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1. 发明授权

US06879705B1 Method and apparatus for tracking multiple objects in a video sequence 有权
标题翻译：用于跟踪视频序列中的多个对象的方法和装置
公开(公告)号：US06879705B1
公开(公告)日：2005-04-12
申请号：US09615971
申请日：2000-07-14
申请人： Hai Tao , Rakesh Kumar , Harpreet Singh Sawhney
发明人： Hai Tao , Rakesh Kumar , Harpreet Singh Sawhney
IPC分类号： G06K9/00 , G06T7/20
CPC分类号： G06T7/20
摘要： A method and apparatus for tracking multiple objects in a video sequence. The method defines a group of objects as a configuration, selects a configuration for a current video frame, predicts a configuration using a two-level process and computes the likelihood of the configuration. Using this method in an iterative manner on a sequence of frames, tracks the object group through the sequence.
摘要翻译：一种用于跟踪视频序列中的多个对象的方法和装置。该方法将一组对象定义为配置，为当前视频帧选择配置，使用两级进程预测配置，并计算配置的可能性。在一系列帧上以迭代的方式使用此方法，通过序列跟踪对象组。

2. 发明授权

US07085409B2 Method and apparatus for synthesizing new video and/or still imagery from a collection of real video and/or still imagery 有权
公开(公告)号：US07085409B2
公开(公告)日：2006-08-01
申请号：US09978158
申请日：2001-10-16
申请人： Harpreet Singh Sawhney , Hai Tao , Rakesh Kumar , Keith Hanna
发明人： Harpreet Singh Sawhney , Hai Tao , Rakesh Kumar , Keith Hanna
IPC分类号： G06K9/00 , G06T15/00 , G06T15/40
CPC分类号： G06T15/205 , G06T7/97 , G06T2207/20228 , G06T2210/44
摘要： An image-based tele-presence system forward warps video images selected from a plurality fixed imagers using local depth maps and merges the warped images to form high quality images that appear as seen from a virtual position. At least two images, from the images produced by the imagers, are selected for creating a virtual image. Depth maps are generated corresponding to each of the selected images. Selected images are warped to the virtual viewpoint using warp parameters calculated using corresponding depth maps. Finally the warped images are merged to create the high quality virtual image as seen from the selected viewpoint. The system employs a video blanket of imagers, which helps both optimize the number of imagers and attain higher resolution. In an exemplary video blanket, cameras are deployed in a geometric pattern on a surface.

3. 发明授权

US06847728B2 Dynamic depth recovery from multiple synchronized video streams 有权
标题翻译：从多个同步视频流动态深度恢复
公开(公告)号：US06847728B2
公开(公告)日：2005-01-25
申请号：US10315291
申请日：2002-12-09
申请人： Hai Tao , Harpreet Singh Sawhney , Rakesh Kumar
发明人： Hai Tao , Harpreet Singh Sawhney , Rakesh Kumar
IPC分类号： G06T7/00 , G06K9/00
CPC分类号： G06T7/579
摘要： A method of generating a dynamic depth map for a sequence of images from multiple cameras models a scene as a collection of 3D piecewise planar surface patches induced by color based image segmentation. This representation is continuously estimated using an incremental formulation in which the 3D geometric, motion, and global visibility constraints are enforced over space and time. The proposed algorithm optimizes a cost function that incorporates the spatial color consistency constraint and a smooth scene motion model.
摘要翻译：为来自多个摄像机的图像序列生成动态深度图的方法将场景模拟为基于颜色的图像分割引起的3D分段平面表面贴片的集合。使用增量公式连续估计这种表示，其中3D几何，运动和全局可见性约束在空间和时间上被强制执行。所提出的算法优化了包含空间颜色一致性约束和平滑场景运动模型的成本函数。

