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1. 发明授权

US06269175B1 Method and apparatus for enhancing regions of aligned images using flow estimation 有权
标题翻译：使用流量估计来增强对准图像区域的方法和装置
公开(公告)号：US06269175B1
公开(公告)日：2001-07-31
申请号：US09384118
申请日：1999-08-27
申请人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
发明人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
IPC分类号： G06K936
CPC分类号： G06T7/55 , G06T5/50 , G06T2207/10012 , H04N13/111 , H04N13/15 , H04N13/189 , H04N13/239 , H04N13/243 , H04N13/246 , H04N13/25 , H04N13/286 , H04N13/296 , H04N2013/0081
摘要： A method and apparatus for accurately computing parallax information as captured by imagery of a scene. The method computes the parallax information of each point in an image by computing the parallax within windows that are offset with respect to the point for which the parallax is being computed. Additionally, parallax computations are performed over multiple frames of imagery to ensure accuracy of the parallax computation and to facilitate correction of occluded imagery.
摘要翻译：一种用于准确地计算由场景的图像捕获的视差信息的方法和装置。该方法通过计算相对于计算视差的点偏移的窗口内的视差来计算图像中每个点的视差信息。另外，在多个图像帧上执行视差计算，以确保视差计算的准确性并且有利于闭塞图像的校正。

2. 发明授权

US06173087B2 Multi-view image registration with application to mosaicing and lens distortion correction 失效
标题翻译：多视图图像配准应用于镶嵌和镜头失真校正
公开(公告)号：US06173087B2
公开(公告)日：2001-01-09
申请号：US08966776
申请日：1997-11-10
申请人： Rakesh Kumar , Harpreet Singh Sawhney , James Russell Bergen
发明人： Rakesh Kumar , Harpreet Singh Sawhney , James Russell Bergen
IPC分类号： G06K936
CPC分类号： G06K9/32 , G06K2009/2045 , G06T3/0081 , G06T3/4038 , H04N19/23 , H04N19/597
摘要： An embodiment of the invention is a system and process for true multi-image alignment that does not rely on the measurements of a reference image being distortion free. For instance, lens distortion is a common imaging phenomenon. When lens distortion is present, none of the images can be assumed to be ideal. In an embodiment of the invention, all the images are modeled as intensity measurements represented in their respective coordinate systems, each of which is related to a reference coordinate system through an interior camera transformation and an exterior view transformation. Motion parameters determined in accordance with an embodiment of the invention dictate the position of the input frames within the reference frame. A reference coordinate system is used, but not a reference image. Motion parameters are computed to warp all input images to a virtual image mosaic in the reference coordinate system of the reference frame. Each pixel in the virtual image mosaic may be predicted by intensities at corresponding pixel positions from more than one image. The error measure, which is the sum of the variances of predicted pixel intensities at each pixel location summed over the virtual image mosaic, is minimized. The embodiment of the invention advantageously maximally uses information present in all images.
摘要翻译：本发明的实施例是用于真正的多图像对准的系统和过程，其不依赖于无失真的参考图像的测量。例如，镜头失真是常见的成像现象。当存在透镜失真时，不能假定图像是理想的。在本发明的一个实施例中，所有图像被建模为在它们各自的坐标系中表示的强度测量值，每个坐标系统通过内部照相机变换和外部视图变换与参考坐标系相关。根据本发明的实施例确定的运动参数指示输入框在参考框架内的位置。使用参考坐标系，而不是参考图像。计算运动参数以将所有输入图像扭曲成参考框架的参考坐标系中的虚拟图像马赛克。可以通过来自多于一个图像的相应像素位置处的强度来预测虚拟图像镶嵌中的每个像素。误差测量值是在虚拟图像镶嵌中相加的每个像素位置处的预测像素强度的方差之和。本发明的实施例有利地最大限度地利用存在于所有图像中的信息。

3. 发明授权

US06490364B2 Apparatus for enhancing images using flow estimation 有权
标题翻译：使用流量估计增强图像的装置
公开(公告)号：US06490364B2
公开(公告)日：2002-12-03
申请号：US09888693
申请日：2001-06-25
申请人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
发明人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
IPC分类号： G06K936
CPC分类号： G06T7/55 , G06T5/50 , G06T2207/10012 , H04N13/111 , H04N13/15 , H04N13/189 , H04N13/239 , H04N13/243 , H04N13/246 , H04N13/25 , H04N13/286 , H04N13/296 , H04N2013/0081
摘要： A method and apparatus for accurately computing parallax information as captured by imagery of a scene. The method computes the parallax information of each point in an image by computing the parallax within windows that are offset with respect to the point for which the parallax is being computed. Additionally, parallax computations are performed over multiple frames of imagery to ensure accuracy of the parallax computation and to facilitate correction of occluded imagery.
摘要翻译：一种用于准确地计算由场景的图像捕获的视差信息的方法和装置。该方法通过计算相对于计算视差的点偏移的窗口内的视差来计算图像中每个点的视差信息。另外，在多个图像帧上执行视差计算，以确保视差计算的准确性并且有利于闭塞图像的校正。

