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1. 发明授权

US09495760B2 Adaptable framework for cloud assisted augmented reality 有权
标题翻译：适用于云辅助增强现实的框架
公开(公告)号：US09495760B2
公开(公告)日：2016-11-15
申请号：US13235847
申请日：2011-09-19
申请人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
发明人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
IPC分类号： G06K9/00 , G06T7/20 , G06T7/00
CPC分类号： G06T7/246 , G06K9/00671 , G06T7/73 , G06T2207/10004
摘要： A mobile platform efficiently processes sensor data, including image data, using distributed processing in which latency sensitive operations are performed on the mobile platform, while latency insensitive, but computationally intensive operations are performed on a remote server. The mobile platform acquires sensor data, such as image data, and determines whether there is a trigger event to transmit the sensor data to the server. The trigger event may be a change in the sensor data relative to previously acquired sensor data, e.g., a scene change in an image. When a change is present, the sensor data may be transmitted to the server for processing. The server processes the sensor data and returns information related to the sensor data, such as identification of an object in an image or a reference image or model. The mobile platform may then perform reference based tracking using the identified object or reference image or model.
摘要翻译：移动平台使用在移动平台上执行延迟敏感操作的分布式处理来有效地处理包括图像数据的传感器数据，而延迟不敏感，但在远程服务器上执行计算密集型操作。移动平台获取诸如图像数据的传感器数据，并且确定是否存在将传感器数据传送到服务器的触发事件。触发事件可以是传感器数据相对于先前获取的传感器数据的变化，例如图像中的场景变化。当存在变化时，传感器数据可以被发送到服务器进行处理。服务器处理传感器数据并返回与传感器数据相关的信息，例如图像中的对象或参考图像或模型的识别。然后，移动平台可以使用所识别的对象或参考图像或模型来执行基于参考的跟踪。

2. 发明申请

US20120243732A1 Adaptable Framework for Cloud Assisted Augmented Reality 有权
标题翻译：云辅助增强现实的适应框架
公开(公告)号：US20120243732A1
公开(公告)日：2012-09-27
申请号：US13235847
申请日：2011-09-19
申请人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
发明人： Ashwin Swaminathan , Piyush Sharma , Bolan Jiang , Murali R. Chari , Serafin Diaz Spindola , Pawan Kumar Baheti , Vidya Narayanan
IPC分类号： G06K9/00 , G06K9/62 , H04N7/18
CPC分类号： G06T7/246 , G06K9/00671 , G06T7/73 , G06T2207/10004
摘要： A mobile platform efficiently processes sensor data, including image data, using distributed processing in which latency sensitive operations are performed on the mobile platform, while latency insensitive, but computationally intensive operations are performed on a remote server. The mobile platform acquires sensor data, such as image data, and determines whether there is a trigger event to transmit the sensor data to the server. The trigger event may be a change in the sensor data relative to previously acquired sensor data, e.g., a scene change in an image. When a change is present, the sensor data may be transmitted to the server for processing. The server processes the sensor data and returns information related to the sensor data, such as identification of an object in an image or a reference image or model. The mobile platform may then perform reference based tracking using the identified object or reference image or model.
摘要翻译：移动平台使用在移动平台上执行延迟敏感操作的分布式处理来有效地处理包括图像数据的传感器数据，而延迟不敏感，但在远程服务器上执行计算密集型操作。移动平台获取诸如图像数据的传感器数据，并且确定是否存在将传感器数据传送到服务器的触发事件。触发事件可以是传感器数据相对于先前获取的传感器数据的变化，例如图像中的场景变化。当存在变化时，传感器数据可以被发送到服务器进行处理。服务器处理传感器数据并返回与传感器数据相关的信息，例如图像中的对象或参考图像或模型的识别。然后，移动平台可以使用所识别的对象或参考图像或模型来执行基于参考的跟踪。

3. 发明申请

US20130076915A1 FRAMEWORK FOR REFERENCE-FREE DRIFT-CORRECTED PLANAR TRACKING USING LUCAS-KANADE OPTICAL FLOW 有权
标题翻译：使用LUCAS-KANADE光学流量的无参考无差错校正平面跟踪的框架
公开(公告)号：US20130076915A1
公开(公告)日：2013-03-28
申请号：US13247939
申请日：2011-09-28
申请人： Mahesh Ramachandran , Ashwin Swaminathan , Murali R. Chari , Serafin Diaz Spindola
发明人： Mahesh Ramachandran , Ashwin Swaminathan , Murali R. Chari , Serafin Diaz Spindola
IPC分类号： H04N5/225 , G06K9/00
CPC分类号： G06T7/2066 , G06T7/207 , G06T7/269 , G06T2207/10016 , G06T2207/20016 , G06T2207/30244
摘要： Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.
摘要翻译：使用平面表面的图像来执行移动平台对位置的自由跟踪。跟踪是执行光流技术，例如具有多级分辨率的锥形Lucas-Kanade光流，其中以较低分辨率的像素精度和全分辨率的子像素精度确定位移，这改善了实时性能的计算时间。通过匹配当前帧和关键帧之间的特征来执行周期漂移校正。关键帧可以用漂移校正的当前图像代替。

