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1. 发明申请

US20120050458A1 SYSTEM AND METHOD FOR PROVIDING DEPTH ADAPTIVE VIDEO CONFERENCING 有权
标题翻译：用于提供深度自适应视频会议的系统和方法
公开(公告)号：US20120050458A1
公开(公告)日：2012-03-01
申请号：US12873100
申请日：2010-08-31
申请人： J. William Mauchly , Madhav V. Marathe , Henry Fuchs , Jan-Michael Frahm
发明人： J. William Mauchly , Madhav V. Marathe , Henry Fuchs , Jan-Michael Frahm
IPC分类号： H04N7/15 , H04N5/225
CPC分类号： H04N7/15 , H04N5/23238 , H04N5/247
摘要： A method is provided in one example and includes capturing panoramic image data through a first camera in a camera cluster, and capturing close-up image data through a second camera included as part of a spaced array of cameras. The presence of a user in a field of view of the second camera can be detected. The close-up image data and the panoramic image data can be combined to form a combined image. In more specific embodiments, the detecting includes evaluating a distance between the user and the second camera. The combined image can reflect a removal of a portion of panoramic image data associated with the user in a video conferencing environment.
摘要翻译：在一个示例中提供了一种方法，并且包括通过相机群集中的第一照相机拍摄全景图像数据，以及通过作为间隔开的相机阵列的一部分包括的第二相机捕获特写图像数据。可以检测用户在第二相机的视野中的存在。特写图像数据和全景图像数据可以组合以形成组合图像。在更具体的实施例中，检测包括评估用户与第二相机之间的距离。组合图像可以反映在视频会议环境中去除与用户相关联的全景图像数据的一部分。

2. 发明授权

US08896655B2 System and method for providing depth adaptive video conferencing 有权
标题翻译：提供深度自适应视频会议的系统和方法
公开(公告)号：US08896655B2
公开(公告)日：2014-11-25
申请号：US12873100
申请日：2010-08-31
申请人： J. William Mauchly , Madhav V. Marathe , Henry Fuchs , Jan-Michael Frahm
发明人： J. William Mauchly , Madhav V. Marathe , Henry Fuchs , Jan-Michael Frahm
IPC分类号： H04N7/15 , H04N5/247 , H04N5/232
CPC分类号： H04N7/15 , H04N5/23238 , H04N5/247
摘要： A method is provided in one example and includes capturing panoramic image data through a first camera in a camera cluster, and capturing close-up image data through a second camera included as part of a spaced array of cameras. The presence of a user in a field of view of the second camera can be detected. The close-up image data and the panoramic image data can be combined to form a combined image. In more specific embodiments, the detecting includes evaluating a distance between the user and the second camera. The combined image can reflect a removal of a portion of panoramic image data associated with the user in a video conferencing environment.
摘要翻译：在一个示例中提供了一种方法，并且包括通过相机群集中的第一照相机拍摄全景图像数据，以及通过作为间隔开的相机阵列的一部分包括的第二相机捕获特写图像数据。可以检测用户在第二相机的视野中的存在。特写图像数据和全景图像数据可以组合以形成组合图像。在更具体的实施例中，检测包括评估用户与第二相机之间的距离。组合图像可以反映在视频会议环境中去除与用户相关联的全景图像数据的一部分。

3. 发明申请

US20130060540A1 SYSTEMS AND METHODS THAT GENERATE HEIGHT MAP MODELS FOR EFFICIENT THREE DIMENSIONAL RECONSTRUCTION FROM DEPTH INFORMATION 有权
标题翻译：从深度信息中产生高效地图模型以进行有效的三维重建的系统和方法
公开(公告)号：US20130060540A1
公开(公告)日：2013-03-07
申请号：US13578758
申请日：2011-02-11
申请人： Jan-Michael Frahm , Marc Andre Leon Pollefeys , David Robert Gallup
发明人： Jan-Michael Frahm , Marc Andre Leon Pollefeys , David Robert Gallup
IPC分类号： G06F17/10
CPC分类号： G06T15/06 , G06T17/00 , G06T17/05 , G06T2210/04
摘要： Methods of generating a three dimensional representation of an object in a reference plane from a depth map including distances from a reference point to pixels in an image of the object taken from a reference point. Weights are assigned to respective voxels in a three dimensional grid along rays extending from the reference point through the pixels in the image based on the distances in the depth map from the reference point to the respective pixels, and a height map including an array of height values in the reference plane is formed based on the assigned weights. An n-layer height map may be constructed by generating a probabilistic occupancy grid for the voxels and forming an n-dimensional height map comprising an array of layer height values in the reference plane based on the probabilistic occupancy grid.
摘要翻译：从包括从参考点到参考点的图像中的像素的距离的深度图从参考平面生成对象的三维表示的方法。基于从参考点到相应像素的深度图中的距离，沿着从参考点延伸通过图像中的像素的光线在三维网格中分配权重，以及包括高度阵列的高度图基于分配的权重形成参考平面中的值。可以通过生成用于体素的概率占用网格并基于概率占用网格来形成包括参考平面中的层高度值的阵列的n维高度图来构造n层高度图。

