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1. 发明授权

US09159134B2 Method and apparatus for estimating a pose 有权
标题翻译：用于估计姿势的方法和装置
公开(公告)号：US09159134B2
公开(公告)日：2015-10-13
申请号：US14365222
申请日：2011-12-16
申请人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
发明人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
IPC分类号： G06K9/00 , G06T7/00 , G06T7/20
CPC分类号： G06T7/0046 , G06T7/251 , G06T7/75 , G06T2207/10028 , G06T2207/20044 , G06T2207/20081 , G06T2207/30196
摘要： The invention relates to a real time-capable analysis of a sequence of electronic images for estimating the pose of a movable object captured by means of the images. The invention further relates to implementing the invention in software and, in this connection, to a computer-readable medium that stores commands, the execution of which causes the method according to the invention to be carried out. The invention proceeds from a skeleton model, which is described by a small number of nodes in 3D space and permits a good data compression of the image information when the co-ordinates of the nodes describe at any time the position of predetermined parts of the moving object. The skeleton model simultaneously represents previous knowledge of the object, by defining e.g. node pairs and optionally also node triplets in the skeleton model that describe cohesive object parts or optionally object surfaces, which are contained in the measured 2½-D image information, i.e. are visible to the camera. The skeleton model is to be fitted quickly and accurately into the image information. The fitting is effected between two images of an image sequence by the continuous displacement of the nodes and the continuous updating of the skeleton model.
摘要翻译：本发明涉及用于估计通过图像捕获的可移动物体的姿态的电子图像序列的实时分析。本发明还涉及以软件实现本发明，并且在这方面，涉及存储指令的计算机可读介质，其执行导致执行根据本发明的方法。本发明从由3D空间中的少量节点描述的骨架模型进行，并且当节点的坐标在任何时刻描述移动的预定部分的位置时允许图像信息的良好数据压缩目的。骨架模型同时表示对象的先前知识，通过定义例如骨架模型中的节点对和可选地还包括节点三联体，其描述包含在所测量的2 1/2-D图像信息中的粘性对象部分或可选的对象表面，即对于相机是可见的。骨架模型要快速，准确地适应图像信息。通过节点的连续位移和骨架模型的连续更新，对图像序列的两个图像进行拟合。

2. 发明申请

US20140328519A1 METHOD AND APPARATUS FOR ESTIMATING A POSE 有权
标题翻译：评估方法和装置
公开(公告)号：US20140328519A1
公开(公告)日：2014-11-06
申请号：US14365222
申请日：2011-12-16
申请人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
发明人： Thomas Martinetz , Kristian Ehlers , Fabian Timm , Erhardt Barth , Sascha Klement
IPC分类号： G06T7/00 , G06T7/20
CPC分类号： G06T7/0046 , G06T7/251 , G06T7/75 , G06T2207/10028 , G06T2207/20044 , G06T2207/20081 , G06T2207/30196
摘要： The invention relates to a real time-capable analysis of a sequence of electronic images for estimating the pose of a movable object captured by means of the images. The invention further relates to implementing the invention in software and, in this connection, to a computer-readable medium that stores commands, the execution of which causes the method according to the invention to be carried out. The invention proceeds from a skeleton model, which is described by a small number of nodes in 3D space and permits a good data compression of the image information when the co-ordinates of the nodes describe at any time the position of predetermined parts of the moving object. The skeleton model simultaneously represents previous knowledge of the object, by defining e.g. node pairs and optionally also node triplets in the skeleton model that describe cohesive object parts or optionally object surfaces, which are contained in the measured 2½-D image information, i.e. are visible to the camera. The skeleton model is to be fitted quickly and accurately into the image information. The fitting is effected between two images of an image sequence by the continuous displacement of the nodes and the continuous updating of the skeleton model.
摘要翻译：本发明涉及用于估计通过图像捕获的可移动物体的姿态的电子图像序列的实时分析。本发明还涉及以软件实现本发明，并且在这方面，涉及存储指令的计算机可读介质，其执行导致执行根据本发明的方法。本发明从由3D空间中的少量节点描述的骨架模型进行，并且当节点的坐标在任何时刻描述移动的预定部分的位置时允许图像信息的良好数据压缩目的。骨架模型同时表示对象的先前知识，通过定义例如骨架模型中的节点对和可选地还包括节点三联体，其描述包含在所测量的2 1/2-D图像信息中的粘性对象部分或可选的对象表面，即对于相机是可见的。骨架模型要快速，准确地适应图像信息。通过节点的连续位移和骨架模型的连续更新，对图像序列的两个图像进行拟合。