4. 发明授权

US09014421B2 Framework for reference-free drift-corrected planar tracking using Lucas-Kanade optical flow 有权
标题翻译：使用Lucas-Kanade光流的无参考漂移校正平面跟踪框架
公开(公告)号：US09014421B2
公开(公告)日：2015-04-21
申请号：US13247939
申请日：2011-09-28
申请人： Mahesh Ramachandran , Ashwin Swaminathan , Murali R. Chari , Serafin Diaz Spindola
发明人： Mahesh Ramachandran , Ashwin Swaminathan , Murali R. Chari , Serafin Diaz Spindola
IPC分类号： G06T7/20
CPC分类号： G06T7/2066 , G06T7/207 , G06T7/269 , G06T2207/10016 , G06T2207/20016 , G06T2207/30244
摘要： Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.
摘要翻译：使用平面表面的图像来执行移动平台对位置的自由跟踪。跟踪是执行光流技术，例如具有多级分辨率的锥形Lucas-Kanade光流，其中以较低分辨率的像素精度和全分辨率的子像素精度确定位移，这改善了实时性能的计算时间。通过匹配当前帧和关键帧之间的特征来执行周期漂移校正。关键帧可以用漂移校正的当前图像代替。

5. 发明申请

US20120062702A1 ONLINE REFERENCE GENERATION AND TRACKING FOR MULTI-USER AUGMENTED REALITY 有权
标题翻译：在线参考生成和追踪用于多用户的现实
公开(公告)号：US20120062702A1
公开(公告)日：2012-03-15
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
IPC分类号： H04N5/262 , H04N13/02
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译：多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。参考图像可以由移动平台或者例如由服务器产生。其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。

6. 发明授权

US09013550B2 Online reference generation and tracking for multi-user augmented reality 有权
标题翻译：多用户增强现实的在线参考生成和跟踪
公开(公告)号：US09013550B2
公开(公告)日：2015-04-21
申请号：US13082187
申请日：2011-04-07
申请人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
发明人： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
IPC分类号： H04N13/02 , G06T7/00
CPC分类号： G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
摘要： A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
摘要翻译：多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。参考图像可以由移动平台或者例如由服务器产生。其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。

7. 发明申请

US20120011119A1 OBJECT RECOGNITION SYSTEM WITH DATABASE PRUNING AND QUERYING 审中-公开
标题翻译：具有数据库检测和查询功能的对象识别系统
公开(公告)号：US20120011119A1
公开(公告)日：2012-01-12
申请号：US12832796
申请日：2010-07-08
申请人： Pawan K. Baheti , Ashwin Swaminathan , Serafin Diaz Spindola , Xia Ning
发明人： Pawan K. Baheti , Ashwin Swaminathan , Serafin Diaz Spindola , Xia Ning
IPC分类号： G06F17/30
CPC分类号： G06K9/6228 , G06F16/583 , G06K9/4676 , G06K9/6226
摘要： A database for object recognition is generated by performing at least one of intra-object pruning and inter-object pruning, as well as keypoint clustering and selection. Intra-object pruning removes similar and redundant keypoints within an object and different views of the same object, and may be used to generate and associate a significance value, such as a weight, with respect to remaining keypoint descriptors. Inter-object pruning retains the most informative set of descriptors across different objects, by characterizing the discriminability of the keypoint descriptors for all of the objects and removing keypoint descriptors with a discriminability that is less than a threshold. Additionally, a mobile platform may download a geographically relevant portion of the database and perform object recognition by extracting features from the query image and using determined confidence levels for each query feature during outlier removal.
摘要翻译：通过执行对象内修剪和对象间修剪以及关键点聚类和选择中的至少一个来生成用于对象识别的数据库。对象内修剪删除对象内的相似和冗余的关键点以及相同对象的不同视图，并且可以用于生成关联剩余关键点描述符的重要值（例如权重）并将其相关联。对象间修剪通过表征所有对象的关键点描述符的可区分性并且以小于阈值的区分性去除关键点描述符来保留跨越不同对象的最有用的描述符集合。此外，移动平台可以下载数据库的地理上相关的部分并且通过从查询图像中提取特征并且在异常值去除期间使用确定的每个查询特征的置信水平来执行对象识别。

