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1. 发明授权

US09153025B2 Plane detection and tracking for structure from motion 有权
标题翻译：运动结构的平面检测和跟踪
公开(公告)号：US09153025B2
公开(公告)日：2015-10-06
申请号：US13551603
申请日：2012-07-17
申请人： Hailin Jin , Zihan Zhou
发明人： Hailin Jin , Zihan Zhou
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/80 , G06T7/174 , G06T7/20 , G06T2207/10016 , G06T2207/30241 , H04N13/20
摘要： Plane detection and tracking algorithms are described that may take point trajectories as input and provide as output a set of inter-image homographies. The inter-image homographies may, for example, be used to generate estimates for 3D camera motion, camera intrinsic parameters, and plane normals using a plane-based self-calibration algorithm. A plane detection and tracking algorithm may obtain a set of point trajectories for a set of images (e.g., a video sequence, or a set of still photographs). A 2D plane may be detected from the trajectories, and trajectories that follow the 2D plane through the images may be identified. The identified trajectories may be used to compute a set of inter-image homographies for the images as output.
摘要翻译：描述了平面检测和跟踪算法，其可以将点轨迹作为输入，并且作为输出提供一组图像间同画。例如，可以使用图像间同画来使用基于平面的自校准算法来生成用于3D相机运动，相机内在参数和平面法线的估计。平面检测和跟踪算法可以获得一组图像（例如，视频序列或一组静态照片）的一组点轨迹。可以从轨迹检测2D平面，并且可以识别通过图像在2D平面之后的轨迹。所识别的轨迹可以用于计算图像的图像间同画作为输出。

2. 发明授权

US09202278B2 Plane-based self-calibration for structure from motion 有权
标题翻译：基于平面的自校准结构从运动
公开(公告)号：US09202278B2
公开(公告)日：2015-12-01
申请号：US13551601
申请日：2012-07-17
申请人： Hailin Jin , Zihan Zhou
发明人： Hailin Jin , Zihan Zhou
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/80 , G06T7/174 , G06T7/20 , G06T2207/10016 , G06T2207/30241 , H04N13/20
摘要： Robust techniques for self-calibration of a moving camera observing a planar scene. Plane-based self-calibration techniques may take as input the homographies between images estimated from point correspondences and provide an estimate of the focal lengths of all the cameras. A plane-based self-calibration technique may be based on the enumeration of the inherently bounded space of the focal lengths. Each sample of the search space defines a plane in the 3D space and in turn produces a tentative Euclidean reconstruction of all the cameras that is then scored. The sample with the best score is chosen and the final focal lengths and camera motions are computed. Variations on this technique handle both constant focal length cases and varying focal length cases.
摘要翻译：用于自动校准移动摄像机观察平面场景的强大技术。基于平面的自校准技术可以将从点对应估计的图像之间的同形作为输入，并提供所有相机的焦距的估计。基于平面的自校准技术可以基于焦距的固有界限空间的计数。搜索空间的每个样本在3D空间中定义一个平面，并且反过来产生所有相机的临时欧几里德重建，然后对其进行评分。选择具有最佳分数的样本，并计算最终焦距和相机运动。该技术的变化处理恒定焦距情况和不同焦距情况。

3. 发明申请

US20130044913A1 Plane Detection and Tracking for Structure from Motion 有权
公开(公告)号：US20130044913A1
公开(公告)日：2013-02-21
申请号：US13551603
申请日：2012-07-17
申请人： Hailin Jin , Zihan Zhou
发明人： Hailin Jin , Zihan Zhou
IPC分类号： G06K9/00
CPC分类号： G06T7/80 , G06T7/174 , G06T7/20 , G06T2207/10016 , G06T2207/30241 , H04N13/20
摘要： Plane detection and tracking algorithms are described that may take point trajectories as input and provide as output a set of inter-image homographies. The inter-image homographies may, for example, be used to generate estimates for 3D camera motion, camera intrinsic parameters, and plane normals using a plane-based self-calibration algorithm. A plane detection and tracking algorithm may obtain a set of point trajectories for a set of images (e.g., a video sequence, or a set of still photographs). A 2D plane may be detected from the trajectories, and trajectories that follow the 2D plane through the images may be identified. The identified trajectories may be used to compute a set of inter-image homographies for the images as output.

4. 发明申请

US20130044186A1 Plane-based Self-Calibration for Structure from Motion 有权
标题翻译：基于平面的运动结构自校准
公开(公告)号：US20130044186A1
公开(公告)日：2013-02-21
申请号：US13551601
申请日：2012-07-17
申请人： Hailin Jin , Zihan Zhou
发明人： Hailin Jin , Zihan Zhou
IPC分类号： H04N13/02
CPC分类号： G06T7/80 , G06T7/174 , G06T7/20 , G06T2207/10016 , G06T2207/30241 , H04N13/20
摘要： Robust techniques for self-calibration of a moving camera observing a planar scene. Plane-based self-calibration techniques may take as input the homographies between images estimated from point correspondences and provide an estimate of the focal lengths of all the cameras. A plane-based self-calibration technique may be based on the enumeration of the inherently bounded space of the focal lengths. Each sample of the search space defines a plane in the 3D space and in turn produces a tentative Euclidean reconstruction of all the cameras that is then scored. The sample with the best score is chosen and the final focal lengths and camera motions are computed. Variations on this technique handle both constant focal length cases and varying focal length cases.
摘要翻译：用于自动校准移动摄像机观察平面场景的强大技术。基于平面的自校准技术可以将从点对应估计的图像之间的同形作为输入，并提供所有相机的焦距的估计。基于平面的自校准技术可以基于焦距的固有界限空间的计数。搜索空间的每个样本在3D空间中定义一个平面，并且反过来产生所有相机的临时欧几里德重建，然后对其进行评分。选择具有最佳分数的样本，并计算最终焦距和相机运动。该技术的变化处理恒定焦距情况和不同焦距情况。

