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1. 发明授权

US07907750B2 System and method for autonomous object tracking 有权
标题翻译：自动跟踪对象的系统和方法
公开(公告)号：US07907750B2
公开(公告)日：2011-03-15
申请号：US11423659
申请日：2006-06-12
申请人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
IPC分类号： G06K9/00 , H04N5/225
CPC分类号： G06K9/32 , H04N5/23203 , H04N5/23238
摘要： A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image at the center of a camera screen may be attained at a pixel width of the image. Estimation and prediction of object size and position may be processed for providing pan, tilt and zoom rates for the camera. Pan, tilt and zoom latency may be accounted for in the system. There may be a number of camera arrangements where tracking of the object may be handed off by one camera arrangement to another.
摘要翻译：一种用于静态摄像机布置的自动对象跟踪系统。每个相机装置可以最小化地具有俯仰 - 变焦相机和范围或深度传感器。成像可以提供跟踪对象的坐标和深度信息。可以通过处理获得图像质心位置和宽度的测量。可以在图像的像素宽度处获得在相机屏幕的中心处的图像。可以处理物体尺寸和位置的估计和预测，以便为相机提供平移，倾斜和缩放率。平移，倾斜和缩放延迟可能在系统中被考虑。可能存在若干摄像机布置，其中对象的跟踪可以被一个摄像机装置切换到另一个。

2. 发明申请

US20070286456A1 STATIC CAMERA TRACKING SYSTEM 有权
标题翻译：静态摄像机跟踪系统
公开(公告)号：US20070286456A1
公开(公告)日：2007-12-13
申请号：US11423659
申请日：2006-06-12
申请人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Dennis W. Strelow , Vassilios Morellas
IPC分类号： G06K9/00
CPC分类号： G06K9/32 , H04N5/23203 , H04N5/23238
摘要： A system for autonomous object tracking with static camera arrangements. Each camera arrangement may minimally have a pan-tilt-zoom camera and a range or depth sensor. Imaging may provide coordinates and depth information of a tracked object. Measurements of an image centroid position and width may be obtained with processing. Maintaining an image at the center of a camera screen may be attained at a pixel width of the image. Estimation and prediction of object size and position may be processed for providing pan, tilt and zoom rates for the camera. Pan, tilt and zoom latency may be accounted for in the system. There may be a number of camera arrangements where tracking of the object may be handed off by one camera arrangement to another.
摘要翻译：一种用于静态摄像机布置的自动对象跟踪系统。每个相机装置可以最小化地具有俯仰 - 变焦相机和范围或深度传感器。成像可以提供跟踪对象的坐标和深度信息。可以通过处理获得图像质心位置和宽度的测量。可以在图像的像素宽度处获得在相机屏幕的中心处的图像。可以处理物体尺寸和位置的估计和预测，以便为相机提供平移，倾斜和缩放率。平移，倾斜和缩放延迟可能在系统中被考虑。可能存在若干摄像机布置，其中对象的跟踪可以被一个摄像机装置切换到另一个。

3. 发明授权

US07541565B2 Tracking a moving object from a camera on a moving platform 有权
标题翻译：从移动平台上的相机跟踪移动物体
公开(公告)号：US07541565B2
公开(公告)日：2009-06-02
申请号：US12177550
申请日：2008-07-22
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.
摘要翻译：一种具有用于执行方法的计算机可执行指令的计算机可读介质。该方法包括确定位于车辆中的成像装置的原点的变换，并且基于所确定的变换和到成像的目标的距离来实现指数稳定控制定律。该方法还包括从指数稳定控制定律产生旋转输出，从指数稳定控制定律产生变焦输出，确定重定向光轴并沿着光轴修改透镜系统的系统等待时间，以及确定成像装置的起点相对于全局坐标。目标图像的质心保持在距离成像装置原点的选定距离内。还保持成像的目标和成像装置之间的视距。