3. 发明申请

US20100047811A1 METHOD FOR OPTIMIZING THE AUTOMATIC FLUORESCENCE PATTERN RECOGNITION IN IMMUNODAGNOSIS 有权
标题翻译：自动荧光图像识别在免疫组织化学中的优化方法
公开(公告)号：US20100047811A1
公开(公告)日：2010-02-25
申请号：US12304059
申请日：2007-06-01
申请人： Stöcker Winfried , Hendrik Fauer , Christopher Krause , Erhardt Barth , Thomas Martinetz
发明人： Stöcker Winfried , Hendrik Fauer , Christopher Krause , Erhardt Barth , Thomas Martinetz
IPC分类号： G01N33/53
CPC分类号： G01N21/6456 , G06T7/0012 , G06T7/90 , G06T2207/30072 , Y10T436/13 , Y10T436/25125
摘要： The invention relates to a method for optimizing the automatic fluorescence pattern recognition in immunodiagnosis. In this method, in addition to or together with the fluorescence dye, one or more other indicator dyes for the identification of relevant structures are incubated before an image is taken with a camera.
摘要翻译：本发明涉及一种优化免疫诊断中自动荧光模式识别的方法。在该方法中，除了荧光染料或与荧光染料一起，还可以在用相机拍摄图像之前孵育用于鉴定相关结构的一种或多种其它指示剂染料。

4. 发明授权

US09058661B2 Method for the real-time-capable, computer-assisted analysis of an image sequence containing a variable pose 有权
标题翻译：用于对包含可变姿态的图像序列进行实时性，计算机辅助分析的方法
公开(公告)号：US09058661B2
公开(公告)日：2015-06-16
申请号：US13319968
申请日：2010-05-06
申请人： Martin Haker , Erhardt Barth , Thomas Martinetz
发明人： Martin Haker , Erhardt Barth , Thomas Martinetz
IPC分类号： G06T17/00 , G06T7/00 , G06K9/00
CPC分类号： G06T7/0046 , G06K9/00355 , G06T7/75
摘要： The invention relates to a method for the real-time-capable, computer-assisted analysis of an image sequence of an object consisting of elements that can be moved relative to each other and are interconnected, said sequence containing a variable pose, wherein the individual images of the image sequence are recorded by way of a time-of-flight (TOF) camera such that said images can be processed by a computer, and contain brightness and distance data as functions of the pixel coordinates of the camera for each image of the sequence, comprising the following steps: a. Capturing the pixels of an individual image forming the object, b. calculating a three-dimensional (3D) point cloud in a virtual space, said point cloud representing the surface of the object that is visible to the camera, by a computational projection of object-depicting pixels in such a space, while taking captured distance data to the object into consideration, c. fitting a model of the object consisting of nodes and edges into the computer-generated 3D point cloud for the individual images, wherein the nodes represent a selection of elements of the object and the edges represent the connections of said elements amount each other, d. iteratively updating all node positions by applying a learning rule for training a self-organizing map having a previously defined number of randomly selected dots of the point cloud, e. repeating steps a. to d. for each subsequent individual image of the sequence, wherein for the fitting in step c. the result of step e. of the preceding image is used in each case, and f. determining the varying pose from the positions of predetermined nodes of the model which have been captured in at least representative images of the image sequence.
摘要翻译：本发明涉及一种用于实时能力的计算机辅助分析对象的图像序列的方法，所述对象由可相对于彼此移动并被互连的元素组成，所述序列包含可变姿态，其中所述个体通过飞行时间（TOF）照相机记录图像序列的图像，使得所述图像可以由计算机处理，并且包含亮度和距离数据作为相机的每个图像的像素坐标的函数该序列包括以下步骤：a。捕获形成对象的单个图像的像素，b。通过在这样的空间中的对象描绘像素的计算投影来计算虚拟空间中的三维（3D）点云，所述点云表示对于相机可见的对象的表面，同时获取捕获的距离数据考虑到对象，c。将由节点和边缘组成的对象的模型拟合到用于各个图像的计算机生成的3D点云中，其中节点表示对象的元素的选择，并且边缘表示所述元素的连接彼此相互重叠。通过应用用于训练具有先前定义的点云随机选择的点数的自组织图的学习规则来迭代地更新所有节点位置，重复步骤a。到d 对于序列的每个随后的单独图像，其中对于步骤c中的拟合。步骤e的结果。在每种情况下使用上述图像，f。从已经在图像序列的至少代表性图像中捕获的模型的预定节点的位置确定变化的姿势。

