号： H04N5/21
CPC分类号： G01S17/89 , G01S17/36 , G01S17/936 , H04N5/2355 , H04N9/045 , H04N13/128 , H04N13/271
摘要： RGB-Z imaging systems acquire RGB data typically with a high X-Y resolution RGB pixel array, and acquire Z-depth data with an array of physically larger Z pixels having additive signal properties. In each acquired frame, RGB pixels are mapped to a corresponding Z pixel. Z image resolution is enhanced by identifying Z discontinuities and identifying corresponding RGB pixels where the Z discontinuities occur. Thus segmented data enables RGB background substitution, which preferably blends foreground pixel color and substitute background color. The segmented data also enables up-sampling in which a higher XY resolution Z image with accurate Z values is obtained. Up-sampling uses an equation set enabling assignment of accurate Z values to RGB pixels. Fixed acquisition frame rates are enabled by carefully culling bad Z data. Segmenting and up-sampling enhanced video effects and enable low cost, low Z resolution arrays to function comparably to higher quality, higher resolution Z arrays.
摘要翻译： RGB-Z成像系统通常采用高X-Y分辨率RGB像素阵列获取RGB数据，并采用具有加性信号特性的物理上较大的Z像素阵列获取Z深度数据。在每个获取的帧中，RGB像素被映射到相应的Z像素。通过识别Z不连续性并识别发生Z不连续性的相应RGB像素来增强Z图像分辨率。因此，分段数据可以进行RGB背景替换，其优选地将前景像素颜色和替代背景颜色混合。分段数据还可以进行上采样，其中获得具有精确Z值的较高XY分辨率Z图像。上采样使用能够将精确Z值分配给RGB像素的方程组。通过仔细剔除不良Z数据可以实现固定采集帧速率。分段和上采样增强的视频效果，并使低成本，低Z分辨率阵列能够与更高质量，更高分辨率的Z阵列相比较。

6. 发明授权

US07526120B2 System and method for providing intelligent airbag deployment 有权
标题翻译：提供智能安全气囊部署的系统和方法
公开(公告)号：US07526120B2
公开(公告)日：2009-04-28
申请号：US10660907
申请日：2003-09-11
申请人： Salih Burak Gokturk , Cyrus Bamji , Abbas Rafii , Carlo Tomasi , Xinqiao Liu
发明人： Salih Burak Gokturk , Cyrus Bamji , Abbas Rafii , Carlo Tomasi , Xinqiao Liu
IPC分类号： G06K9/00
CPC分类号： B60R21/01516 , B60R21/013 , B60R21/0152 , B60R21/01538 , G06K9/00362
摘要： A sensor system is provided for determining a deployment level of an airbag in a vehicle. A light source of the sensor system emits light onto a region around a vehicle seat. An array of light-sensitive pixels which capture reflected light from the scene, including reflected light that originated from the light source. Processing resources are provided that determine depth information for an object in the scene based on a time-of-flight characteristic of the reflected light from the light source captured on the array. The processing resources may be configured to determine occupancy data for the object based on the captured reflected light from the scene. The processing resources are configured to determine the deployment level of the airbag based at least in part on the occupancy data in when a collision of the vehicle occurs.
摘要翻译：提供用于确定车辆中的气囊的展开水平的传感器系统。传感器系统的光源将光发射到车辆座椅周围的区域。捕获来自场景的反射光的光敏像素阵列，包括源自光源的反射光。提供处理资源，其基于来自在阵列上捕获的光源的反射光的飞行时间特性来确定场景中的对象的深度信息。处理资源可以被配置为基于来自场景的所捕获的反射光来确定对象的占用数据。处理资源被配置为至少部分地基于当车辆碰撞发生时的占用数据来确定安全气囊的部署水平。

7. 发明授权

US06614422B1 Method and apparatus for entering data using a virtual input device 有权
标题翻译：使用虚拟输入设备输入数据的方法和装置
公开(公告)号：US06614422B1
公开(公告)日：2003-09-02
申请号：US09502499
申请日：2000-02-11
申请人： Abbas Rafii , Cyrus Bamji , Nazim Kareemi , Shiraz Shivji
发明人： Abbas Rafii , Cyrus Bamji , Nazim Kareemi , Shiraz Shivji
IPC分类号： G09G500
CPC分类号： G06F3/011 , G06F1/1626 , G06F1/1632 , G06F1/1673 , G06F3/0221 , G06F3/0304 , G06F3/0426 , G06F3/04886 , G06K9/224
摘要： A user inputs digital data to a companion system such as a PDA, a cell telephone, an applicance, device using a virtual input device such as an image of a keyboard. A sensor captures three-dimensional positional information as to location of the user's fingers in relation to where keys would be on an actual keyboard. This information is processed with respect to finger locations and velocities and shape to determine when virtual keys would have been struck. The processed digital information is output to the companion system. The companion system can display an image of a keyboard, including an image of a keyboard showing user fingers, and/or alphanumeric text as such data is input by the user on the virtual input device.
摘要翻译：用户将数字数据输入到诸如PDA，蜂窝电话，应用程序，使用诸如键盘的图像的虚拟输入设备的设备的配套系统。传感器捕获关于用户手指位于实际键盘上的位置的三维位置信息。相对于手指位置和速度和形状处理此信息，以确定何时将触发虚拟键。经处理的数字信息被输出到伴随系统。伴随系统可以显示键盘的图像，包括显示用户手指的键盘的图像和/或字母数字文本，因为用户在虚拟输入设备上输入这样的数据。

