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1. 发明授权

US10482571B2 Dual fisheye, hemispherical image projection and stitching method, device and computer-readable medium 有权
公开(公告)号：US10482571B2
公开(公告)日：2019-11-19
申请号：US15697606
申请日：2017-09-07
申请人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
发明人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
IPC分类号： G06T3/00 , H04N5/232
摘要： An image processing method include projecting first and second images which are captured by two fisheye lenses onto first and second hemispherical projection models, respectively; determining a set of waiting-for-stitching surface region pairs on the first and second hemispherical projection models; extracting feature points from the two fisheye images and determining feature points matching each other to serving as pixels matching each other; determining a set of surface region pairs including the pixels matching each other on the first and second hemispherical projection models as the set of waiting-for-stitching surface region pairs; generating a customized projection model on the grounds of the set of waiting-for-stitching surface region pairs by letting a spherical distance between vertexes of each pair in the set of waiting-for-stitching surface region pairs be zero; and generating a third image by projecting the first and second images onto the customized projection model.

2. 发明授权

US09772396B2 Relative orientation angle calculation method and device as well as relative positioning method 有权
公开(公告)号：US09772396B2
公开(公告)日：2017-09-26
申请号：US15013031
申请日：2016-02-02
申请人： Ke Liao , Bin Da , Wei Wang , Haihua Yu , Hong Yi
发明人： Ke Liao , Bin Da , Wei Wang , Haihua Yu , Hong Yi
IPC分类号： H04Q7/10 , G01S5/02 , G01C21/16
CPC分类号： G01S5/0289 , G01C21/165
摘要： Disclosed is a relative orientation angle calculation method comprising steps of obtaining inertial sensor data of first and second mobile devices, the first mobile device being capable of sending a first signal to the second mobile device; obtaining a sending frequency that the first signal has when the first mobile device sends the first signal to the second mobile device; obtaining a receipt frequency that the first signal has when the second mobile device receives the first signal sent from the first mobile device, the first signal receiving influence of the Doppler effect in a sending process in which the first signal is sent to the second mobile device from the first mobile device; and calculating, based on the inertial sensor data, the sending frequency, and the receipt frequency, a relative orientation angle between the first and second mobile devices.

3. 发明授权

US10438334B2 Three dimensional image fusion method and device and non-transitory computer-readable medium 有权
公开(公告)号：US10438334B2
公开(公告)日：2019-10-08
申请号：US15848692
申请日：2017-12-20
申请人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
发明人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
IPC分类号： G06T5/00 , G06T5/50 , G06T7/30 , G06T7/33 , G06T3/00 , G06T15/20
摘要： Three dimensional image fusion method and device are disclosed. The method includes steps of obtaining a spherical image and a two dimensional image; projecting the two dimensional image onto a planar surface predetermined in a spherical coordinate system where the spherical image is located, so as to acquire a projected image having a predetermined number of feature points on the spherical surface corresponding to the spherical image; determining multiple mapping points on the spherical surface which correspond to the predetermined number of feature points, letting the predetermined number of feature points superpose on the multiple mapping points, respectively, and carrying out spatial coordinate conversion, so as to attain a converted image; and mapping multiple points except the predetermined number of feature points in the converted image onto the spherical image based on a predetermined mapping relationship, so as to fuse the two dimensional image onto the spherical image.

4. 发明申请

US20180240223A1 THREE DIMENSIONAL IMAGE FUSION METHOD AND DEVICE AND NON-TRANSITORY COMPUTER-READABLE MEDIUM 审中-公开
公开(公告)号：US20180240223A1
公开(公告)日：2018-08-23
申请号：US15848692
申请日：2017-12-20
申请人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
发明人： Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
IPC分类号： G06T5/50 , G06T7/30
CPC分类号： G06T5/50 , G06T3/00 , G06T7/30 , G06T7/33 , G06T15/20 , G06T2207/20221
摘要： Three dimensional image fusion method and device are disclosed. The method includes steps of obtaining a spherical image and a two dimensional image; projecting the two dimensional image onto a planar surface predetermined in a spherical coordinate system where the spherical image is located, so as to acquire a projected image having a predetermined number of feature points on the spherical surface corresponding to the spherical image; determining multiple mapping points on the spherical surface which correspond to the predetermined number of feature points, letting the predetermined number of feature points superpose on the multiple mapping points, respectively, and carrying out spatial coordinate conversion, so as to attain a converted image; and mapping multiple points except the predetermined number of feature points in the converted image onto the spherical image based on a predetermined mapping relationship, so as to fuse the two dimensional image onto the spherical image.