4. 发明申请

US20080118104A1 HIGH FIDELITY TARGET IDENTIFICATION AND ACQUISITION THROUGH IMAGE STABILIZATION AND IMAGE SIZE REGULATION 审中-公开
标题翻译：通过图像稳定和图像尺寸调整的高清晰度目标识别和获取
公开(公告)号：US20080118104A1
公开(公告)日：2008-05-22
申请号：US11562563
申请日：2006-11-22
申请人： Kartik B. Ariyur , Vassilios Morellas , Saad J. Bedros
发明人： Kartik B. Ariyur , Vassilios Morellas , Saad J. Bedros
IPC分类号： G06K9/00
CPC分类号： G01S3/7865 , F41G3/02 , G06K9/209 , G06K9/3241
摘要： A system to identify targets comprising a camera module to track a target and to generate a relatively stable image of the target while the target moves with respect to the camera module, sensors to sense a movement of the camera module and to generate sensor data, a memory storing a database of possible targets and a programmable processor communicatively coupled to each of the memory, the camera module and the sensors. The programmable processor receives signals comprising information indicative of the image from the camera module and executes instructions in an instruction module. The instructions comprise exponentially stabilizing control laws based at least in part on the sensor data. The programmable processor executes instructions in the instruction module to determine a pattern match between the stable image of the target and one of the possible targets in the database.
摘要翻译：一种用于识别目标的系统，所述目标包括用于跟踪目标的相机模块，并且在所述目标相对于所述相机模块移动时产生所述目标的相对稳定的图像，用于感测所述相机模块的移动并产生传感器数据的传感器，存储可能目标的数据库和可通信地耦合到每个存储器，相机模块和传感器的可编程处理器。可编程处理器接收包括指示来自相机模块的图像的信息的信号，并执行指令模块中的指令。指令包括至少部分地基于传感器数据的指数稳定控制规律。可编程处理器执行指令模块中的指令，以确定目标的稳定图像与数据库中的一个可能目标之间的模式匹配。

5. 发明申请

US20080054158A1 TRACKING A MOVING OBJECT FROM A CAMERA ON A MOVING PLATFORM 有权
标题翻译：在移动平台上跟踪摄像机的移动对象
公开(公告)号：US20080054158A1
公开(公告)日：2008-03-06
申请号：US11470048
申请日：2006-09-05
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A method to dynamically stabilize a target image formed on an image plane of an imaging device located in a moving vehicle. The method includes setting an origin in the image plane of the imaging device at an intersection of a first axis, a second axis and a third axis, imaging a target so that an image centroid of the target image is at the origin of the image plane, monitoring sensor data indicative of a motion of the vehicle, and generating pan and tilt output to stabilize the image centroid at the origin in the image plane to compensate for vehicle motion and target motion. The pan and tilt output are generated by implementing exponentially stabilizing control laws. The implementation of the exponentially stabilizing control laws is based at least in part on the sensor data.
摘要翻译：一种动态地稳定形成在位于移动车辆中的成像装置的图像平面上的目标图像的方法。该方法包括在第一轴，第二轴和第三轴的交叉点处将成像装置的图像平面中的原点设置成对目标进行成像，使得目标图像的图像质心处于图像平面的原点监测指示车辆运动的传感器数据，以及产生摇摄和倾斜输出以稳定图像平面中的原点处的图像质心，以补偿车辆运动和目标运动。平移和倾斜输出是通过实现指数稳定控制律来产生的。指数稳定控制定律的实现至少部分地基于传感器数据。

6. 发明申请

US20080277563A1 TRACKING A MOVING OBJECT FROM A CAMERA ON A MOVING PLATFORM 有权
标题翻译：在移动平台上跟踪摄像机的移动对象
公开(公告)号：US20080277563A1
公开(公告)日：2008-11-13
申请号：US12177550
申请日：2008-07-22
申请人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B. Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01C21/00
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A computer-readable medium having computer-executable instructions for performing a method. The method includes determining the transformation of an origin of an imaging device positioned in a vehicle and implementing exponentially stabilizing control laws based on the determined transformation and a distance to an imaged target. The method also includes generating a rotation output from the exponentially stabilizing control laws, generating a zoom output from the exponentially stabilizing control laws, determining a system latency in redirecting an optical axis and modifying a lens system along the optical axis, and determining the transformation of the origin of the imaging device with respect to global coordinates. A centroid of the target image is maintained within a selected distance from the origin of the imaging device. The apparent distance between the imaged target and the imaging device is also maintained.
摘要翻译：一种具有用于执行方法的计算机可执行指令的计算机可读介质。该方法包括确定位于车辆中的成像装置的原点的变换，并且基于所确定的变换和到成像的目标的距离来实现指数稳定控制定律。该方法还包括从指数稳定控制定律产生旋转输出，从指数稳定控制定律产生变焦输出，确定重定向光轴并沿着光轴修改透镜系统的系统等待时间，以及确定成像装置的起点相对于全局坐标。目标图像的质心保持在距成像装置原点的选定距离内。还保持成像的目标和成像装置之间的视距。

