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1. 发明授权

US07714936B1 Omniview motionless camera orientation system 失效
标题翻译： Omniview静止摄像机定位系统
公开(公告)号：US07714936B1
公开(公告)日：2010-05-11
申请号：US08887319
申请日：1997-07-02
申请人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmermann , Nicholas Busko
发明人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmermann , Nicholas Busko
IPC分类号： H04N9/64 , H04N5/30
CPC分类号： H04N5/23238 , A61B2090/0813 , G06F17/30017 , G06T3/0018 , G08B13/19628 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183
摘要： An apparatus and method is provided for converting digital images for use in an imaging system. The apparatus includes a data memory which stores digital data representing an image having a circular or spherical field of view such as an image captured by a fish-eye lens, a control input for receiving a signal for selecting a portion of the image, and a converter responsive to the control input for converting digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. Various methods include the steps of storing digital data representing an image having a circular or spherical field of view, selecting a portion of the image, and converting the stored digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. In various embodiments, the data converter and data conversion step may use an orthogonal set of transformation algorithms.
摘要翻译：提供了用于转换用于成像系统中的数字图像的装置和方法。该装置包括数据存储器，其存储表示具有圆形或球面视场的图像的数字数据，例如由鱼眼镜头捕获的图像，用于接收用于选择图像的一部分的信号的控制输入，以及转换器，其响应于用于将对应于所选择的部分的数字数据转换成表示用于后续显示的平面图像的数字数据的控制输入。各种方法包括以下步骤：存储表示具有圆形或球面视场的图像的数字数据，选择图像的一部分，以及将存储的与所选择的部分相对应的数字数据转换成表示平面图像的数字数据以供随后显示。在各种实施例中，数据转换器和数据转换步骤可以使用正交变换算法集合。

2. 发明授权

US5313306A Omniview motionless camera endoscopy system 失效
标题翻译： Omniview静止摄像机内窥镜系统
公开(公告)号：US5313306A
公开(公告)日：1994-05-17
申请号：US68776
申请日：1993-06-01
申请人： Daniel P. Kuban , H. Lee Martin , Steven D. Zimmermann
发明人： Daniel P. Kuban , H. Lee Martin , Steven D. Zimmermann
IPC分类号： A61B1/04 , A61B19/00 , G06F17/30 , G06T1/00 , G06T3/00 , G08B13/196 , G08B15/00 , H04N1/21 , H04N5/225 , H04N5/262 , H04N7/00 , H04N7/18 , H04N5/30
CPC分类号： G06F17/30017 , G06T3/0018 , G06T3/0062 , G08B13/19628 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/23238 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183 , A61B2090/0813
摘要： A endoscopic-type device for omnidirectional image viewing providing electronic pan-and-tilt orientation, rotation, and magnification within a selected field-of-view for use in applications in various environments such as in internal medicine inspection, monitoring, and surgery. The imaging device (using optical or infrared images) is based on the effect that the image from a wide angle lens, which produces a circular image of an entire field-of-view, can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming image from a endoscope image acquisition source, including a wide angle lens, is transmitted through an image conduit and captured by a camera that produces output signals according to that image. A transformation of these output signals is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. Multiple simultaneous images can be output from a single input image.
摘要翻译：一种用于全方向图像观看的内窥镜式装置，其在选定的视场内提供电子平移和倾斜取向，旋转和放大，以用于各种环境（例如内部药物检查，监测和手术）中的应用。成像装置（使用光学或红外图像）是基于这样的效果，其可以使用高速电子电路数学地校正产生整个视场的圆形图像的来自广角镜头的图像。更具体地，来自内窥镜图像获取源的输入图像包括广角镜头，通过图像导管传输，并由根据该图像产生输出信号的照相机拍摄。对感兴趣的观看区域和观看方向进行这些输出信号的变换，并且校正的图像被输出为用于观看，记录或分析的视频图像信号。可以从单个输入图像输出多个同时的图像。