5. 发明授权

US08861892B2 Method and apparatus for determining projection area of image 有权
标题翻译：用于确定图像投影面积的方法和装置
公开(公告)号：US08861892B2
公开(公告)日：2014-10-14
申请号：US13666152
申请日：2012-11-01
申请人： Haihua Yu , Hong Yi , Wei Wang
发明人： Haihua Yu , Hong Yi , Wei Wang
IPC分类号： G06K9/32 , G06K9/36 , G06T7/00
CPC分类号： G06T7/00 , G06T7/73 , G06T2207/10016 , G06T2207/10152 , G06T2207/20164
摘要： A method and an apparatus for determining a projection area of an image are provided. The method for determining a projection area of an image, comprises: an input step of inputting an image sequence having a plurality of images; a detecting step of detecting locations of projection areas of the respective images in the image sequence; a relationship classification judging step of judging a relationship classification between the image and a previous image before the image being projected based on a relationship between the location of the projection area of the image and the location of the projection area of the previous image; and a determining step of determining the locations of the projection areas of the respective images based on the relationship classification judged in the relationship classification judging step.
摘要翻译：提供了一种用于确定图像的投影区域的方法和装置。用于确定图像的投影区域的方法包括：输入步骤，输入具有多个图像的图像序列; 检测步骤，检测图像序列中各图像的投影区域的位置; 关系分类判断步骤，基于图像的投影区域的位置与前一图像的投影区域的位置之间的关系来判断图像与投影图像之前的先前图像之间的关系分类; 以及确定步骤，基于在关系分类判断步骤中判断的关系分类来确定各个图像的投影区域的位置。

6. 发明授权

US10478068B2 Camera device having a parabolic mirror set between dual cameras and method for shooting light having at least two wavelength bands 有权
公开(公告)号：US10478068B2
公开(公告)日：2019-11-19
申请号：US15869710
申请日：2018-01-12
申请人： Yupeng Zhang , Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
发明人： Yupeng Zhang , Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
IPC分类号： A61B5/00 , G01T1/16 , A61B6/00 , G01T1/29
摘要： Camera device and method for shooting light having at least two wavelength bands are disclosed. The camera device includes a first camera containing a first lens for receiving light having a first wavelength band; a second camera including a second lens for receiving light having a second wavelength band which is different from the first wavelength band, the second lens being disposed facing the first lens of the first camera; and a parabolic mirror set between the first camera and the second camera, able to let the light having the first wavelength band penetrate therethrough, and at the same time, reflect the light having the second wavelength band. The first camera is a non-fisheye camera. The first lens is a non-fisheye lens. The second camera and the parabolic mirror form a catadioptric camera. The aperture stop of the non-fisheye lens coincides with the focal point of the parabolic mirror.

7. 发明申请

US20180249910A1 CAMERA DEVICE AND METHOD FOR SHOOTING LIGHT HAVING AT LEAST TWO WAVELENGTH BANDS 审中-公开
公开(公告)号：US20180249910A1
公开(公告)日：2018-09-06
申请号：US15869710
申请日：2018-01-12
申请人： Yupeng Zhang , Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
发明人： Yupeng Zhang , Hong Yi , Weitao Gong , Haihua Yu , Wei Wang
IPC分类号： A61B5/00 , G01T1/29 , G01T1/16 , A61B6/00
CPC分类号： A61B5/0035 , A61B5/0046 , A61B5/0082 , A61B5/1176 , A61B6/5247 , G01T1/1603 , G01T1/295 , G02B27/1006 , H04N5/2254 , H04N5/332
摘要： Camera device and method for shooting light having at least two wavelength bands are disclosed. The camera device includes a first camera containing a first lens for receiving light having a first wavelength band; a second camera including a second lens for receiving light having a second wavelength band which is different from the first wavelength band, the second lens being disposed facing the first lens of the first camera; and a parabolic mirror set between the first camera and the second camera, able to let the light having the first wavelength band penetrate therethrough, and at the same time, reflect the light having the second wavelength band. The first camera is a non-fisheye camera. The first lens is a non-fisheye lens. The second camera and the parabolic mirror form a catadioptric camera. The aperture stop of the non-fisheye lens coincides with the focal point of the parabolic mirror.