4. 发明授权

US06430304B2 Method and apparatus for processing images to compute image flow information 有权
标题翻译：用于处理图像以计算图像流信息的方法和装置
公开(公告)号：US06430304B2
公开(公告)日：2002-08-06
申请号：US09837407
申请日：2001-04-18
申请人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
发明人： Keith James Hanna , Rakesh Kumar , James Russell Bergen , Harpreet Singh Sawhney , Jeffrey Lubin
IPC分类号： G06K936
CPC分类号： G06T7/55 , G06T5/50 , G06T2207/10012 , H04N13/111 , H04N13/15 , H04N13/189 , H04N13/239 , H04N13/243 , H04N13/246 , H04N13/25 , H04N13/286 , H04N13/296 , H04N2013/0081
摘要： A method and apparatus for accurately computing parallax information as captured by imagery of a scene. The method computes the parallax information of each point in an image by computing the parallax within windows that are offset with respect to the point for which the parallax is being computed. Additionally, parallax computations are performed over multiple frames of imagery to ensure accuracy of the parallax computation and to facilitate correction of occluded imagery.
摘要翻译：一种用于准确地计算由场景的图像捕获的视差信息的方法和装置。该方法通过计算相对于计算视差的点偏移的窗口内的视差来计算图像中每个点的视差信息。另外，在多个图像帧上执行视差计算，以确保视差计算的准确性并且有利于闭塞图像的校正。

5. 发明授权

US6075905A Method and apparatus for mosaic image construction 失效
标题翻译：马赛克图像构造的方法和装置
公开(公告)号：US6075905A
公开(公告)日：2000-06-13
申请号：US896887
申请日：1997-07-18
申请人： Joshua Randy Herman, deceased , James Russell Bergen , Shmuel Peleg , Vincent Paragano , Douglas F. Dixon , Peter J. Burt , Harpreet Sawhney , Gary A. Gendel , Rakesh Kumar , Michael H. Brill
发明人： Joshua Randy Herman, deceased , James Russell Bergen , Shmuel Peleg , Vincent Paragano , Douglas F. Dixon , Peter J. Burt , Harpreet Sawhney , Gary A. Gendel , Rakesh Kumar , Michael H. Brill
IPC分类号： G06T3/00 , G06T3/40 , G06T11/00 , H04N1/387 , H04N5/265 , H04N7/26 , G06K9/36
CPC分类号： G06K9/32 , G06T3/4038 , H04N19/23 , H04N19/597 , G06K2009/2045
摘要： A method of constructing an image mosaic comprising the steps of selecting source images, aligning the source images, selecting source segments, enhancing the images, and merging the images to form the image mosaic is disclosed. An apparatus for constructing an image mosaic comprising means for selecting source images, means for aligning the source images, means for selecting source image segments, means for enhancing the images, and means for merging the images to form the image mosaic is also disclosed. The process may be performed automatically by the system or may be guided interactively by a human operator. Applications include the construction of photographic quality prints form video and digital camera images.
摘要翻译：公开了一种构建图像拼接的方法，包括选择源图像，对准源图像，选择源片段，增强图像以及合并图像以形成图像马赛克的步骤。还公开了一种用于构建图像镶嵌的装置，包括用于选择源图像的装置，用于对准源图像的装置，用于选择源图像片段的装置，用于增强图像的装置，以及用于合并图像以形成图像镶嵌的装置。该过程可以由系统自动执行或者可由人类操作者交互地引导。应用包括构建视频和数码相机图像的照片质量打印。