3. 发明授权

US5359363A Omniview motionless camera surveillance system 失效
标题翻译： Omniview静止摄像机监控系统
公开(公告)号：US5359363A
公开(公告)日：1994-10-25
申请号：US14508
申请日：1993-02-08
申请人： Daniel P. Kuban , H. Lee Martin , Steven D. Zimmermann , Nick Busko
发明人： Daniel P. Kuban , H. Lee Martin , Steven D. Zimmermann , Nick Busko
IPC分类号： H04N7/18 , A61B19/00 , G06F17/30 , G06T1/00 , G06T3/00 , G08B13/196 , G08B15/00 , H04N1/21 , H04N5/225 , H04N5/262 , H04N5/335 , H04N7/00 , H04N5/30
CPC分类号： H04N5/23238 , G06F17/30017 , G06T3/0018 , G06T3/0062 , G08B13/19628 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183 , A61B2090/0813 , G03B37/06
摘要： A device for omnidirectional image viewing providing pan-and-tilt orientation, rotation, and magnification within a selected field-of-view for use in any application including inspection, monitoring, surveillance, and target acquisition. The imaging device (using optical or infrared images) is based on the effect that the image from a wide angle lens, which produces a circular image of an entire field-of-view, can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. Multiple simultaneous images can be output from a single input image. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout the selected field-of-view without the need for any mechanical mechanisms to move a camera.
摘要翻译：一种用于全方位图像观看的设备，可在选定的视野范围内提供平移和倾斜定向，旋转和放大，以用于包括检查，监视，监视和目标采集在内的任何应用。成像装置（使用光学或红外图像）是基于这样的效果，其可以使用高速电子电路数学地校正产生整个视场的圆形图像的来自广角镜头的图像。更具体地，来自任何图像采集源的输入图像被捕获在设备的存储器中，对感兴趣的观看区域和观看方向进行变换，并且校正的图像被输出为视频图像信号，用于观看，记录或分析。可以从单个输入图像输出多个同时的图像。因此，该设备可以在所选的视场中完成平移，倾斜，旋转和缩放的功能，而不需要任何机械机构来移动相机。

4. 发明授权

US06603502B2 System for omnidirectional image viewing at a remote location without the transmission of control signals to select viewing parameters 失效
标题翻译：在广角视频中同时显示多个视图
公开(公告)号：US06603502B2
公开(公告)日：2003-08-05
申请号：US09259273
申请日：1999-03-01
申请人： H. Lee Martin , Daniel P. Kuban
发明人： H. Lee Martin , Daniel P. Kuban
IPC分类号： H04N700
CPC分类号： H04N5/23238 , A61B2090/0813 , G06F17/30017 , G06T3/0018 , G06T3/0062 , G08B13/19628 , G08B13/1963 , G08B13/19656 , G08B13/19658 , G08B13/19676 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183
摘要： A system for achieving perspective-corrected views at a location removed from the site of the creation of a distorted wide angle image without the transmission of control signals to the site of image creation. Angles of tilt, pan and rotation, as well as degrees of magnification, are achieved without the use of mechanical devices by using transform algorithms. The system provides for the transmission of signals related to an uncorrected image from a site where this distorted image is created, with the transmitted signals being received at one or more processing sites for creating the perspectively-corrected views. Transmission can be via telephone lines, with the system including signal compression and decompression units. Wireless transmission is also utilized where desired.
摘要翻译：用于在从创建失真的广角图像的位置移除的位置处实现透视校正视图而不将控制信号传输到图像创建的位置的系统。通过使用变换算法，不需要使用机械装置就能实现倾斜，平移和旋转的角度以及放大倍率。该系统提供与来自创建该失真图像的位置处的未校正图像相关的信号的传输，其中所发送的信号在一个或多个处理站点处被接收以用于创建经透视校正的视图。传输可以通过电话线路，系统包括信号压缩和减压单元。如果需要也可以使用无线传输。