8. 发明授权

US10482644B2 Method, apparatus and electronic device for processing panoramic image 有权
公开(公告)号：US10482644B2
公开(公告)日：2019-11-19
申请号：US15868131
申请日：2018-01-11
申请人： Chaofeng Li , Hong Yi , Liyan Liu , Haihua Yu , Hongyi Liu
发明人： Chaofeng Li , Hong Yi , Liyan Liu , Haihua Yu , Hongyi Liu
IPC分类号： G06T11/60 , G06T7/70 , G06T7/11 , H04N5/232
摘要： A method, an apparatus and an electronic device for processing a panoramic image are provided. The method includes converting a first planar projection image of the panoramic image into a spherical image; determining a position of a region of interest in the spherical image; and cutting and expanding the spherical image based on the position of the region of interest in the spherical image, and obtaining a second planar projection image of the panoramic image. A distance between the region of interest in the second planar projection image and a center point of the second planar projection image is shorter than a distance between the region of interest in the first planar projection image and a center point of the first planar projection image.

9. 发明申请

US20180253879A1 METHOD, APPARATUS AND ELECTRONIC DEVICE FOR PROCESSING PANORAMIC IMAGE 审中-公开
公开(公告)号：US20180253879A1
公开(公告)日：2018-09-06
申请号：US15868131
申请日：2018-01-11
申请人： Chaofeng LI , Hong Yi , Liyan Liu , Haihua Yu , Hongyi Liu
发明人： Chaofeng LI , Hong Yi , Liyan Liu , Haihua Yu , Hongyi Liu
IPC分类号： G06T11/60 , H04N5/232 , G06T7/70 , G06T7/11
CPC分类号： G06T11/60 , G06T3/0062 , G06T7/11 , G06T7/70 , H04N5/23238
摘要： A method, an apparatus and an electronic device for processing a panoramic image are provided. The method includes converting a first planar projection image of the panoramic image into a spherical image; determining a position of a region of interest in the spherical image; and cutting and expanding the spherical image based on the position of the region of interest in the spherical image, and obtaining a second planar projection image of the panoramic image. A distance between the region of interest in the second planar projection image and a center point of the second planar projection image is shorter than a distance between the region of interest in the first planar projection image and a center point of the first planar projection image.

10. 发明授权

US11734790B2 Method and apparatus for recognizing landmark in panoramic image and non-transitory computer-readable medium 有权
公开(公告)号：US11734790B2
公开(公告)日：2023-08-22
申请号：US17196057
申请日：2021-03-09
申请人： Ke Liao , Weitao Gong , Hong Yi , Wei Wang
发明人： Ke Liao , Weitao Gong , Hong Yi , Wei Wang
IPC分类号： G06T3/00 , G06T5/00 , G06T7/11 , G06T7/168 , G06T9/00 , G06T3/40 , G06T5/50 , G06V20/64 , G06V10/75 , G06V20/70 , G06V20/10
CPC分类号： G06T3/0068 , G06T3/40 , G06T5/006 , G06T5/50 , G06T7/11 , G06T7/168 , G06T9/00 , G06V10/752 , G06V20/176 , G06V20/64 , G06V20/647 , G06V20/70 , G06T2207/30256
摘要： Disclosed are a method and apparatus for recognizing a landmark in a panoramic image. The method includes steps of performing projection transformation on the panoramic image so as to generate a projection image; conducting semantic segmentation on the projection image so as to determine a landmark region and a road surface region; correcting distortion in the landmark region so as to produce a corrected landmark region; and recognizing the landmark in the corrected landmark region.

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