6. 发明授权

US06956573B1 Method and apparatus for efficiently representing storing and accessing video information 失效
标题翻译：用于有效地表示存储和访问视频信息的方法和装置
公开(公告)号：US06956573B1
公开(公告)日：2005-10-18
申请号：US08970889
申请日：1997-11-14
申请人： James Russell Bergen , Curtis R. Carlson , Rakesh Kumar , Harpreet S. Sawhney
发明人： James Russell Bergen , Curtis R. Carlson , Rakesh Kumar , Harpreet S. Sawhney
IPC分类号： G06F17/30 , G06T15/00 , G11B27/10 , G11B27/28 , G11B27/34 , H04N7/173
CPC分类号： G06F17/30802 , G06F17/30808 , G06F17/30817 , G06F17/30843 , G11B27/105 , G11B27/28 , G11B27/34 , H04N5/91 , H04N7/17318 , H04N9/8205 , H04N9/8227 , H04N21/44008 , H04N21/440227 , H04N21/47202 , H04N21/4828 , H04N21/8153 , H04N21/8456
摘要： A method and concomitant apparatus for comprehensively representing video information in a manner facilitating indexing of the video information. Specifically, a method according to the inveniton comprises the steps of dividing a continuous video stream into a plurality of video scenes; and at least one of the steps of dividing, using intra-scene motion analysis, at least one of the plurality of scenes into one or more layers; representing, as a mosaic, at least one of the pluraliy of scenes; computing, for at least one layer or scene, one or more content-related appearance attributes; and storing, in a database, the content-related appearance attributes or said mosaic representations.
摘要翻译：一种用于以便于索引视频信息的方式全面地表示视频信息的方法和伴随装置。具体地，根据本发明的方法包括将连续视频流分割成多个视频场景的步骤; 以及将所述多个场景中的至少一个划分为一个或多个层的步骤中的至少一个步骤; 作为马赛克代表多个场景中的至少一个; 对于至少一个层或场景，计算一个或多个内容相关的外观属性; 以及在数据库中存储与内容相关的外观属性或所述马赛克表示。

7. 发明授权

US08340349B2 Moving target detection in the presence of parallax 有权
标题翻译：在存在视差的情况下移动目标检测
公开(公告)号：US08340349B2
公开(公告)日：2012-12-25
申请号：US11763559
申请日：2007-06-15
申请人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Russell Bergen , Rakesh Kumar , Feng Han
发明人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Russell Bergen , Rakesh Kumar , Feng Han
IPC分类号： G06K9/00
CPC分类号： G06K9/3241 , G06K9/209 , G06T7/285 , G06T2207/10021 , G06T2207/30212 , G06T2207/30252
摘要： A method for detecting a moving target is disclosed that receives a plurality of images from at least one camera; receives a measurement of scale from one of a measurement device and a second camera; calculates the pose of the at least one camera over time based on the plurality of images and the measurement of scale; selects a reference image and an inspection image from the plurality of images of the at least one camera; and detects a moving target from the reference image and the inspection image based on the orientation of corresponding portions in the reference image and the inspection image relative to a location of an epipolar direction common to the reference image and the inspection image; and displays any detected moving target on a display. The measurement of scale can derived from a second camera or, for example, a wheel odometer. The method can also detect moving targets by combining the above epipolar method with a method based on changes in depth between the inspection image and the reference image and based on changes in flow between the inspection image and the reference image.
摘要翻译：公开了一种用于检测移动目标的方法，其从至少一个相机接收多个图像; 从测量装置和第二相机中的一个接收刻度的测量; 基于多个图像和尺度的测量来计算随时间的至少一个相机的姿态; 从所述至少一个照相机的多个图像中选择参考图像和检查图像; 并且基于所述参考图像和所述检查图像中的对应部分相对于所述参考图像和所述检查图像共同的核极方向的位置的取向，从所述参考图像和所述检查图像中检测移动目标; 并在显示器上显示任何检测到的移动目标。刻度的测量可以从第二相机或例如车轮里程表得到。该方法还可以通过将上述对极方法与基于检查图像和参考图像之间的深度变化的方法并基于检查图像与参考图像之间的流动变化组合来检测移动目标。