4. 发明授权

US06826292B1 Method and apparatus for tracking moving objects in a sequence of two-dimensional images using a dynamic layered representation 有权
标题翻译：使用动态分层表示来跟踪二维图像序列中的移动物体的方法和装置
公开(公告)号：US06826292B1
公开(公告)日：2004-11-30
申请号：US09603666
申请日：2000-06-23
申请人： Hai Tao , Rakesh Kumar , Harpreet Singh Sawhney
发明人： Hai Tao , Rakesh Kumar , Harpreet Singh Sawhney
IPC分类号： G06K300
CPC分类号： G06K9/32 , G06T7/215 , G06T7/277 , G06T2207/10016 , G06T2207/10032 , G06T2207/20116 , G06T2207/30236 , G06T2207/30252
摘要： A system that tracks one or more moving objects in a sequence of video images employs a dynamic layer representation to represent the objects that are being tracked. The system concurrently estimates three components of the dynamic layer representation—layer segmentation, motion, and appearance—over time in a maximum a posteriori (MAP) framework. In order to enforce a global shape constraint and to maintain the layer segmentation over time, the subject invention imposes a prior constraint on parametric segmentation. In addition, the system uses a generalized Expectation-Maximization (EM) algorithm to compute an optimal solution. The system uses an object state that consists of representations of motion, appearance and ownership masks. The system applies a constant appearance model across multiple images in the video stream.
摘要翻译：跟踪视频图像序列中的一个或多个移动对象的系统采用动态层表示来表示正被跟踪的对象。该系统在最大后验（MAP）框架中同时估计动态层表示层分段，运动和随时间出现的三个组成部分。为了实施全局形状约束并且随着时间维持层分割，本发明对参数分割施加了先前的约束。此外，该系统使用广义期望最大化（EM）算法来计算最优解。系统使用由运动，外观和所有权掩码的表示组成的对象状态。系统在视频流中跨多个图像应用恒定外观模型。

5. 发明申请

US20120002869A1 System and method for detection of multi-view/multi-pose objects 有权
标题翻译：用于检测多视点/多姿态对象的系统和方法
公开(公告)号：US20120002869A1
公开(公告)日：2012-01-05
申请号：US13134885
申请日：2011-06-20
申请人： Feng Han , Ying Shan , Harpreet Singh Sawhney , Rakesh Kumar
发明人： Feng Han , Ying Shan , Harpreet Singh Sawhney , Rakesh Kumar
IPC分类号： G06K9/62
CPC分类号： G06K9/6256
摘要： The present invention provides a computer implemented process for detecting multi-view multi-pose objects. The process comprises training of a classifier for each intra-class exemplar, training of a strong classifier and combining the individual exemplar-based classifiers with a single objective function. This function is optimized using the two nested AdaBoost loops. The first loop is the outer loop that selects discriminative candidate exemplars. The second loop, the inner loop selects the discriminative candidate features on the selected exemplars to compute all weak classifiers for a specific position such as a view/pose. Then all the computed weak classifiers are automatically combined into a final classifier (strong classifier) which is the object to be detected.
摘要翻译：本发明提供了一种用于检测多视点多姿态对象的计算机实现过程。该过程包括针对每个类内样本的分类器的训练，强分类器的训练和将单个基于样本的分类器与单个目标函数组合。使用两个嵌套的AdaBoost循环来优化此功能。第一个循环是选择区分候选样本的外循环。第二个循环，内循环选择所选样本上的鉴别候选特征，以计算特定位置（例如视图/姿态）的所有弱分类器。然后将所有计算的弱分类器自动组合成最终分类器（强分类器），该分类器是要检测的对象。

6. 发明授权

US07522186B2 Method and apparatus for providing immersive surveillance 失效
标题翻译：用于提供沉浸式监视的方法和装置
公开(公告)号：US07522186B2
公开(公告)日：2009-04-21
申请号：US10202546
申请日：2002-07-24
申请人： Aydin Arpa , Keith J. Hanna , Rakesh Kumar , Supun Samarasekera , Harpreet Singh Sawhney , Manoj Aggarwal , David Nister , Stephen Hsu
发明人： Aydin Arpa , Keith J. Hanna , Rakesh Kumar , Supun Samarasekera , Harpreet Singh Sawhney , Manoj Aggarwal , David Nister , Stephen Hsu
IPC分类号： H04N7/18
CPC分类号： G06T15/205 , G06T7/251 , G06T7/30 , G06T7/50 , G06T19/006 , G06T2207/30241 , G08B13/19608 , G08B13/19641 , G08B13/19693 , H04N7/181
摘要： A method and apparatus for providing immersive surveillance wherein a remote security guard may monitor a scene using a variety of imagery sources that are rendered upon a model to provide a three-dimensional conceptual view of the scene. Using a view selector, the security guard may dynamically select a camera view to be displayed on his conceptual model, perform a walk through of the scene, identify moving objects and select the best view of those moving objects and so on.
摘要翻译：一种用于提供沉浸式监视的方法和装置，其中远程安全保卫可以使用在模型上呈现的各种图像源来监视场景以提供场景的三维概念视图。使用视图选择器，安全警卫可以动态地选择要在其概念模型上显示的相机视图，执行场景的走过，识别移动对象并选择那些移动物体的最佳视图等等。

