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1. 发明授权

US08773514B2 Accurate 3D object reconstruction using a handheld device with a projected light pattern 有权
标题翻译：使用具有投影光图案的手持设备进行精确的3D对象重建
公开(公告)号：US08773514B2
公开(公告)日：2014-07-08
申请号：US12869919
申请日：2010-08-27
申请人： Morteza Gharib , Jian Lu , Alexei Harvard , Scott Hsieh
发明人： Morteza Gharib , Jian Lu , Alexei Harvard , Scott Hsieh
IPC分类号： H04N13/02 , G01B11/25 , G01B11/16 , G01B11/22 , H04N13/00
CPC分类号： G01B11/25 , G01B11/16 , G01B11/167 , G01B11/22 , G01B11/2513 , G01B11/2545 , G06T7/521 , G06T7/55 , H04N13/189 , H04N13/221
摘要： A camera has a lens and aperture device for determining 3D information. A projector projects an optical pattern toward a surface. The camera has at least two off-axis apertures thereon, arranged to obtain an image of the projected pattern including defocused information. The camera is movable between different positions to image the surface from said different positions, and the projector is at a specified angle of at least 5° relative to said camera. A processor carries out a first operation using information received through the apertures to determine a pose of said camera, and to determine three dimensional information about the object based on a degree of deformation of said optical pattern on said surface indicative of a three dimensional surface. An embodiment projects a grid of laser dots and uses laser-dot defocusing for approximate Z and thus grid correspondence, which can greatly increase the working depth of the system.
摘要翻译：相机具有用于确定3D信息的透镜和光圈装置。投影仪将光学图案投影到表面。相机具有至少两个离轴孔，布置成获得包括散焦信息的投影图案的图像。相机可以在不同位置之间移动，以从所述不同位置对表面进行成像，并且投影仪相对于所述照相机处于至少5°的指定角度。处理器使用通过孔接收的信息来执行第一操作，以确定所述相机的姿态，并且基于表示三维表面的所述表面上的所述光学图案的变形程度来确定关于对象的三维信息。一个实施例投射一个激光点网格，并使用激光点散焦近似Z，从而可以大大增加系统的工作深度。

2. 发明授权

US08773507B2 Defocusing feature matching system to measure camera pose with interchangeable lens cameras 有权
标题翻译：散焦特征匹配系统用可互换镜头相机测量相机姿态
公开(公告)号：US08773507B2
公开(公告)日：2014-07-08
申请号：US12853181
申请日：2010-08-09
申请人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
发明人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
IPC分类号： H04N13/02
CPC分类号： H04N13/204 , G02B7/34 , G03B9/02 , G03B17/14 , G03B17/565 , G03B19/12 , G03B35/00 , H04N5/235 , H04N5/2356 , H04N9/045
摘要： A lens and aperture device for determining 3D information. An SLR camera has a lens and aperture that allows the SLR camera to determine defocused information.
摘要翻译：用于确定3D信息的透镜和光圈装置。单反相机具有透镜和光圈，允许单反相机确定散焦信息。

3. 发明申请

US20130235165A1 THREE-DIMENSIONAL IMAGING SYSTEM 审中-公开
标题翻译：三维成像系统
公开(公告)号：US20130235165A1
公开(公告)日：2013-09-12
申请号：US13820116
申请日：2010-11-19
申请人： Morteza Gharib , Alexei Harvard , Scott Hsieh , Jian Lu
发明人： Morteza Gharib , Alexei Harvard , Scott Hsieh , Jian Lu
IPC分类号： H04N13/02
CPC分类号： H04N13/207 , G06T7/593 , G06T7/70 , G06T2207/10024 , G06T2207/10028 , G06T2207/20016 , G06T2207/30036 , G06T2207/30244 , H04N13/214
摘要： Hardware and software configurations, optionally, for performing profilometry of an object are disclosed. An advantageous imaging device is described. An advantageous approach to determining imager position is also described. Each aspect described may be used independently of the other. Moreover, the teaching may find use in other fields including velocimetry, etc.
摘要翻译：公开了用于执行对象轮廓测量的硬件和软件配置。描述了一种有利的成像装置。还描述了确定成像器位置的有利方法。所描述的每个方面可以独立于另一方使用。此外，教学可用于其他领域，包括测速仪等。