8. 发明申请

US20080247602A1 System and Method for Providing Mobile Range Sensing 有权
标题翻译：提供移动范围感知的系统和方法
公开(公告)号：US20080247602A1
公开(公告)日：2008-10-09
申请号：US11860650
申请日：2007-09-25
申请人： John Richard Fields , James Russell Bergen , Garbis Salgian
发明人： John Richard Fields , James Russell Bergen , Garbis Salgian
IPC分类号： G06K9/00
CPC分类号： G06K9/209 , G06K2209/40 , G06T7/246 , G06T7/596 , G06T2207/10016 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
摘要： The present invention provides an improved system and method for estimating range of the objects in the images from various distances. The method comprises receiving a set of images of the scene having multiple objects from at least one camera in motion. Due to the motion of the camera, each of the images are obtained at different camera locations Then an object visible in multiple images is selected. Data related to approximate camera positions and orientations and the images of the visible object are used to estimate the location of the object relative to a reference coordinate system. Based on the computed data, a projected location of the visible object is computed and the orientation angle of the camera for each image is refined. Additionally, pairs of cameras with various locations can then be chosen to obtain dense stereo for regions of the image at various ranges. The process is further structured so that as new images arrive, they are incorporated into the pose adjustment so that the dense stereo results can. be updated.
摘要翻译：本发明提供了一种用于估计来自各种距离的图像中的对象的范围的改进的系统和方法。该方法包括从运动中的至少一个摄像机接收具有多个对象的场景的一组图像。由于相机的运动，在不同的相机位置获得每个图像然后选择在多个图像中可见的对象。与近似相机位置和方向有关的数据以及可见对象的图像用于估计对象相对于参考坐标系的位置。基于计算的数据，计算可见对象的投影位置，并且改善每个图像的相机的取向角度。此外，可以选择具有各种位置的成对的相机以获得在各种范围内的图像区域的致密立体声。该过程被进一步构造，使得当新图像到达时，它们被并入姿态调整中，使得密集立体结果可以。被更新。

9. 发明授权

US06535620B2 Method and apparatus for qualitative spatiotemporal data processing 失效
标题翻译：定性时空数据处理的方法和装置
公开(公告)号：US06535620B2
公开(公告)日：2003-03-18
申请号：US09803774
申请日：2001-03-12
申请人： Richard Patrick Wildes , James Russell Bergen
发明人： Richard Patrick Wildes , James Russell Bergen
IPC分类号： G06K900
CPC分类号： G06K9/00335 , G06T7/262
摘要： The present invention is embodied in a method for representing and analyzing spatiotemporal data in order to make qualitative yet semantically meaningful distinctions among various regions of the data at an early processing stage. In one embodiment of the invention, successive frames of image data are analyzed to classify spatiotemporal regions as being stationary, exhibiting coherent motion, exhibiting incoherent motion, exhibiting scintillation and so lacking in structure as to not support further inference. The exemplary method includes filtering the image data in a spatiotemporal plane to identify regions that exhibit various spatiotemporal characteristics. The output data provided by these filters is then used to classify the data.
摘要翻译：本发明体现在一种用于表示和分析时空数据的方法，以便在早期处理阶段在数据的各个区域之间进行定性但语义上的有意义的区别。在本发明的一个实施例中，分析连续的图像数据帧以将时空区域分类为静止的，表现出相干运动，表现出非相干运动，呈现闪烁，因此缺乏结构，从而不支持进一步的推断。示例性方法包括在时空平面中对图像数据进行过滤，以识别表现出各种时空特征的区域。然后使用这些过滤器提供的输出数据对数据进行分类。

10. 发明授权

US08428344B2 System and method for providing mobile range sensing 有权
标题翻译：提供移动距离感测的系统和方法
公开(公告)号：US08428344B2
公开(公告)日：2013-04-23
申请号：US13242533
申请日：2011-09-23
申请人： John Richard Fields , James Russell Bergen , Garbis Salgian
发明人： John Richard Fields , James Russell Bergen , Garbis Salgian
IPC分类号： G06K9/00
CPC分类号： G06K9/209 , G06K2209/40 , G06T7/246 , G06T7/596 , G06T2207/10016 , G06T2207/30188 , G06T2207/30241 , G06T2207/30252
摘要： The present invention provides an improved method for estimating range of objects in images from various distances comprising receiving a set of images of the scene having multiple objects from at least one camera in motion. Due to the motion of the camera, each of the images are obtained at different camera locations. Then an object visible in multiple images is selected. Data related to approximate camera positions and orientations and the images of the visible object are used to estimate the location of the object relative to a reference coordinate system. Based on the computed data, a projected location of the visible object is computed and the orientation angle of the camera for each image is refined. Additionally, pairs of cameras with various locations can obtain dense stereo for regions of the image at various ranges.
摘要翻译：本发明提供一种用于估计来自各种距离的图像中的对象的范围的改进方法，包括从运动中的至少一个照相机接收具有多个对象的场景的一组图像。由于相机的运动，每个图像都是在不同的相机位置获得的。然后选择多个图像中可见的对象。与近似相机位置和方向有关的数据以及可见对象的图像用于估计对象相对于参考坐标系的位置。基于计算的数据，计算可见对象的投影位置，并且改善每个图像的相机的取向角度。此外，具有各种位置的成对的相机可以在各种范围内为图像的区域获得致密的立体声。

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