4. 发明授权

US08913055B2 Online environment mapping 有权
标题翻译：在线环境映射
公开(公告)号：US08913055B2
公开(公告)日：2014-12-16
申请号：US13484127
申请日：2012-05-30
申请人： Jongwoo Lim , Jan-Michael Frahm , Marc Pollefeys
发明人： Jongwoo Lim , Jan-Michael Frahm , Marc Pollefeys
IPC分类号： G06F17/00 , G09G5/00 , G06K9/00 , G06F17/30 , G06T7/20
CPC分类号： G06K9/00744 , G06F17/30784 , G06F17/3079 , G06T7/20 , G06T7/579 , G06T2207/20072 , G06T2207/30241 , G06T2207/30244
摘要： A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.
摘要翻译：公开了一种系统和方法，用于使用度量欧几里德环境地图和拓扑图的混合表示法在线映射大型环境。该系统包括场景模块，位置识别模块，局部调整模块和全局调整模块。场景流模块用于检测和跟踪输入视频序列的帧的视频特征。场景流模块还被配置为识别输入视频序列的多个关键帧，并将所识别的关键帧添加到输入视频序列的初始环境图中。位置识别模块用于检测环境地图中的环路闭合。本地调整模块实施环境映射中的关键帧的本地度量属性，并且全局调整模块用于优化整个环境映射，并遵循关键帧姿势图中关键帧的全局度量属性。

5. 发明申请

US20120306847A1 ONLINE ENVIRONMENT MAPPING 有权
标题翻译：在线环境映射
公开(公告)号：US20120306847A1
公开(公告)日：2012-12-06
申请号：US13484127
申请日：2012-05-30
申请人： Jongwoo Lim , Jan-Michael Frahm , Marc Pollefeys
发明人： Jongwoo Lim , Jan-Michael Frahm , Marc Pollefeys
IPC分类号： G06T1/00
CPC分类号： G06K9/00744 , G06F17/30784 , G06F17/3079 , G06T7/20 , G06T7/579 , G06T2207/20072 , G06T2207/30241 , G06T2207/30244
摘要： A system and method are disclosed for online mapping of large-scale environments using a hybrid representation of a metric Euclidean environment map and a topological map. The system includes a scene module, a location recognition module, a local adjustment module and a global adjustment module. The scene flow module is for detecting and tracking video features of the frames of an input video sequence. The scene flow module is also configured to identify multiple keyframes of the input video sequence and add the identified keyframes into an initial environment map of the input video sequence. The location recognition module is for detecting loop closures in the environment map. The local adjustment module enforces local metric properties of the keyframes in the environment map, and the global adjustment module is for optimizing the entire environment map subject to global metric properties of the keyframes in the keyframe pose graph.
摘要翻译：公开了一种系统和方法，用于使用度量欧几里德环境地图和拓扑图的混合表示法在线映射大型环境。该系统包括场景模块，位置识别模块，局部调整模块和全局调整模块。场景流模块用于检测和跟踪输入视频序列的帧的视频特征。场景流模块还被配置为识别输入视频序列的多个关键帧，并将所识别的关键帧添加到输入视频序列的初始环境图中。位置识别模块用于检测环境地图中的环路闭合。本地调整模块实施环境映射中的关键帧的本地度量属性，并且全局调整模块用于优化整个环境映射，并遵循关键帧姿势图中关键帧的全局度量属性。