4. 发明授权

US08514268B2 Method and device for high-resolution three-dimensional imaging which obtains camera pose using defocusing 有权
公开(公告)号：US08514268B2
公开(公告)日：2013-08-20
申请号：US12454707
申请日：2009-05-21
申请人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard
发明人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard
IPC分类号： H04N13/02 , A61B1/04 , H04N7/00 , H04N7/18
CPC分类号： H04N13/221 , G01B11/002 , G06T7/571 , H04N13/236 , H04N13/254
摘要： A method and device for high-resolution three-dimensional (3-D) imaging which obtains camera pose using defocusing is disclosed. The device comprises a lens obstructed by a mask having two sets of apertures. The first set of apertures produces a plurality of defocused images of the object, which are used to obtain camera pose. The second set of optical filters produces a plurality of defocused images of a projected pattern of markers on the object. The images produced by the second set of apertures are differentiable from the images used to determine pose, and are used to construct a detailed 3-D image of the object. Using the known change in camera pose between captured images, the 3-D images produced can be overlaid to produce a high-resolution 3-D image of the object.

5. 发明申请

US20090295908A1 Method and device for high-resolution three-dimensional imaging which obtains camera pose using defocusing 有权
标题翻译：用于使用散焦获取摄像机姿态的高分辨率三维成像的方法和装置
公开(公告)号：US20090295908A1
公开(公告)日：2009-12-03
申请号：US12454707
申请日：2009-05-21
申请人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard
发明人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard
IPC分类号： H04N13/02 , G06K9/00
CPC分类号： H04N13/221 , G01B11/002 , G06T7/571 , H04N13/236 , H04N13/254
摘要： A method and device for high-resolution three-dimensional (3-D) imaging which obtains camera pose using defocusing is disclosed. The device comprises a lens obstructed by a mask having two sets of apertures. The first set of apertures produces a plurality of defocused images of the object, which are used to obtain camera pose. The second set of optical filters produces a plurality of defocused images of a projected pattern of markers on the object. The images produced by the second set of apertures are differentiable from the images used to determine pose, and are used to construct a detailed 3-D image of the object. Using the known change in camera pose between captured images, the 3-D images produced can be overlaid to produce a high-resolution 3-D image of the object.
摘要翻译：公开了一种用于使用散焦获得相机姿态的高分辨率三维（3-D）成像的方法和装置。该装置包括由具有两组孔的掩模阻挡的透镜。第一组孔径产生用于获得照相机姿态的物体的多个散焦图像。第二组光学滤光器产生在物体上的投影图案的多个散焦图像。由第二组孔径产生的图像与用于确定姿态的图像是不同的，并且用于构造物体的详细三维图像。使用拍摄图像之间已知的相机姿态变化，可以将所生成的3-D图像叠加以产生该对象的高分辨率3-D图像。

6. 发明申请

US20140368617A1 DEFOCUSING FEATURE MATCHING SYSTEM TO MEASURE CAMERA POSE WITH INTERCHANGEABLE LENS CAMERAS 审中-公开
标题翻译：使用可互换镜头相机测量相机位置的特征匹配系统
公开(公告)号：US20140368617A1
公开(公告)日：2014-12-18
申请号：US14303988
申请日：2014-06-13
申请人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
发明人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
IPC分类号： H04N13/02 , G03B17/56
CPC分类号： H04N13/204 , G02B7/34 , G03B9/02 , G03B17/14 , G03B17/565 , G03B19/12 , G03B35/00 , H04N5/235 , H04N5/2356 , H04N9/045
摘要： A lens and aperture device for determining 3D information. An SLR camera has a lens and aperture that allows the SLR camera to determine defocused information.
摘要翻译：用于确定3D信息的透镜和光圈装置。单反相机具有透镜和光圈，允许单反相机确定散焦信息。

7. 发明授权

US10182223B2 Three-dimensional imaging system 有权
公开(公告)号：US10182223B2
公开(公告)日：2019-01-15
申请号：US13820116
申请日：2010-11-19
申请人： Morteza Gharib , Alexei Harvard , Scott Hsieh , Jian Lu
发明人： Morteza Gharib , Alexei Harvard , Scott Hsieh , Jian Lu
IPC分类号： H04N13/207 , H04N13/02 , G06T7/70 , G06T7/593
摘要： Hardware and software configurations, optionally, for performing profilometry of an object are disclosed. An advantageous imaging device is described. An advantageous approach to determining imager position is also described. Each aspect described may be used independently of the other. Moreover, the teaching may find use in other fields including velocimetry, etc.

