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1. 发明授权

US06307959B1 Method and apparatus for estimating scene structure and ego-motion from multiple images of a scene using correlation 有权
标题翻译：用于使用相关性来估计来自场景的多个图像的场景结构和自身运动的方法和装置
公开(公告)号：US06307959B1
公开(公告)日：2001-10-23
申请号：US09616005
申请日：2000-07-13
申请人： Robert Mandelbaum , Garbis Salgian , Harpreet Singh Sawhney
发明人： Robert Mandelbaum , Garbis Salgian , Harpreet Singh Sawhney
IPC分类号： G06T1700
CPC分类号： G06T7/207 , G06T7/55
摘要： A system that estimates both the ego-motion of a camera through a scene and the structure of the scene by analyzing a batch of images of the scene obtained by the camera employs a correlation-based, iterative, multi-resolution algorithm. The system defines a global ego-motion constraint to refine estimates of inter-frame camera rotation and translation. It also uses local window-based correlation to refine the current estimate of scene structure. The batch of images is divided into a reference image and a group of inspection images. Each inspection image in the batch of images is aligned to the reference image by a warping transformation. The correlation is determined by analyzing respective Gaussian/Laplacian decompositions of the reference image and warped inspection images. The ego-motion constraint includes both rotation and translation parameters. These parameters are determined by globally correlating surfaces in the respective inspection images to the reference image. Scene structure is determined on a pixel-by-pixel basis by correlating multiple pixels in a support region among all of the images. The correlation surfaces are modeled as quadratic or other parametric surfaces to allow easy recognition and rejection of outliers and to simplify computation of incremental refinements for ego-motion and structure. The system can employ information from other sensors to provide an initial estimate of ego-motion and/or scene structure. The system operates using images captured by either single-camera rigs or multiple-camera rigs.
摘要翻译：通过分析由相机获得的场景的一批图像来估计相机通过场景的自我运动和场景的结构的系统采用基于相关性的迭代多分辨率算法。系统定义了一个全局自我运动约束，以改进帧间相机旋转和平移的估计。它还使用局部基于窗口的相关来改进场景结构的当前估计。一批图像被分为参考图像和一组检查图像。批次图像中的每个检查图像通过翘曲变换与参考图像对齐。通过分析参考图像和翘曲检查图像的各自的高斯/拉普拉斯分解来确定相关性。自我运动约束包括旋转和平移参数。这些参数通过将各检查图像中的表面全局相关到参考图像来确定。通过将所有图像中的支持区域中的多个像素相关联，逐像素地确定场景结构。相关表面被建模为二次或其他参数曲面，以便容易地识别和排除异常值，并简化对自身运动和结构的增量细化的计算。系统可以使用来自其他传感器的信息来提供自我运动和/或场景结构的初始估计。该系统使用由单摄像机钻机或多摄像机钻机捕获的图像进行操作。

2. 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。

3. 发明授权

US08744122B2 System and method for object detection from a moving platform 有权
标题翻译：从移动平台进行物体检测的系统和方法
公开(公告)号：US08744122B2
公开(公告)日：2014-06-03
申请号：US12604298
申请日：2009-10-22
申请人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
发明人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
IPC分类号： G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： The present invention relates to a system and method for detecting one or more targets belonging to a first class (e.g., moving and/or stationary people), from a moving platform in a 3D-rich environment. The framework described here is implemented using a number of monocular or stereo cameras distributed around the vehicle to provide 360 degrees coverage. Furthermore, the framework described here utilizes numerous filters to reduce the number of false positive identifications of the targets.
摘要翻译：本发明涉及一种用于在富3D环境中从移动平台检测属于第一类（例如移动和/或固定人物）的一个或多个目标的系统和方法。这里描述的框架使用分布在车辆周围的多个单目或立体摄像机来实现，以提供360度覆盖。此外，这里描述的框架利用许多过滤器来减少目标的假阳性识别的数量。

4. 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。

5. 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。

6. 发明申请

US20100202657A1 SYSTEM AND METHOD FOR OBJECT DETECTION FROM A MOVING PLATFORM 有权
标题翻译：用于移动平台对象检测的系统和方法
公开(公告)号：US20100202657A1
公开(公告)日：2010-08-12
申请号：US12604298
申请日：2009-10-22
申请人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
发明人： Garbis Salgian , John Benjamin Southall , Sang-Hack Jung , Vlad Branzoi , Jiangjian Xiao , Feng Han , Supun Samarasekera , Rakesh Kumar , Jayan Eledath
IPC分类号： G06K9/48 , G06K9/00
CPC分类号： G06K9/00369 , G06K9/00805
摘要： The present invention relates to a system and method for detecting one or more targets belonging to a first class (e.g., moving and/or stationary people), from a moving platform in a 3D-rich environment. The framework described here is implemented using a number of monocular or stereo cameras distributed around the vehicle to provide 360 degrees coverage. Furthermore, the framework described here utilizes numerous filters to reduce the number of false positive identifications of the targets.
摘要翻译：本发明涉及一种用于在富3D环境中从移动平台检测属于第一类（例如移动和/或固定人物）的一个或多个目标的系统和方法。这里描述的框架使用分布在车辆周围的多个单目或立体摄像机来实现，以提供360度覆盖。此外，这里描述的框架利用许多过滤器来减少目标的假阳性识别的数量。

7. 发明授权

US08059887B2 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：US08059887B2
公开(公告)日：2011-11-15
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，它们被并入到姿势调整中，使得可以更新密集的立体声结果。

8. 发明申请

US20080089556A1 Moving Target Detection in the Presence of Parallax 有权
标题翻译：在视差存在下移动目标检测
公开(公告)号：US20080089556A1
公开(公告)日：2008-04-17
申请号：US11763559
申请日：2007-06-15
申请人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James Bergen , Rakesh Kumar , Feng Han
发明人： Garbis Salgian , Supun Samarasekera , Jiangjian Xiao , James 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。

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