5. 发明授权

US08929610B2 Methods and apparatus for robust video stabilization 有权
标题翻译：稳健视频稳定的方法和装置
公开(公告)号：US08929610B2
公开(公告)日：2015-01-06
申请号：US13368279
申请日：2012-02-07
申请人： Hailin Jin , Aseem O. Agarwala , Jue Wang
发明人： Hailin Jin , Aseem O. Agarwala , Jue Wang
IPC分类号： G06K9/00 , G06K9/36 , H04N7/18 , H04N5/225 , G06T7/00 , G06T7/20
CPC分类号： G06T7/33 , G06T7/246 , G06T2207/10016 , G06T2207/20028 , G06T2207/30241
摘要： Methods and apparatus for robust video stabilization. A video stabilization technique applies a feature tracking technique to an input video sequence to generate feature trajectories. The technique applies a video partitioning technique to segment the input video sequence into factorization windows and transition windows. The technique smoothes the trajectories in each of the windows, in sequence. For factorization windows, a subspace-based optimization technique may be used. For transition windows, a direct track optimization technique that uses a similarity motion model may be used. The technique then determines and applies warping models to the frames in the video sequence. In at least some embodiments, the warping models may include a content-preserving warping model, a homography model, a similarity transform model, and a whole-frame translation model. The warped frames may then be cropped according to a cropping technique.
摘要翻译：稳健视频稳定的方法和装置。视频稳定技术将特征跟踪技术应用于输入视频序列以产生特征轨迹。该技术应用视频分割技术将输入视频序列分解为分解窗口和转换窗口。该技术顺序地平滑每个窗口中的轨迹。对于分解窗口，可以使用基于子空间的优化技术。对于转换窗口，可以使用使用相似度运动模型的直接跟踪优化技术。该技术然后确定并应用翘曲模型到视频序列中的帧。在至少一些实施例中，翘曲模型可以包括内容保留翘曲模型，单应性模型，相似度变换模型和全帧翻译模型。然后可以根据裁剪技术裁剪翘曲的框架。

6. 发明授权

US08675918B2 Methods and apparatus for robust video stabilization 有权
公开(公告)号：US08675918B2
公开(公告)日：2014-03-18
申请号：US13368282
申请日：2012-02-07
申请人： Hailin Jin , Aseem O. Agarwala , Jue Wang
发明人： Hailin Jin , Aseem O. Agarwala , Jue Wang
IPC分类号： G06K9/00 , G06K9/36 , G06K9/46 , H04N5/225
CPC分类号： G06T7/33 , G06T7/246 , G06T2207/10016 , G06T2207/20028 , G06T2207/30241
摘要： Methods and apparatus for robust video stabilization. A video stabilization technique applies a feature tracking technique to an input video sequence to generate feature trajectories. The technique applies a video partitioning technique to segment the input video sequence into factorization windows and transition windows. The technique smoothes the trajectories in each of the windows, in sequence. For factorization windows, a subspace-based optimization technique may be used. For transition windows, a direct track optimization technique that uses a similarity motion model may be used. The technique then determines and applies warping models to the frames in the video sequence. In at least some embodiments, the warping models may include a content-preserving warping model, a homography model, a similarity transform model, and a whole-frame translation model. The warped frames may then be cropped according to a cropping technique.

7. 发明授权

US08509566B2 Laying out multiple images 有权
标题翻译：放置多个图像
公开(公告)号：US08509566B2
公开(公告)日：2013-08-13
申请号：US13486882
申请日：2012-06-01
申请人： Hailin Jin , Jen-Chan Chien
发明人： Hailin Jin , Jen-Chan Chien
IPC分类号： G06K9/36
CPC分类号： G06T3/4038 , G06T7/30
摘要： Systems, methods, and apparatuses, including computer program products, are provided for re-layout of composite images. In some implementations, a method includes identifying geometric transformations corresponding to multiple images from a collection of images, where a geometric transformation reorients a corresponding image in relation to a common reference frame when applied and identifying a reference image for the multiple images in the collection of images. The method also includes determining overlapping image regions for the multiple images starting from the reference image, the determining based on the identified geometric transformations, determining additional transformations of a specified type for the multiple images based on the overlapping image regions, where an additional transformation lays out a corresponding image in relation to the reference image when applied, and making the additional transformations available for further processing and output with respect to the collection of images.
摘要翻译：提供了包括计算机程序产品在内的系统，方法和装置用于重新布局合成图像。在一些实施方式中，一种方法包括从图像集合中识别对应于多个图像的几何变换，其中几何变换在应用时重新定位相对于公共参考帧的对应图像，并且在集合中识别多个图像的参考图像图片。该方法还包括确定从参考图像开始的多个图像的重叠图像区域，基于所识别的几何变换的确定，基于重叠图像区域确定多个图像的指定类型的额外变换，其中附加变换在应用时相对于参考图像输出相应的图像，并且使得附加变换可用于进一步处理和输出关于图像的收集。