8. 发明申请

US20110074932A1 Accurate 3D Object Reconstruction Using a Handheld Device with a Projected Light Pattern 有权
标题翻译：使用具有投影光图案的手持设备进行精确的3D对象重建
公开(公告)号：US20110074932A1
公开(公告)日：2011-03-31
申请号：US12869919
申请日：2010-08-27
申请人： Morteza Gharib , Jian Lu , Alexei Harvard , Scott Hsieh
发明人： Morteza Gharib , Jian Lu , Alexei Harvard , Scott Hsieh
IPC分类号： H04N13/02
CPC分类号： G01B11/25 , G01B11/16 , G01B11/167 , G01B11/22 , G01B11/2513 , G01B11/2545 , G06T7/521 , G06T7/55 , H04N13/189 , H04N13/221
摘要： A lens and aperture device for determining 3D information. A projector projects an optical pattern toward a surface. The camera has at least two off-axis apertures thereon, arranged to obtain an image of the projected pattern including defocused information. The camera is movable between different positions to image the surface from said different positions, and the projector is at a specified angle of at least 5° relative to said camera. A processor carries out a first operation using information received through the apertures to determine a pose of said camera, and to determine three dimensional information about the object based on a degree of deformation of said optical pattern on said surface indicative of a three dimensional surface. An embodiment projects a grid of laser dots and uses laser-dot defocusing for approximate Z and thus grid correspondence, which can greatly increase the working depth of the system.
摘要翻译：用于确定3D信息的透镜和光圈装置。投影仪将光学图案投影到表面。相机具有至少两个离轴孔，布置成获得包括散焦信息的投影图案的图像。相机可以在不同位置之间移动，以从所述不同位置对表面进行成像，并且投影仪相对于所述照相机处于至少5°的指定角度。处理器使用通过孔接收的信息来执行第一操作，以确定所述相机的姿态，并且基于表示三维表面的所述表面上的所述光学图案的变形程度来确定关于对象的三维信息。一个实施例投射一个激光点网格，并使用激光点散焦近似Z，从而可以大大增加系统的工作深度。

9. 发明申请

US20110037832A1 Defocusing Feature Matching System to Measure Camera Pose with Interchangeable Lens Cameras 有权
标题翻译：散焦特征匹配系统用可互换镜头相机测量相机姿势
公开(公告)号：US20110037832A1
公开(公告)日：2011-02-17
申请号：US12853181
申请日：2010-08-09
申请人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
发明人： Morteza Gharib , Jian Lu , Scott Hsieh , Francisco Pereira , Alexei Harvard , David Jeon
IPC分类号： H04N15/00 , G02B13/16
CPC分类号： H04N13/204 , G02B7/34 , G03B9/02 , G03B17/14 , G03B17/565 , G03B19/12 , G03B35/00 , H04N5/235 , H04N5/2356 , H04N9/045
摘要： A lens and aperture device for determining 3D information. An SLR camera has a lens and aperture that allows the SLR camera to determine defocused information.
摘要翻译：用于确定3D信息的透镜和光圈装置。单反相机具有透镜和光圈，允许单反相机确定散焦信息。

10. 发明申请

US20100094138A1 Imaging catheter using laser profile for plaque depth measurement 审中-公开
标题翻译：成像导管使用激光廓线进行斑块深度测量
公开(公告)号：US20100094138A1
公开(公告)日：2010-04-15
申请号：US12460988
申请日：2009-07-27
申请人： Morteza Gharib , Jian Lu , David Jeon
发明人： Morteza Gharib , Jian Lu , David Jeon
IPC分类号： A61B6/00
CPC分类号： A61B5/6853 , A61B5/0066 , A61B5/0084 , A61B5/02007 , G02B23/2469
摘要： A device, system, and method for measuring the depth of a material layer such as a blood vessel plaque layer is disclosed. A fiber optic bundle housed in a balloon catheter projects a laser dot toward a conical mirror, which reflects the dot perpendicularly onto the surface of the plaque. The laser dot is reflected back from the plaque layer with a substantially Gaussian intensity profile. The conical mirror directs the reflected image back to the fiber optic bundle, which delivers the image to a sensor. The depth of the plaque layer can be determined by comparing the diameter of the image intensity profile to a pre-obtained normalized data set.
摘要翻译：公开了一种用于测量诸如血管斑块层的材料层的深度的装置，系统和方法。容纳在气囊导管中的光纤束将激光点向锥形镜投射，该圆锥镜将该点垂直地反射到斑块的表面上。激光点以大致高斯强度分布从斑块层反射回来。锥形镜将反射图像反射回光纤束，将光纤传送到传感器。斑块层的深度可以通过将图像强度分布的直径与预先获得的归一化数据集进行比较来确定。

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