5. 发明授权

US5877801A System for omnidirectional image viewing at a remote location without the transmission of control signals to select viewing parameters 失效
标题翻译：用于在远程位置进行全方向图像观看的系统，而不传输控制信号以选择观看参数
公开(公告)号：US5877801A
公开(公告)日：1999-03-02
申请号：US870410
申请日：1997-06-05
申请人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmerman , Nicholas Busko
发明人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmerman , Nicholas Busko
IPC分类号： A61B19/00 , G06F17/30 , G06T1/00 , G06T3/00 , G08B13/196 , G08B15/00 , G08B25/08 , H04N1/21 , H04N5/225 , H04N5/228 , H04N5/262 , H04N5/335 , H04N7/00 , H04N7/15 , H04N7/18 , H04N7/24 , H04N5/30
CPC分类号： H04N5/23238 , G06F17/30017 , G06T3/0018 , G06T3/0062 , G08B13/19628 , G08B13/1963 , G08B13/19656 , G08B13/19658 , G08B13/19676 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183 , A61B2090/0813
摘要： A system for achieving perspective-corrected views at a location removed from the site of the creation of a distorted wide angle image without the transmission of control signals to the site of image creation. Angles of tilt, pan and rotation, as well as degrees of magnification, are achieved without the use of mechanical devices by using transform algorithms. The system provides for the transmission of signals related to an uncorrected image from a site where this distorted image is created, with the transmitted signals being received at one or more processing sites for creating the perspectively-corrected views. Transmission can be via telephone lines, with the system including signal compression and decompression units. Wireless transmission is also utilized where desired.
摘要翻译：用于在从创建失真的广角图像的位置移除的位置处实现透视校正视图而不将控制信号传输到图像创建的位置的系统。通过使用变换算法，不需要使用机械装置就能实现倾斜，平移和旋转的角度以及放大倍率。该系统提供与来自创建该失真图像的位置处的未校正图像相关的信号的传输，其中所发送的信号在一个或多个处理站点处被接收以用于创建经透视校正的视图。传输可以通过电话线路，系统包括信号压缩和减压单元。如果需要也可以使用无线传输。

6. 发明授权

US4780047A Advanced servo manipulator 失效
标题翻译：高级伺服机械手
公开(公告)号：US4780047A
公开(公告)日：1988-10-25
申请号：US720449
申请日：1985-04-05
申请人： William E. Holt , Daniel P. Kuban , H. Lee Martin
发明人： William E. Holt , Daniel P. Kuban , H. Lee Martin
IPC分类号： B25J3/04 , B25J9/08 , B25J17/02 , B25J19/00 , B25J9/06
CPC分类号： B25J9/0087 , B25J17/0283 , B25J19/002 , B25J19/0025 , B25J3/04 , B25J9/08
摘要： An advanced servo manipulator has modular parts. Modular motor members drive individual input gears to control shoulder roll, shoulder pitch, elbow pitch, wrist yaw, wrist pitch, wrist roll, and tong spacing. The modules include a support member, a shoulder module for controlling shoulder roll, and a sleeve module attached to the shoulder module in fixed relation thereto. The shoulder roll sleeve module has an inner cylindrical member rotatable relative to the outer cylindrical member, and upon which a gear pod assembly is mounted. A plurality of shafts are driven by the gears, which are in turn driven by individual motor modules to transmit rotary power to control elbow pitch as well as to provide four different rotary shafts across the bendable elbow joint to supply rotary motive power to a wrist member and tong member.
摘要翻译：先进的伺服机械手具有模块化部件。模块化的电机部件驱动单个输入齿轮，以控制肩胛骨，肩胛骨间距，肘节距，手腕偏转，腕节距，腕带和钳间距。模块包括支撑构件，用于控制肩部辊的肩部模块以及以固定关系附接到肩部模块的套筒模块。肩部辊筒模块具有可相对于外部圆柱形构件旋转的内部圆柱形构件，并且安装齿轮箱组件。多个轴由齿轮驱动，齿轮又由单独的电动机模块驱动，以传递旋转动力以控制弯头间距，并且跨越可弯曲的弯头接头提供四个不同的旋转轴，以向腕部件提供旋转动力和成员。