5. 发明申请

US20140098093A2 Method for the Real-Time-Capable, Computer-Assisted Analysis of an Image Sequence Containing a Variable Pose 有权
标题翻译：用于实时性，计算机辅助分析包含可变姿态的图像序列的方法
公开(公告)号：US20140098093A2
公开(公告)日：2014-04-10
申请号：US13319968
申请日：2010-05-06
申请人： Martin Haker , Erhardt Barth , Thomas Martinetz
发明人： Martin Haker , Erhardt Barth , Thomas Martinetz
IPC分类号： G06T17/00
CPC分类号： G06T7/0046 , G06K9/00355 , G06T7/75
摘要： The invention relates to a method for the real-time-capable, computer-assisted analysis of an image sequence of an object consisting of elements that can be moved relative to each other and are interconnected, said sequence containing a variable pose, wherein the individual images of the image sequence are recorded by way of a time-of-flight (TOF) camera such that said images can be processed by a computer, and contain brightness and distance data as functions of the pixel coordinates of the camera for each image of the sequence, comprising the following steps: a. Capturing the pixels of an individual image forming the object, b. calculating a three-dimensional (3D) point cloud in a virtual space, said point cloud representing the surface of the object that is visible to the camera, by a computational projection of object-depicting pixels in such a space, while taking captured distance data to the object into consideration, c. fitting a model of the object consisting of nodes and edges into the computer-generated 3D point cloud for the individual images, wherein the nodes represent a selection of elements of the object and the edges represent the connections of said elements amount each other, d. iteratively updating all node positions by applying a learning rule for training a self-organizing map having a previously defined number of randomly selected dots of the point cloud, e. repeating steps a. to d. for each subsequent individual image of the sequence, wherein for the fitting in step c. the result of step e. of the preceding image is used in each case, and f. determining the varying pose from the positions of predetermined nodes of the model which have been captured in at least representative images of the image sequence.
摘要翻译：本发明涉及一种用于实时能力的计算机辅助分析对象的图像序列的方法，所述对象由可相对于彼此移动并被互连的元素组成，所述序列包含可变姿态，其中所述个体通过飞行时间（TOF）照相机记录图像序列的图像，使得所述图像可以由计算机处理，并且包含亮度和距离数据作为相机的每个图像的像素坐标的函数该序列包括以下步骤：a。捕获形成对象的单个图像的像素，b。通过在这样的空间中的对象描绘像素的计算投影来计算虚拟空间中的三维（3D）点云，所述点云表示对于相机可见的对象的表面，同时获取捕获的距离数据考虑到对象，c。将由节点和边缘组成的对象的模型拟合到用于各个图像的计算机生成的3D点云中，其中节点表示对象的元素的选择，并且边缘表示所述元素的连接彼此相互重叠。通过应用用于训练具有先前定义的点云随机选择的点数的自组织图的学习规则来迭代地更新所有节点位置，重复步骤a。到d 对于序列的每个随后的单独图像，其中对于步骤c中的拟合。步骤e的结果。在每种情况下使用上述图像，f。从已经在图像序列的至少代表性图像中捕获的模型的预定节点的位置确定变化的姿势。

