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1. 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。

2. 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。

3. 发明授权

US08994725B1 Systems and methods for generating a model of an environment 有权
标题翻译：用于生成环境模型的系统和方法
公开(公告)号：US08994725B1
公开(公告)日：2015-03-31
申请号：US13414658
申请日：2012-03-07
申请人： Yasutaka Furukawa , Steven Maxwell Seitz , Jianxiong Xiao , Carlos Hernandez Esteban , David Robert Gallup
发明人： Yasutaka Furukawa , Steven Maxwell Seitz , Jianxiong Xiao , Carlos Hernandez Esteban , David Robert Gallup
IPC分类号： G06T17/00 , G06T17/10
CPC分类号： G06T17/10 , G06T2210/04
摘要： System and methods for generating a model of an environment are provided. In some aspects, a system includes a layer module configured to identify one or more layers of the environment based on a plurality of three-dimensional (3D) points mapping the environment. The system also includes a layout module configured to generate a layout for each layer. Each layout includes a two-dimensional (2D) model of the environment. The system also includes a construction module configured to generate a 3D model of the environment based on the 2D model of each layout.
摘要翻译：提供了生成环境模型的系统和方法。在一些方面，系统包括被配置为基于映射环境的多个三维（3D）点来识别环境的一个或多个层的层模块。该系统还包括配置为生成每层的布局的布局模块。每个布局包括环境的二维（2D）模型。该系统还包括构造模块，其被配置为基于每个布局的2D模型生成环境的3D模型。

4. 发明授权

US09122927B2 Generating an image tour based on a set of images 有权
标题翻译：根据一组图像生成图像浏览
公开(公告)号：US09122927B2
公开(公告)日：2015-09-01
申请号：US13585645
申请日：2012-08-14
申请人： David Robert Gallup , Sameer Agarwal
发明人： David Robert Gallup , Sameer Agarwal
IPC分类号： G06K9/00 , G06F17/30
CPC分类号： G06K9/00624 , G06F17/30247 , G06F17/3028 , G06K9/6224
摘要： Systems and methods for generating image tour are provided. Method includes constructing image graph comprising primary image nodes and secondary image nodes and edges. Method also includes determining, for each pair of primary nodes, pruned subgraph including pair of primary nodes and first subset of plurality of secondary nodes. Method also includes determining order of plurality of primary nodes based on rendering costs in pruned subgraphs. Method also includes splicing pruned subgraphs together according to determined order of primary nodes to generate spliced graph. Method also includes determining path through spliced graph. Path includes plurality of primary nodes in determined order and second subset of plurality of secondary nodes selected based on rendering costs and turning costs associated with transitioning between pairs of edges in spliced graph. Method also includes providing ordered subset of image set based on determined path for display as image tour on client.
摘要翻译：提供了生成图像浏览的系统和方法。方法包括构建包括主图像节点和次要图像节点和边缘的图像图像。方法还包括为每对主节点确定包括主节点对和多个次节点的第一子集的修剪子图。方法还包括基于修剪的子图中的渲染成本来确定多个主节点的顺序。方法还包括根据主节点的确定顺序将修剪的子图拼接在一起以产生拼接图。方法还包括通过拼接图确定路径。路径包括确定顺序的多个主节点和多个辅助节点的第二子集，其基于渲染成本和转换与拼接图中的边缘对之间的转换相关联的成本。方法还包括基于确定的路径提供图像集的有序子集，以在客户端上显示为图像浏览。

5. 发明授权

US09087408B2 Systems and methods for generating depthmaps 有权
标题翻译：用于生成深度图的系统和方法
公开(公告)号：US09087408B2
公开(公告)日：2015-07-21
申请号：US13291029
申请日：2011-11-07
申请人： Yasutaka Furukawa , David Robert Gallup
发明人： Yasutaka Furukawa , David Robert Gallup
IPC分类号： G06T15/00 , G06T15/40 , G06T15/30 , G06T15/10 , G06T17/00 , G09G5/00 , G06K9/46 , G06K9/36 , G06K9/32 , H04N7/18 , G06T19/00 , G06T3/40 , G06T3/00 , G06T11/60 , G06T15/20 , G06T17/20 , H04N19/63 , G09G5/14 , G06T7/00 , G01C11/02
CPC分类号： G06T15/40 , G01C11/025 , G01C11/06 , G06T3/0093 , G06T3/4007 , G06T3/4038 , G06T7/55 , G06T11/60 , G06T15/20 , G06T15/30 , G06T15/405 , G06T17/05 , G06T17/20 , G06T19/00 , G06T2207/10032 , G06T2207/20016 , G06T2207/30184 , G09G3/003 , G09G5/14 , G09G2310/04 , G09G2320/028 , G09G2354/00 , H04N7/181 , H04N19/46 , H04N19/54 , H04N19/597 , H04N19/647
摘要： Systems and methods for generating a depthmap for images of structures in a geographic area are provided. In some aspects, a method includes dividing the area into cells. Each of the cells is visible in no more than a threshold number of images. The method also includes: generating, using multi-view stereo processing, a set of three-dimensional (3D) points of structures in each of the cells based on the images associated with a corresponding one of the cells; generating a mesh model of the structures in each of the cells based on the set of 3D points for a corresponding one of the cells; identifying one or more of the mesh models visible in a corresponding one of the images; and generating a depthmap for each of the images based on the identified one or more mesh models visible in a corresponding one of the images.
摘要翻译：提供了用于生成地理区域中的结构图像的深度图的系统和方法。在一些方面，一种方法包括将该区域划分成单元格。每个单元格在不超过阈值数量的图像中可见。该方法还包括：基于与相应的一个单元相关联的图像，生成使用多视点立体声处理的每个单元中的一组三维（3D）点的结构; 基于所述单元中的相应一个单元的所述三维点的集合来生成所述单元格中的所述结构的网格模型; 识别在相应的一个图像中可见的一个或多个网格模型; 以及基于所识别的在相应图像中可见的一个或多个网格模型，为每个图像生成深度图。