7. 发明申请

US20110007129A1 OMNIVIEW MOTIONLESS CAMERA ORIENTATION SYSTEM 审中-公开
标题翻译： OMNIVIEW无运动摄像机定向系统
公开(公告)号：US20110007129A1
公开(公告)日：2011-01-13
申请号：US12754773
申请日：2010-04-06
申请人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmerman , Nicholas Busko
发明人： H. Lee Martin , Daniel P. Kuban , Steven D. Zimmerman , Nicholas Busko
IPC分类号： H04N5/225
CPC分类号： H04N5/23238 , A61B2090/0813 , G06F16/40 , G06T3/0018 , G08B13/19628 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183
摘要： An apparatus and method is provided for converting digital images for use in an imaging system. The apparatus includes a data memory which stores digital data representing an image having a circular or spherical field of view such as an image captured by a fish-eye lens, a control input for receiving a signal for selecting a portion of the image, and a converter responsive to the control input for converting digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. Various methods include the steps of storing digital data representing an image having a circular or spherical field of view, selecting a portion of the image, and converting the stored digital data corresponding to the selected portion into digital data representing a planar image for subsequent display. In various embodiments, the data converter and data conversion step may use an orthogonal set of transformation algorithms.
摘要翻译：提供了用于转换用于成像系统中的数字图像的装置和方法。该装置包括数据存储器，其存储表示具有圆形或球面视场的图像的数字数据，例如由鱼眼镜头捕获的图像，用于接收用于选择图像的一部分的信号的控制输入，以及转换器，其响应于用于将对应于所选择的部分的数字数据转换成表示用于后续显示的平面图像的数字数据的控制输入。各种方法包括以下步骤：存储表示具有圆形或球面视场的图像的数字数据，选择图像的一部分，以及将存储的与所选择的部分相对应的数字数据转换成表示平面图像的数字数据以供随后显示。在各种实施例中，数据转换器和数据转换步骤可以使用正交变换算法集合。

8. 发明授权

US5384588A System for omindirectional image viewing at a remote location without the transmission of control signals to select viewing parameters 失效
标题翻译：用于在远程位置进行方向图像观看的系统，而不传输控制信号以选择观看参数
公开(公告)号：US5384588A
公开(公告)日：1995-01-24
申请号：US189585
申请日：1994-01-31
申请人： H. Lee Martin , Daniel P. Kuban
发明人： H. Lee Martin , Daniel P. Kuban
IPC分类号： A61B19/00 , G06F17/30 , G06T1/00 , G06T3/00 , G08B13/196 , G08B15/00 , G08B25/08 , H04N1/21 , H04N5/225 , H04N5/228 , H04N5/262 , H04N5/335 , H04N7/00 , H04N7/15 , H04N7/18 , H04N7/24 , H04N5/30
CPC分类号： H04N5/23238 , G06F17/30017 , G06T3/0018 , G06T3/0062 , G08B13/19628 , G08B13/1963 , G08B13/19656 , G08B13/19658 , G08B13/19676 , G08B13/19689 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183 , A61B2090/0813
摘要： A system for achieving perspective-corrected views at a location removed from the site of the creation of a distorted wide angle image without the transmission of control signals to the site of image creation. Angles of tilt, pan and rotation, as well as degrees of magnification, are achieved without the use of mechanical devices by using transform algorithms. The system provides for the transmission of signals related to an uncorrected image from a site where this distorted image is created, with the transmitted signals being received at one or more processing sites for creating the perspectively-corrected views. Transmission can be via telephone lines, with the system including signal compression and decompression units. Wireless transmission is also utilized where desired.
摘要翻译：用于在从创建失真的广角图像的位置移除的位置处实现透视校正视图而不将控制信号传输到图像创建的位置的系统。通过使用变换算法，不需要使用机械装置就能实现倾斜，平移和旋转的角度以及放大倍率。该系统提供与来自创建该失真图像的位置处的未校正图像相关的信号的传输，其中所发送的信号在一个或多个处理站点处被接收以用于创建经透视校正的视图。传输可以通过电话线路，系统包括信号压缩和减压单元。如果需要也可以使用无线传输。