6. 发明授权

US08637327B2 Method for optimizing automatic fluorescence pattern recognition in immunodiagnosis 有权
标题翻译：免疫诊断中优化自动荧光模式识别的方法
公开(公告)号：US08637327B2
公开(公告)日：2014-01-28
申请号：US12304059
申请日：2007-06-01
申请人： Stöcker Winfried , Hendrik Fauer , Christopher Krause , Erhardt Barth , Thomas Martinetz
发明人： Stöcker Winfried , Hendrik Fauer , Christopher Krause , Erhardt Barth , Thomas Martinetz
IPC分类号： G01N33/533 , G01N1/30 , G01N21/00
CPC分类号： G01N21/6456 , G06T7/0012 , G06T7/90 , G06T2207/30072 , Y10T436/13 , Y10T436/25125
摘要： The invention relates to a method for optimizing the automatic fluorescence pattern recognition in immunodiagnosis. In this method, in addition to or together with the fluorescence dye, one or more other indicator dyes for the identification of relevant structures are incubated before an image is taken with a camera.
摘要翻译：本发明涉及一种优化免疫诊断中自动荧光模式识别的方法。在该方法中，除了荧光染料或与荧光染料一起，还可以在用相机拍摄图像之前孵育用于鉴定相关结构的一种或多种其它指示剂染料。

7. 发明申请

US20120120073A1 Method for the Real-Time-Capable, Computer-Assisted Analysis of an Image Sequence Containing a Variable Pose 有权
标题翻译：用于实时性，计算机辅助分析包含可变姿态的图像序列的方法
公开(公告)号：US20120120073A1
公开(公告)日：2012-05-17
申请号：US13319968
申请日：2010-05-06
申请人： Martin Haker , Erhardt Barth , Thomas Martinetz
发明人： Martin Haker , Erhardt Barth , Thomas Martinetz
IPC分类号： G06T17/00
CPC分类号： G06T7/0046 , G06K9/00355 , G06T7/75
摘要： The invention relates to a method for the real-time-capable, computer-assisted analysis of an image sequence of an object consisting of elements that can be moved relative to each other and are interconnected, said sequence containing a variable pose, wherein the individual images of the image sequence are recorded by way of a time-of-flight (TOF) camera such that said images can be processed by a computer, and contain brightness and distance data as functions of the pixel coordinates of the camera for each image of the sequence, comprising the following steps: a. Capturing the pixels of an individual image forming the object, b. calculating a three-dimensional (3D) point cloud in a virtual space, said point cloud representing the surface of the object that is visible to the camera, by a computational projection of object-depicting pixels in such a space, while taking captured distance data to the object into consideration, c. fitting a model of the object consisting of nodes and edges into the computer-generated 3D point cloud for the individual image, wherein the nodes represent a selection of elements of the object and the edges represent the connections of said elements among each other, d. iteratively updating all node positions by applying a learning rule for training a self-organizing map having a previously defined number of randomly selected dots of the point cloud, e. repeating steps a. to d. for each subsequent individual image of the sequence, wherein for the fitting in step c. the result of step e. of the preceding image is used in each case, and f. determining the varying pose from the positions of predetermined nodes of the model which have been captured in at least representative images of the image sequence.
摘要翻译：本发明涉及一种用于实时能力的计算机辅助分析对象的图像序列的方法，所述对象由可相对于彼此移动并被互连的元素组成，所述序列包含可变姿态，其中所述个体通过飞行时间（TOF）照相机记录图像序列的图像，使得所述图像可以由计算机处理，并且包含亮度和距离数据作为相机的每个图像的像素坐标的函数该序列包括以下步骤：a。捕获形成对象的单个图像的像素，b。通过在这样的空间中的对象描绘像素的计算投影来计算虚拟空间中的三维（3D）点云，所述点云表示对于相机可见的对象的表面，同时获取捕获的距离数据考虑到对象，c。将由节点和边缘组成的对象的模型拟合到用于个体图像的计算机生成的3D点云中，其中节点表示对象的元素的选择，并且边缘表示彼此之间的所述元素的连接。通过应用用于训练具有先前定义的点云随机选择的点数的自组织图的学习规则来迭代地更新所有节点位置，重复步骤a。到d 对于序列的每个随后的单独图像，其中对于步骤c中的拟合。步骤e的结果。在每种情况下使用上述图像，f。从已经在图像序列的至少代表性图像中捕获的模型的预定节点的位置确定变化的姿势。