6. 发明授权

US09208612B2 Systems and methods that generate height map models for efficient three dimensional reconstruction from depth information 有权
标题翻译：从深度信息产生高效三维重建的高度图模型的系统和方法
公开(公告)号：US09208612B2
公开(公告)日：2015-12-08
申请号：US13578758
申请日：2011-02-11
申请人： Jan-Michael Frahm , Marc Andre Leon Pollefeys , David Robert Gallup
发明人： Jan-Michael Frahm , Marc Andre Leon Pollefeys , David Robert Gallup
IPC分类号： G06T15/06 , G06T17/05 , G06T17/00
CPC分类号： G06T15/06 , G06T17/00 , G06T17/05 , G06T2210/04
摘要： Methods of generating a three dimensional representation of an object in a reference plane from a depth map including distances from a reference point to pixels in an image of the object taken from a reference point. Weights are assigned to respective voxels in a three dimensional grid along rays extending from the reference point through the pixels in the image based on the distances in the depth map from the reference point to the respective pixels, and a height map including an array of height values in the reference plane is formed based on the assigned weights. An n-layer height map may be constructed by generating a probabilistic occupancy grid for the voxels and forming an n-dimensional height map comprising an array of layer height values in the reference plane based on the probabilistic occupancy grid.
摘要翻译：从包括从参考点到参考点的图像中的像素的距离的深度图从参考平面生成对象的三维表示的方法。基于从参考点到相应像素的深度图中的距离，沿着从参考点延伸通过图像中的像素的光线在三维网格中分配权重，以及包括高度阵列的高度图基于分配的权重形成参考平面中的值。可以通过生成用于体素的概率占用网格并基于概率占用网格来形成包括参考平面中的层高度值的阵列的n维高度图来构造n层高度图。

7. 发明授权

US07592997B2 System and method for determining a position, in particular for augmented reality applications 有权
标题翻译：用于确定位置的系统和方法，特别是用于增强现实应用
公开(公告)号：US07592997B2
公开(公告)日：2009-09-22
申请号：US11142718
申请日：2005-06-01
申请人： Jan-Friso Evers-Senne , Jan-Michael Frahm , Mehdi Hamadou , Dirk Jahn , Peter Georg Meier , Juri Platonov , Didier Stricker , Jens Weidenhausen
发明人： Jan-Friso Evers-Senne , Jan-Michael Frahm , Mehdi Hamadou , Dirk Jahn , Peter Georg Meier , Juri Platonov , Didier Stricker , Jens Weidenhausen
IPC分类号： G09G5/00
CPC分类号： G06F3/011
摘要： The invention relates to a system for determining the position of a user and/or a moving device by means of tracking methods, in particular for augmented reality applications, with an interface (9) to integrate at least one sensor type and/or data generator (1, 2, 3, 4) of a tracking method, a configuration unit (20) to describe communication between the tracking methods and/or tracking algorithms and at least one processing unit (5, 6, 7, 8, 10, 11, 12, 13, 16) to calculate the position of the user and/or the moving device based on the data supplied by the tracking methods and/or tracking algorithms.
摘要翻译：本发明涉及一种用于通过跟踪方法（特别是用于增强现实应用）来确定用户和/或移动设备的位置的系统，具有用于集成至少一个传感器类型和/或数据生成器的接口（9）（1,2,3,4），描述跟踪方法和/或跟踪算法之间的通信的配置单元（20）和至少一个处理单元（5,6,7,8,10,11），12,13,16），以基于由跟踪方法和/或跟踪算法提供的数据来计算用户和/或移动设备的位置。

8. 发明申请

US20050275722A1 System and method for determining a position, in particular for augmented reality applications 有权
标题翻译：用于确定位置的系统和方法，特别是用于增强现实应用
公开(公告)号：US20050275722A1
公开(公告)日：2005-12-15
申请号：US11142718
申请日：2005-06-01
申请人： Jan-Friso Evers-Senne , Jan-Michael Frahm , Mehdi Hamadou , Dirk Jahn , Peter Meier , Juri Platonov , Didier Stricker , Jens Weidenhausen
发明人： Jan-Friso Evers-Senne , Jan-Michael Frahm , Mehdi Hamadou , Dirk Jahn , Peter Meier , Juri Platonov , Didier Stricker , Jens Weidenhausen
IPC分类号： G06F3/00 , G06F3/01 , H04N5/225
CPC分类号： G06F3/011
摘要： The invention relates to a system for determining the position of a user and/or a moving device by means of tracking methods, in particular for augmented reality applications, with an interface (9) to integrate at least one sensor type and/or data generator (1, 2, 3, 4) of a tracking method, a configuration unit (20) to describe communication between the tracking methods and/or tracking algorithms and at least one processing unit (5, 6, 7, 8, 10, 11, 12, 13, 16) to calculate the position of the user and/or the moving device based on the data supplied by the tracking methods and/or tracking algorithms.
摘要翻译：本发明涉及一种用于通过跟踪方法（特别是用于增强现实应用）来确定用户和/或移动设备的位置的系统，具有用于集成至少一个传感器类型和/或数据生成器的接口（9）（1,2,3,4），描述跟踪方法和/或跟踪算法之间的通信的配置单元（20）和至少一个处理单元（5,6,7,8,10,11），12,13,16），以基于由跟踪方法和/或跟踪算法提供的数据来计算用户和/或移动设备的位置。

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