7. 发明授权

US06571024B1 Method and apparatus for multi-view three dimensional estimation 有权
标题翻译：用于多视图三维估计的方法和装置
公开(公告)号：US06571024B1
公开(公告)日：2003-05-27
申请号：US09336319
申请日：1999-06-18
申请人： Harpreet Singh Sawhney , Rakesh Kumar , Yanlin Guo , Jane Asmuth , Keith James Hanna
发明人： Harpreet Singh Sawhney , Rakesh Kumar , Yanlin Guo , Jane Asmuth , Keith James Hanna
IPC分类号： G06K932
CPC分类号： G06T7/248 , G06T7/246 , G06T2207/10016 , G06T2207/30244
摘要： An apparatus and method for generating automated multi-view three dimensional pose and geometry estimation for the insertion of realistic and authentic views of synthetic objects into a real scene. A multi-view three dimensional estimation routine comprising the steps of feature tracking, pairwise camera pose estimation, computing camera pose for overlapping sequences and performing a global block adjustment to provide camera pose and scene geometric information for each frame of a scene. A match move routine may be used to insert a synthetic object into one frame of a video sequence based on the pose and geometric information of the frame, and calculate all other required object views of the synthetic object for the remaining frames using the pose and geometric information acquired as a result of the multi-view three dimensional estimation routine.
摘要翻译：一种用于产生用于将合成对象的真实和真实视图插入到真实场景中的自动多视图三维姿态和几何估计的装置和方法。一种多视图三维估计程序，包括特征跟踪，配对摄像机姿态估计，重叠序列的计算摄像机姿态，以及执行全局块调整以为场景的每个帧提供摄像机姿态和场景几何信息的步骤。可以使用匹配移动例程来基于帧的姿态和几何信息将合成对象插入到视频序列的一帧中，并且使用姿态和几何来计算剩余帧的合成对象的所有其他所需对象视图作为多视图三维估计程序的结果获取的信息。

8. 发明授权

US06269175B1 Method and apparatus for enhancing regions of aligned images using flow estimation 有权
标题翻译：使用流量估计来增强对准图像区域的方法和装置
公开(公告)号：US06269175B1
公开(公告)日：2001-07-31
申请号：US09384118
申请日：1999-08-27
申请人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
发明人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
IPC分类号： G06K936
CPC分类号： G06T7/55 , G06T5/50 , G06T2207/10012 , H04N13/111 , H04N13/15 , H04N13/189 , H04N13/239 , H04N13/243 , H04N13/246 , H04N13/25 , H04N13/286 , H04N13/296 , H04N2013/0081
摘要： A method and apparatus for accurately computing parallax information as captured by imagery of a scene. The method computes the parallax information of each point in an image by computing the parallax within windows that are offset with respect to the point for which the parallax is being computed. Additionally, parallax computations are performed over multiple frames of imagery to ensure accuracy of the parallax computation and to facilitate correction of occluded imagery.
摘要翻译：一种用于准确地计算由场景的图像捕获的视差信息的方法和装置。该方法通过计算相对于计算视差的点偏移的窗口内的视差来计算图像中每个点的视差信息。另外，在多个图像帧上执行视差计算，以确保视差计算的准确性并且有利于闭塞图像的校正。