8. 发明授权

US5513097A Method and control device for controlling a process including the use of a neural network having variable network parameters 失效
标题翻译：用于控制包括使用具有可变网络参数的神经网络的处理的方法和控制装置
公开(公告)号：US5513097A
公开(公告)日：1996-04-30
申请号：US243646
申请日：1994-05-16
申请人： Otto Gramckow , Thomas Martinetz , Thomas Poppe
发明人： Otto Gramckow , Thomas Martinetz , Thomas Poppe
IPC分类号： B21B37/16 , G05B13/02
CPC分类号： B21B37/16 , G05B13/027 , B21B2265/12 , Y10S706/903 , Y10S706/904
摘要： For the control of a process in a controlled system, a presetting of the system takes place at the start of each process sequence as a function of a precalculated process parameter which exhibits a system-induced dependence on faulty input variables. In this case, the description of the dependence takes place by a model of the process which is adapted during the course of the process. To prevent dependence on the creation of models, which as a rule are imprecise, the input variables are fed before the start of the process to a neural network having variable network parameters for the precalculation of the process parameter based on measurements of the input variables and of the process parameter. These variables are recalculated during the course of the process and utilized for the adaptation of the network parameters.
摘要翻译：为了控制受控系统中的过程，系统的预设是在每个过程序列开始时进行的，这是一个预先计算的过程参数的函数，该过程参数表现出系统对故障输入变量的依赖。在这种情况下，依赖性的描述是通过在过程中调整的过程的模型进行的。为了防止对创建模型的依赖性，其通常是不精确的，输入变量在进程开始之前被馈送到具有可变网络参数的神经网络，用于基于输入变量的测量来预先计算过程参数，的过程参数。这些变量在过程中重新计算，并用于适应网络参数。

9. 发明授权

US5740686A Method and apparatus for rolling a metal strip 失效
标题翻译：轧制金属条的方法和装置
公开(公告)号：US5740686A
公开(公告)日：1998-04-21
申请号：US496271
申请日：1995-06-28
申请人： Thomas Martinetz , Thomas Poppe , Guenter Soergel , Otto Gramckow
发明人： Thomas Martinetz , Thomas Poppe , Guenter Soergel , Otto Gramckow
IPC分类号： B21B37/00 , B21B1/22 , B21B37/22 , G05B13/02 , G11C11/54
CPC分类号： G05B13/027 , B21B37/22
摘要： In rolling a metal strip in a roughing line and a finishing line, the rolling process in the roughing line is adjusted as a function of a predicted value for the change in width of the metal strip in the finishing line such that the metal strip has a given specified finished strip width on leaving the finishing line. In order to permit a reliable prediction of the change in width despite the lack of accurate information regarding the dependence of the change in width on influencing parameters that affect the process, this dependence is simulated in a neural network whose network parameters are adapted after each passage of a metal strip through the finishing line as a function of the influencing parameters measured or calculated during the passage and the measured actual change in width.
摘要翻译：在粗轧线和精轧线中轧制金属带时，粗轧线中的轧制过程作为在精轧线中金属带的宽度变化的预测值的函数进行调节，使得金属带具有在离开精整线时给定指定的成品条宽度。为了允许对宽度变化的可靠预测，尽管缺乏关于宽度变化对影响过程的影响参数的依赖性的准确信息，该依赖性在神经网络中被模拟，其网络参数在每次通过之后被适配作为在通过期间测量或计算的影响参数和测量的实际宽度变化的函数的通过精整线的金属条。

10. 发明授权

US06418354B1 Optimizing the band width at the band ends on a mill train 失效
标题翻译：在轧机列上优化带末端的带宽
公开(公告)号：US06418354B1
公开(公告)日：2002-07-09
申请号：US09297230
申请日：1999-10-14
申请人： Einar Bröse , Michiaki Taniguchi , Thomas Martinetz , Günter Sörgel , Otto Gramckow
发明人： Einar Bröse , Michiaki Taniguchi , Thomas Martinetz , Günter Sörgel , Otto Gramckow
IPC分类号： G06F1900
CPC分类号： G05B13/027 , B21B37/22
摘要： The width of bands to be laminated on a mill train is adjusted by vertical upsetting rollers, resulting, however, in a narrowing at the band ends due to the asymetric material flow there. In order to solve the problem, the upsetting rollers are so designed as to move at the passage of the band ends in keeping with a curve defined according to specified parameters. The parameters are based on neuro-computer made predictions related to the milling process.
摘要翻译：通过垂直镦粗辊调整层压在轧机列上的带的宽度，然而，由于不对称材料在那里流动而在带末端变窄。为了解决这个问题，镦粗辊被设计成在带端部的通过处保持与根据指定参数限定的曲线一致。参数是基于神经计算机制作的与铣削过程相关的预测。

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