8. 发明申请

US20130129154A1 Methods and Apparatus for Detecting Poorly Conditioned Points in Bundle Adjustment 有权
标题翻译：用于检测捆绑调整中不良条件点的方法和装置
公开(公告)号：US20130129154A1
公开(公告)日：2013-05-23
申请号：US13300277
申请日：2011-11-18
申请人： Hailin Jin
发明人： Hailin Jin
IPC分类号： G06K9/00
CPC分类号： G06K9/00664 , G06T7/579 , G06T2207/30244
摘要： Methods and apparatus for detecting and removing poorly conditioned points in bundle adjustment. A detection technique may be used to detect poorly conditioned points during the bundle adjustment process or portion of a feature-based 3D reconstruction pipeline. Once the poorly conditioned points are detected, the technique removes the points from the bundle adjustment process. The technique detects and removes the poorly conditioned points before the optimization is performed, and therefore ensures that the optimization will be successful.
摘要翻译：用于检测和去除束调节中不良条件点的方法和装置。可以使用检测技术来检测束调整过程中的不良条件点或基于特征的3D重建管线的一部分。一旦检测到不良条件的点，该技术从束调整过程中去除点。该技术在执行优化之前检测和去除不良条件的点，因此确保优化成功。

9. 发明申请

US20130128065A1 Methods and Apparatus for Robust Video Stabilization 有权
公开(公告)号：US20130128065A1
公开(公告)日：2013-05-23
申请号：US13368279
申请日：2012-02-07
申请人： Hailin Jin , Aseem O. Agarwala , Jue Wang
发明人： Hailin Jin , Aseem O. Agarwala , Jue Wang
IPC分类号： H04N5/228
CPC分类号： G06T7/33 , G06T7/246 , G06T2207/10016 , G06T2207/20028 , G06T2207/30241
摘要： Methods and apparatus for robust video stabilization. A video stabilization technique applies a feature tracking technique to an input video sequence to generate feature trajectories. The technique applies a video partitioning technique to segment the input video sequence into factorization windows and transition windows. The technique smoothes the trajectories in each of the windows, in sequence. For factorization windows, a subspace-based optimization technique may be used. For transition windows, a direct track optimization technique that uses a similarity motion model may be used. The technique then determines and applies warping models to the frames in the video sequence. In at least some embodiments, the warping models may include a content-preserving warping model, a homography model, a similarity transform model, and a whole-frame translation model. The warped frames may then be cropped according to a cropping technique.

10. 发明申请

US20130127847A1 System and Method for Interactive Image-based Modeling of Curved Surfaces Using Single-view and Multi-view Feature Curves 有权
标题翻译：使用单视图和多视图特征曲线的基于图像的曲面建模的系统和方法
公开(公告)号：US20130127847A1
公开(公告)日：2013-05-23
申请号：US12954014
申请日：2010-11-24
申请人： Hailin Jin , James L. Andrews
发明人： Hailin Jin , James L. Andrews
IPC分类号： G06T17/05
CPC分类号： G06T7/564 , G06T17/20 , G06T19/20 , G06T2200/08 , G06T2200/24 , G06T2207/20072 , G06T2207/20096 , G06T2210/12 , G06T2219/2021
摘要： Various embodiments of an interactive system and methods for generating an image-based 3D model of an object from multiple images captured from different viewpoints of the object are described. A user may identify feature curves for the object by outlining the feature curves on a display of the images. The user may outline a feature curve in multiple images which depict the feature curve from different viewpoints. 3D shape constraints for the model may be generated dependent on the identified feature curves and camera parameters for the images. The user may also outline multiple single-view feature curves, such as silhouette curves, in single images. A 3D surface approximation for the model may be generated from the single-view feature curves. The 3D shape constraints and the 3D surface approximation may be used to generate a polygonal mesh which represents the surface of the 3D model of the object.
摘要翻译：描述了用于从对象的不同视点捕获的多个图像生成对象的基于图像的3D模型的交互式系统和方法的各种实施例。用户可以通过概述图像显示器上的特征曲线来识别对象的特征曲线。用户可以在多个图像中描绘特征曲线，其从不同的视点描绘特征曲线。可以根据所识别的特征曲线和图像的相机参数来生成模型的3D形状约束。用户还可以在单个图像中概述多个单视图特征曲线，例如剪影曲线。可以从单视图特征曲线生成模型的3D表面近似。 3D形状约束和3D表面近似可以用于生成表示对象的3D模型的表面的多边形网格。

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