8. 发明授权

US09052395B2 Resonant modulation for low power range imaging cameras 有权
标题翻译：低功率范围成像相机的谐振调制
公开(公告)号：US09052395B2
公开(公告)日：2015-06-09
申请号：US13458833
申请日：2012-04-27
申请人： Richard Michael Conroy , Adrian Andrew Dorrington , Cyrus Bamji
发明人： Richard Michael Conroy , Adrian Andrew Dorrington , Cyrus Bamji
IPC分类号： G01C3/08 , G01S17/89 , G01S17/36 , G01S7/491 , H04N5/376
CPC分类号： G01S17/89 , G01S7/4914 , G01S7/4915 , G01S17/36 , H04N5/3765
摘要： An amplitude modulated continuous wave range imaging device has a signaling device configured to emit an intensity modulated illumination signal. An image sensor is configured to capture a plurality of images of a reflection of the modulated illumination signal. The captured images include intensity and/or phase components for a plurality of pixels of the image sensor. Each pixel includes a first modulation terminal having a first capacitive component. A first driver is configured to charge a first set of modulation terminals of the plurality of pixels. A second driver is configured to charge a second set of modulation terminals of the plurality of pixels. A charge transfer circuit is connected between the first set of modulation terminals and the second set of modulation terminals. The charge transfer circuit is configured to transfer charge between the first set of modulation terminals and the second set of modulation terminals.
摘要翻译：调幅连续波段成像装置具有发射强度调制照明信号的信号装置。图像传感器被配置为捕获调制照明信号的反射的多个图像。捕获的图像包括用于图像传感器的多个像素的强度和/或相位分量。每个像素包括具有第一电容分量的第一调制终端。第一驱动器被配置为对多个像素的第一组调制端子进行充电。第二驱动器被配置为对多个像素的第二组调制端充电。电荷转移电路连接在第一组调制终端和第二组调制终端之间。电荷转移电路被配置为在第一组调制终端和第二组调制终端之间传送电荷。

9. 发明授权

US08681124B2 Method and system for recognition of user gesture interaction with passive surface video displays 有权
标题翻译：用于识别与被动表面视频显示器的用户手势交互的方法和系统
公开(公告)号：US08681124B2
公开(公告)日：2014-03-25
申请号：US12586432
申请日：2009-09-22
申请人： Cyrus Bamji , Sunil Acharya
发明人： Cyrus Bamji , Sunil Acharya
IPC分类号： G06F3/042
CPC分类号： G06F3/0421 , G06F3/0428 , G06F2203/04108
摘要： A system recognizes user-object gesture interactions with the surface of a monitor display, with hover space defined spaced-apart from the display surface, or in virtual scroll regions defined on the periphery of the monitor display. The system recognizes user-object interactions, e.g., gestures, and can affect what is displayed commensurately. The system includes at least a first time-of-flight (TOF) system and at least one of a second TOF, a two-dimensional camera, and a mirror, each TOF system processing at least one of z-depth data and A-brightness data. User-object interactions, e.g., touching(s) of the display surface, location(s) in a hover region, or location(s) in a virtual scroll region, are recognized passively in that the user-object need not have capacitance, resistance, exert force, or deform during gesture interaction. The system may be attached retroactively to the monitor, which may be a large (>22 cm) monitor, or a small cell phone sized monitor.
摘要翻译：系统识别与监视器显示器的表面的用户对象手势交互，其中悬浮空间与显示表面间隔开定义，或者在监视器显示器的外围限定的虚拟滚动区域中。该系统识别用户对象交互，例如手势，并且可以影响相应地显示的内容。该系统包括至少第一飞行时间（TOF）系统和第二TOF，二维相机和反射镜中的至少一个，每个TOF系统处理z深度数据和A-深度数据中的至少一个，亮度数据。用户对象交互（例如，显示表面的触摸，悬停区域中的位置或虚拟滚动区域中的位置）被动地识别为用户对象不需要电容，阻力，施加力或手势交互期间的变形。系统可以追溯到监视器上，监视器可能是一个大（> 22厘米）的监视器，或者一个小型手机大小的监视器。

10. 发明授权

US08363212B2 System architecture design for time-of-flight system having reduced differential pixel size, and time-of-flight systems so designed 有权
公开(公告)号：US08363212B2
公开(公告)日：2013-01-29
申请号：US13437392
申请日：2012-04-02
申请人： Cyrus Bamji , Swati Mehta
发明人： Cyrus Bamji , Swati Mehta
IPC分类号： G01C3/08
CPC分类号： G01S7/491 , G01C3/08 , G01S7/4914 , G01S17/36 , G01S17/89
摘要： Embodiments of the present invention provide methods to produce a high performance, feature rich TOF system, phase-based or otherwise using small TOF pixels, single-ended or preferably differential, as well as TOF systems so designed. IC chip area required for pixels is reduced by intelligently off-loading or removing from within the pixel certain components and/or functionality. In some embodiments during a single TOF system capture period, analog values from each pixel are repeatedly sampled and converted to digital values, which are combined and manipulated on the sensor chip. Combining this plurality of values enables appropriately compact data from the sensor chip. Embodiments of the present invention implement a TOF system with high ambient light resilience, high dynamic range, low motion blur and dealiasing support, while advantageously reducing pixel area size relative to prior art TOF pixels.

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