6. 发明申请

US20150154786A1 SYSTEMS AND METHODS FOR GENERATING DEPTHMAPS 有权
标题翻译：用于产生深度的系统和方法
公开(公告)号：US20150154786A1
公开(公告)日：2015-06-04
申请号：US13291029
申请日：2011-11-07
申请人： Yasutaka Furukawa , David Robert Gallup
发明人： Yasutaka Furukawa , David Robert Gallup
IPC分类号： G06T15/00 , G06T7/00
CPC分类号： G06T15/40 , G01C11/025 , G01C11/06 , G06T3/0093 , G06T3/4007 , G06T3/4038 , G06T7/55 , G06T11/60 , G06T15/20 , G06T15/30 , G06T15/405 , G06T17/05 , G06T17/20 , G06T19/00 , G06T2207/10032 , G06T2207/20016 , G06T2207/30184 , G09G3/003 , G09G5/14 , G09G2310/04 , G09G2320/028 , G09G2354/00 , H04N7/181 , H04N19/46 , H04N19/54 , H04N19/597 , H04N19/647
摘要： Systems and methods for generating a depthmap for images of structures in a geographic area are provided. In some aspects, a method includes dividing the area into cells. Each of the cells is visible in no more than a threshold number of images. The method also includes: generating, using multi-view stereo processing, a set of three-dimensional (3D) points of structures in each of the cells based on the images associated with a corresponding one of the cells; generating a mesh model of the structures in each of the cells based on the set of 3D points for a corresponding one of the cells; identifying one or more of the mesh models visible in a corresponding one of the images; and generating a depthmap for each of the images based on the identified one or more mesh models visible in a corresponding one of the images.
摘要翻译：提供了用于生成地理区域中的结构图像的深度图的系统和方法。在一些方面，一种方法包括将该区域划分成单元格。每个单元格在不超过阈值数量的图像中可见。该方法还包括：基于与相应的一个单元相关联的图像，生成使用多视点立体声处理的每个单元中的一组三维（3D）点的结构; 基于所述单元中的相应一个单元的所述三维点的集合来生成所述单元格中的所述结构的网格模型; 识别在相应的一个图像中可见的一个或多个网格模型; 以及基于所识别的在相应图像中可见的一个或多个网格模型，为每个图像生成深度图。

7. 发明授权

US08880535B1 System and method for selecting user generated content related to a point of interest 有权
标题翻译：用于选择与兴趣点相关的用户生成的内容的系统和方法
公开(公告)号：US08880535B1
公开(公告)日：2014-11-04
申请号：US13306942
申请日：2011-11-29
申请人： Sameer Agarwal , Steven Maxwell Seitz , David Robert Gallup
发明人： Sameer Agarwal , Steven Maxwell Seitz , David Robert Gallup
IPC分类号： G06F17/30
CPC分类号： G06F17/3053 , G06F17/30241 , G06F17/30247 , G06F17/30265
摘要： A system and machine-implemented method for providing one or more photos associated with a point of interest on a map, the method including receiving an indication of a request from a user to view photos associated with a point of interest on a map, identifying a set of photos associated with the point of interest, wherein the photos comprise at least one of photos taken from the point of interest or photos that depict at least part of the point of interest, ranking the photos within the set of photos according to ranking criteria, wherein the ranking criteria comprises one or more of map context, photo quality, photo type or user request information and providing one or more photos of the set of photos to the user according to the ranking.
摘要翻译：一种用于在地图上提供与兴趣点相关联的一个或多个照片的系统和机器实现的方法，所述方法包括接收来自用户的请求的指示以查看与地图上的兴趣点相关联的照片，一组与兴趣点相关联的照片，其中照片包括从感兴趣点拍摄的照片中的至少一个或描绘至少部分感兴趣点的照片，根据评分标准对照片集内的照片进行排序其中，所述排名标准包括地图上下文，照片质量，照片类型或用户请求信息中的一个或多个，并且根据所述排名向所述用户提供所述一组照片的一张或多张照片。

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