8. 发明申请

US20120011142A1 FEEDBACK TO IMPROVE OBJECT RECOGNITION 审中-公开
标题翻译：反馈以改善对象识别
公开(公告)号：US20120011142A1
公开(公告)日：2012-01-12
申请号：US12832918
申请日：2010-07-08
申请人： Pawan K. Baheti , Ashwin Swaminathan , Serafin Diaz Spindola , Murali Ramaswamy Chari
发明人： Pawan K. Baheti , Ashwin Swaminathan , Serafin Diaz Spindola , Murali Ramaswamy Chari
IPC分类号： G06F17/30 , G06F7/00
CPC分类号： G06K9/4671
摘要： A database for object recognition is modified based on feedback information received from a mobile platform. The feedback information includes information with respect to an image of an object captured by the mobile platform. The feedback information, for example, may include the image, features extracted from the image, a confidence level for the features, posterior probabilities of the features belonging to an object in the database, GPS information, and heading orientation information. The feedback information may be used to improve the database pruning, add content to the database or update the database compression efficiency. The information feedback to the server by the mobile platform may be determined based on a search of a portion of the database performed by the mobile platform using features extracted from a captured query image.
摘要翻译：基于从移动平台接收的反馈信息修改用于对象识别的数据库。反馈信息包括关于由移动平台捕获的对象的图像的信息。例如，反馈信息可以包括图像，从图像提取的特征，特征的置信水平，属于数据库中的对象的特征的后验概率，GPS信息和航向方向信息。反馈信息可用于改进数据库修剪，向数据库添加内容或更新数据库压缩效率。可以基于由移动平台使用从捕获的查询图像提取的特征来执行的数据库的一部分的搜索来确定由移动平台向服务器反馈的信息。

9. 发明授权

US08427536B2 Orientation determination of a mobile station using side and top view images 失效
标题翻译：使用侧视图和顶视图的移动台的方向确定
公开(公告)号：US08427536B2
公开(公告)日：2013-04-23
申请号：US12622313
申请日：2009-11-19
申请人： Bolan Jiang , Serafin Diaz Spindola
发明人： Bolan Jiang , Serafin Diaz Spindola
IPC分类号： H04N7/18
CPC分类号： H04L67/18 , G06T7/74 , G06T2207/30244 , H04W4/026
摘要： A mobile station determines its orientation using an image of an object produced by the mobile station and a top view of that object obtained from an online server. The mobile station image is analyzed to identify lines on the object and to determine the direction of the lines with respect to the mobile station. The top view image, which may be a satellite image, is also analyzed to identify lines on the object that correspond to the lines identified in the mobile station image. The direction of the lines in the top view image are compared to the direction of lines in the mobile station image and based on their relative orientation the orientation of the mobile station may be determined. For example, the difference between the preliminary and corrected orientations may be stored as a calibration factor and used to correct subsequent orientation measurements from orientation sensors.
摘要翻译：移动台使用由移动台产生的对象的图像和从在线服务器获得的该对象的顶视图来确定其定向。分析移动台图像以识别对象上的线并且确定相对于移动台的线的方向。还可以分析可以是卫星图像的顶视图，以识别与移动台图像中识别的线对应的对象上的线。将顶视图中的线的方向与移动台图像中的线的方向进行比较，并且基于它们的相对定向，可以确定移动台的取向。例如，预备方向和校正方向之间的差可以存储为校正因子，并且用于校正来自定位传感器的后续取向测量。

10. 发明申请

US20110115902A1 ORIENTATION DETERMINATION OF A MOBILE STATION USING SIDE AND TOP VIEW IMAGES 失效
标题翻译：使用侧视图和顶视图的移动站的方位确定
公开(公告)号：US20110115902A1
公开(公告)日：2011-05-19
申请号：US12622313
申请日：2009-11-19
申请人： Bolan Jiang , Serafin Diaz Spindola
发明人： Bolan Jiang , Serafin Diaz Spindola
IPC分类号： H04N7/18 , G01S19/26
CPC分类号： H04L67/18 , G06T7/74 , G06T2207/30244 , H04W4/026
摘要： A mobile station determines its orientation using an image of an object produced by the mobile station and a top view of that object obtained from an online server. The mobile station image is analyzed to identify lines on the object and to determine the direction of the lines with respect to the mobile station. The top view image, which may be a satellite image, is also analyzed to identify lines on the object that correspond to the lines identified in the mobile station image. The direction of the lines in the top view image are compared to the direction of lines in the mobile station image and based on their relative orientation the orientation of the mobile station may be determined. For example, the difference between the preliminary and corrected orientations may be stored as a calibration factor and used to correct subsequent orientation measurements from orientation sensors.
摘要翻译：移动台使用由移动台产生的对象的图像和从在线服务器获得的该对象的顶视图来确定其定向。分析移动台图像以识别对象上的线并且确定相对于移动台的线的方向。还可以分析可以是卫星图像的顶视图，以识别与移动台图像中识别的线对应的对象上的线。将顶视图中的线的方向与移动台图像中的线的方向进行比较，并且基于它们的相对定向，可以确定移动台的取向。例如，预备方向和校正方向之间的差可以存储为校正因子，并且用于校正来自定位传感器的后续取向测量。

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