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    • 6. 发明申请
    • Method and system to increase X-Y resolution in a depth (Z) camera using red, blue, green (RGB) sensing
    • 使用红色,蓝色,绿色(RGB)感测在深度(Z)摄像机中增加X-Y分辨率的方法和系统
    • US20060221250A1
    • 2006-10-05
    • US11444947
    • 2006-06-01
    • Christopher RossbachAbbas RafiiPeiqian Zhao
    • Christopher RossbachAbbas RafiiPeiqian Zhao
    • H04N5/21H04N9/77H04N9/64H04N5/14
    • H04N9/045G01S17/89G01S17/936H04N5/2355H04N13/128
    • An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.
    • 成像系统基本上同时从第一传感器获取z深度和亮度数据,并且从第二传感器获取更高分辨率的RGB数据,并且将来自第一和第二传感器的数据融合以对分辨率可以高达分辨率的RGBZ图像进行建模 第二传感器。 来自第一和第二传感器的捕获数据的时间相关性与捕获的图像数据相关联,其允许两个数据源之间的任意映射,范围从1:多到多:1。 优选地对映射相同目标点的每组传感器的像素进行映射。 许多z深度传感器设置可用于创建静态环境模型。 进行非相关和相关滤波,并且发生上采样以增加z分辨率,使用配准和校准数据构建三维模型。
    • 7. 发明授权
    • Single chip red, green, blue, distance (RGB-Z) sensor
    • 单芯红色,绿色,蓝色,距离(RGB-Z)传感器
    • US08139141B2
    • 2012-03-20
    • US11044996
    • 2005-01-26
    • Cyrus BamjiPeiqian Zhao
    • Cyrus BamjiPeiqian Zhao
    • G03B13/00H04N9/07H04N5/225H04N13/02G01C3/08
    • H04N9/045G01C3/08G01J3/2803G01J3/36G01S7/4811G01S7/4863G01S7/4912G01S17/023G01S17/89G01S17/936H04N5/2226H04N5/2254H04N5/332H04N9/083
    • An RGB-Z sensor is implementable on a single IC chip. A beam splitter such as a hot mirror receives and separates incoming first and second spectral band optical energy from a target object into preferably RGB image components and preferably NIR Z components. The RGB image and Z components are detected by respective RGB and NIR pixel detector array regions, which output respective image data and Z data. The pixel size and array resolutions of these regions need not be equal, and both array regions may be formed on a common IC chip. A display using the image data can be augmented with Z data to help recognize a target object. The resultant structure combines optical efficiency of beam splitting with the simplicity of a single IC chip implementation. A method of using the single chip red, green, blue, distance (RGB-Z) sensor is also disclosed.
    • RGB-Z传感器可在单个IC芯片上实现。 诸如热反射镜的分束器接收并将来自目标物体的进入的第一和第二光谱带光能分解成优选的RGB图像分量,并且优选地将NIR Z分量分离。 RGB图像和Z分量由相应的RGB和NIR像素检测器阵列区域检测,其输出相应的图像数据和Z数据。 这些区域的像素尺寸和阵列分辨率不必相等,并且两个阵列区域可以形成在公共IC芯片上。 使用图像数据的显示可以用Z数据来增强以帮助识别目标对象。 所得到的结构结合了光束分离的光学效率和单个IC芯片实现的简单性。 还公开了使用单芯片红,绿,蓝,距离(RGB-Z)传感器的方法。
    • 8. 发明授权
    • Method and system to increase X-Y resolution in a depth (Z) camera using red, blue, green (RGB) sensing
    • 使用红色,蓝色,绿色(RGB)感测在深度(Z)摄像机中增加X-Y分辨率的方法和系统
    • US08134637B2
    • 2012-03-13
    • US11444947
    • 2006-06-01
    • Christopher J. RossbachAbbas RafiiPeiqian Zhao
    • Christopher J. RossbachAbbas RafiiPeiqian Zhao
    • G03B13/00H04N9/07H04N5/225H04N13/02G01C3/08
    • H04N9/045G01S17/89G01S17/936H04N5/2355H04N13/128
    • An imaging system substantially simultaneously acquires z-depth and brightness data from first sensors, and acquires higher resolution RGB data from second sensors, and fuses data from the first and second sensors to model an RGBZ image whose resolution can be as high as resolution of the second sensors. Time correlation of captured data from first and second sensors is associated with captured image data, which permits arbitrary mapping between the two data sources, ranging from 1:many to many:1. Preferably pixels from each set of sensors that image the same target point are mapped. Many z-depth sensor settings may be used to create a static environmental model. Non-correlative and correlative filtering is carried out, and up-sampling to increase z-resolution occurs, from which a three-dimensional model is constructed using registration and calibration data.
    • 成像系统基本上同时从第一传感器获取z深度和亮度数据,并且从第二传感器获取更高分辨率的RGB数据,并且将来自第一和第二传感器的数据融合以对分辨率可以高达分辨率的RGBZ图像进行建模 第二传感器。 来自第一和第二传感器的捕获数据的时间相关性与捕获的图像数据相关联,其允许两个数据源之间的任意映射,范围从1:多到多:1。 优选地对映射相同目标点的每组传感器的像素进行映射。 许多z深度传感器设置可用于创建静态环境模型。 进行非相关和相关滤波,并且发生上采样以增加z分辨率,使用配准和校准数据构建三维模型。