7. 发明授权

US07411167B2 Tracking a moving object from a camera on a moving platform 有权
标题翻译：从移动平台上的相机跟踪移动物体
公开(公告)号：US07411167B2
公开(公告)日：2008-08-12
申请号：US11470048
申请日：2006-09-05
申请人： Kartik B Ariyur , Saad J. Bedros , Vassilios Morellas
发明人： Kartik B Ariyur , Saad J. Bedros , Vassilios Morellas
IPC分类号： G01J1/20 , G01C21/02
CPC分类号： G06K9/209 , G01S3/7864 , G06K9/32 , G06T7/246 , G06T2207/10016 , G06T2207/30181 , G06T2207/30212
摘要： A method to dynamically stabilize a target image formed on an image plane of an imaging device located in a moving vehicle. The method includes setting an origin in the image plane of the imaging device at an intersection of a first axis, a second axis and a third axis, imaging a target so that an image centroid of the target image is at the origin of the image plane, monitoring sensor data indicative of a motion of the vehicle, and generating pan and tilt output to stabilize the image centroid at the origin in the image plane to compensate for vehicle motion and target motion. The pan and tilt output are generated by implementing exponentially stabilizing control laws. The implementation of the exponentially stabilizing control laws is based at least in part on the sensor data.
摘要翻译：一种动态地稳定形成在位于移动车辆中的成像装置的图像平面上的目标图像的方法。该方法包括在第一轴，第二轴和第三轴的交叉点处将成像装置的图像平面中的原点设置成对目标进行成像，使得目标图像的图像质心处于图像平面的原点监测指示车辆运动的传感器数据，以及产生摇摄和倾斜输出以稳定图像平面中的原点处的图像质心，以补偿车辆运动和目标运动。平移和倾斜输出是通过实现指数稳定控制律来产生的。指数稳定控制定律的实现至少部分地基于传感器数据，包括指示到目标的距离的数据。

8. 发明申请

US20150339924A1 PARKING SPACE OCCUPANCY 有权
标题翻译：停车空间
公开(公告)号：US20150339924A1
公开(公告)日：2015-11-26
申请号：US14718914
申请日：2015-05-21
申请人： Douglas J. Cook , Vassilios Morellas , Theodore L. Morris , Nikolaos Papanikolopoulos
发明人： Douglas J. Cook , Vassilios Morellas , Theodore L. Morris , Nikolaos Papanikolopoulos
IPC分类号： G08G1/14 , G06K9/00
CPC分类号： G08G1/14 , G06K9/0063 , G06K9/00771 , G06T7/579 , G06T7/593 , G06T7/85 , G06T2207/10021 , G06T2207/30236 , G08G1/144 , G08G1/146
摘要： Systems and methods for determining park stall occupancy are disclosed herein. The systems and methods include receiving a three dimensional representation of a parking stall in a parking lot. The systems and methods also include processing the three dimensional representation to determine occupancy of the parking stall. The parking stall has a boundary relative to the area.
摘要翻译：本文公开了用于确定园区档位占用的系统和方法。系统和方法包括在停车场中接收停车位的三维表示。系统和方法还包括处理三维表示以确定停车位的占用。停车位具有相对于该区域的边界。

9. 发明申请

US20060285723A1 Object tracking system 有权
标题翻译：对象跟踪系统
公开(公告)号：US20060285723A1
公开(公告)日：2006-12-21
申请号：US11154839
申请日：2005-06-16
申请人： Vassilios Morellas , Michael Bazakos , Yunqian Ma , Andrew Johnson
发明人： Vassilios Morellas , Michael Bazakos , Yunqian Ma , Andrew Johnson
IPC分类号： G06K9/00 , H04N7/18
CPC分类号： G06K9/32 , G06K9/00369 , G06K9/00771 , G06T7/246 , G06T7/254 , G06T7/292
摘要： A system for tracking objects across an area having a network of cameras with overlapping and non-overlapping fields of view. The system may use a combination of color, shape, texture and/or multi-resolution histograms for object representation or target modeling for the tacking of an object from one camera to another. The system may include user and output interfacing.
摘要翻译：一种用于在具有重叠和非重叠视场的摄像机网络的区域上跟踪对象的系统。系统可以使用颜色，形状，纹理和/或多分辨率直方图的组合来进行对象表示或目标建模，用于将对象从一个摄像机固定到另一个摄像机。该系统可以包括用户和输出接口。

10. 发明授权

US07149325B2 Cooperative camera network 有权
公开(公告)号：US07149325B2
公开(公告)日：2006-12-12
申请号：US10177688
申请日：2002-06-21
申请人： Ioannis Pavlidis , Vassilios Morellas
发明人： Ioannis Pavlidis , Vassilios Morellas
IPC分类号： G06K9/00
CPC分类号： G06F3/0481 , G06F3/005 , G06K9/00771 , G06K9/00885 , G06K9/209 , G06K9/32 , G06K9/38 , G06K2009/3291 , G06T7/277 , G06T7/292 , G06T7/33 , G06T2207/30232 , G06T2207/30241
摘要： A cooperative camera network involving segmenting an image of an object and extracting a color signature from it. The color signature may be matched with the other signatures in an attempt to identify the object. There also can be combining and fusing the tracking of people and objects with image processing and the identification of the people and objects being tracked in an area or facility.

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