9. 发明授权

US06173087B2 Multi-view image registration with application to mosaicing and lens distortion correction 失效
标题翻译：多视图图像配准应用于镶嵌和镜头失真校正
公开(公告)号：US06173087B2
公开(公告)日：2001-01-09
申请号：US08966776
申请日：1997-11-10
申请人： Rakesh Kumar , Harpreet Singh Sawhney , James Russell Bergen
发明人： Rakesh Kumar , Harpreet Singh Sawhney , James Russell Bergen
IPC分类号： G06K936
CPC分类号： G06K9/32 , G06K2009/2045 , G06T3/0081 , G06T3/4038 , H04N19/23 , H04N19/597
摘要： An embodiment of the invention is a system and process for true multi-image alignment that does not rely on the measurements of a reference image being distortion free. For instance, lens distortion is a common imaging phenomenon. When lens distortion is present, none of the images can be assumed to be ideal. In an embodiment of the invention, all the images are modeled as intensity measurements represented in their respective coordinate systems, each of which is related to a reference coordinate system through an interior camera transformation and an exterior view transformation. Motion parameters determined in accordance with an embodiment of the invention dictate the position of the input frames within the reference frame. A reference coordinate system is used, but not a reference image. Motion parameters are computed to warp all input images to a virtual image mosaic in the reference coordinate system of the reference frame. Each pixel in the virtual image mosaic may be predicted by intensities at corresponding pixel positions from more than one image. The error measure, which is the sum of the variances of predicted pixel intensities at each pixel location summed over the virtual image mosaic, is minimized. The embodiment of the invention advantageously maximally uses information present in all images.
摘要翻译：本发明的实施例是用于真正的多图像对准的系统和过程，其不依赖于无失真的参考图像的测量。例如，镜头失真是常见的成像现象。当存在透镜失真时，不能假定图像是理想的。在本发明的一个实施例中，所有图像被建模为在它们各自的坐标系中表示的强度测量值，每个坐标系统通过内部照相机变换和外部视图变换与参考坐标系相关。根据本发明的实施例确定的运动参数指示输入框在参考框架内的位置。使用参考坐标系，而不是参考图像。计算运动参数以将所有输入图像扭曲成参考框架的参考坐标系中的虚拟图像马赛克。可以通过来自多于一个图像的相应像素位置处的强度来预测虚拟图像镶嵌中的每个像素。误差测量值是在虚拟图像镶嵌中相加的每个像素位置处的预测像素强度的方差之和。本发明的实施例有利地最大限度地利用存在于所有图像中的信息。

10. 发明授权

US08861842B2 Method and apparatus for real-time pedestrian detection for urban driving 有权
标题翻译：城市驾驶实时行人检测方法与装置
公开(公告)号：US08861842B2
公开(公告)日：2014-10-14
申请号：US13022118
申请日：2011-02-07
申请人： Sang-Hack Jung , Mayank Bansal , Bogdan Calin Mihai Matei , Jayan Eledath , Harpreet Singh Sawhney , Rakesh Kumar , Raia Hadsell
发明人： Sang-Hack Jung , Mayank Bansal , Bogdan Calin Mihai Matei , Jayan Eledath , Harpreet Singh Sawhney , Rakesh Kumar , Raia Hadsell
IPC分类号： G06K9/00
CPC分类号： G06K9/00805 , G06K9/00369
摘要： A computer implemented method for detecting the presence of one or more pedestrians in the vicinity of the vehicle is disclosed. Imagery of a scene is received from at least one image capturing device. A depth map is derived from the imagery. A plurality of pedestrian candidate regions of interest (ROIs) is detected from the depth map by matching each of the plurality of ROIs with a 3D human shape model. At least a portion of the candidate ROIs is classified by employing a cascade of classifiers tuned for a plurality of depth bands and trained on a filtered representation of data within the portion of candidate ROIs to determine whether at least one pedestrian is proximal to the vehicle.
摘要翻译：公开了一种用于检测车辆附近的一个或多个行人的存在的计算机实现方法。从至少一个图像捕获装置接收场景的图像。从图像中导出深度图。通过将多个ROI中的每一个与3D人体形状模型进行匹配，从深度图检测多个行人候选区域（ROI）。候选ROI的至少一部分通过采用针对多个深度带调谐的分级器级联进行分类，并且针对候选ROI部分内的数据的滤波表示进行训练，以确定至少一个行人是否靠近车辆。

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