9. 再颁专利

USRE36207E Omniview motionless camera orientation system 失效
标题翻译： Omniview静止摄像机定位系统
公开(公告)号：USRE36207E
公开(公告)日：1999-05-04
申请号：US662410
申请日：1996-07-12
申请人： Steven D. Zimmermann , H. Lee Martin
发明人： Steven D. Zimmermann , H. Lee Martin
IPC分类号： A61B19/00 , G06F17/30 , G06T1/00 , G06T3/00 , G08B13/196 , G08B15/00 , H04N1/21 , H04N5/225 , H04N5/262 , H04N5/335 , H04N7/00 , H04N7/18 , H04N5/30
CPC分类号： H04N5/23238 , G06T3/0018 , G06T3/0062 , G08B13/19628 , H04N1/2158 , H04N1/217 , H04N5/2259 , H04N5/2628 , H04N5/335 , H04N7/002 , H04N7/183 , A61B2090/0813 , G03B37/06
摘要： A device for omnidirectional image viewing providing pan-and-tilt orientation, rotation, and magnification within a hemispherical field-of-view that utilizes no moving parts. The imaging device is based on the effect that the image from a fisheye lens, which produces a circular image of at entire hemispherical field-of-view, which can be mathematically corrected using high speed electronic circuitry. More specifically, an incoming fisheye image from any image acquisition source is captured in memory of the device, a transformation is performed for the viewing region of interest and viewing direction, and a corrected image is output as a video image signal for viewing, recording, or analysis. As a result, this device can accomplish the functions of pan, tilt, rotation, and zoom throughout a hemispherical field-of-view without the need for any mechanical mechanisms. The preferred embodiment of the image transformation device can provide corrected images at real-time rates, compatible with standard video equipment. The device can be used for any application where a conventional pan-and-tilt or orientation mechanism might be considered including inspection, monitoring, surveillance, and target acquisition.
摘要翻译：一种用于全方位图像观看的装置，在不使用移动部件的半球形视场内提供平移和倾斜定向，旋转和放大。该成像装置基于这样的效果：来自鱼眼镜头的图像，其产生整个半球形视场的圆形图像，其可以使用高速电子电路进行数学校正。更具体地说，来自任何图像采集源的输入鱼眼图像被捕获在设备的存储器中，对感兴趣的观看区域和观看方向进行变换，并且校正的图像被输出为用于观看，记录，或分析。结果，该装置可以实现在整个半球形视野范围内摇摄，倾斜，旋转和变焦的功能，而不需要任何机械机构。图像变换装置的优选实施例可以提供与标准视频设备兼容的实时速率的校正图像。该设备可用于任何可能考虑常规平移和倾斜或定向机构的应用，包括检查，监控，监视和目标采集。

10. 发明申请

US20090040291A1 OMNIVIEW MOTIONLESS CAMERA ORIENTATION SYSTEM 审中-公开
标题翻译： OMNIVIEW无运动摄像机定向系统
公开(公告)号：US20090040291A1
公开(公告)日：2009-02-12
申请号：US12102699
申请日：2008-04-14
申请人： Danny A. McCall , H. Lee Martin
发明人： Danny A. McCall , H. Lee Martin
IPC分类号： H04N7/00
CPC分类号： H04N5/2254 , H04N5/2259
摘要： A method and apparatus for capture of a spherical image is disclosed. The present invention includes at least one camera having a lens with at least a 180° field-of-view for capturing a hemispherical image. In a first embodiment, a second hemispherical image is created corresponding to a mirror image of the hemispherical image captured by the camera. In a second embodiment, two back-to-back cameras capture first and second hemispherical images, respectively. In both embodiments, a converter combines the two images along their outside edges to form a single, spherical image. Finally, the converter stores the complete spherical image for later retrieval and perspective corrected viewing.
摘要翻译：公开了一种用于捕获球形图像的方法和装置。本发明包括至少一个具有至少180°视野的透镜的摄像机，用于捕获半球形图像。在第一实施例中，对应于由照相机拍摄的半球形图像的镜像形成第二半球形图像。在第二实施例中，两个背靠背相机分别捕获第一和第二半球形图像。在两个实施例中，转换器沿其外边缘组合两个图像以形成单个球面图像。最后，转换器存储完整的球面图像供以后检索和透视校正观看。

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