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1. 发明申请

US20180101966A1 REAL-TIME REMOTE COLLABORATION AND VIRTUAL PRESENCE USING SIMULTANEOUS LOCALIZATION AND MAPPING TO CONSTRUCT A 3D MODEL AND UPDATE A SCENE BASED ON SPARSE DATA 审中-公开
公开(公告)号：US20180101966A1
公开(公告)日：2018-04-12
申请号：US15726316
申请日：2017-10-05
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Yasmin Jahir , Xin Hou
IPC分类号： G06T7/73 , H04N21/44 , G06T9/00
CPC分类号： G06T7/75 , G06T3/0037 , G06T7/579 , G06T9/001 , G06T2207/10024 , G06T2207/10028 , G06T2207/30244 , G06T2219/024 , H04N21/23418 , H04N21/44012 , H04N21/6587 , H04N21/816
摘要： Described are methods and systems for generating a video stream of a scene including one or more objects. A sensor captures images of objects in a scene. A server coupled to the sensor, for each image, generates an initial 3D model for the objects and an initial 3D model of the scene. The server, for each image, captures pose information of the sensor as the sensor moves in relation to the scene or as the objects move in relation to the sensor. A viewing device receives the models and the pose information from the server. The viewing device captures pose information of the viewing device as the viewing device moves in relation to the scene. The viewing device renders a video stream on a display element using the received 3D models and at least one of the pose information of the sensor or the pose information of the viewing device.

2. 发明申请

US20210375020A1 REMOTE VISUALIZATION OF REAL-TIME THREE-DIMENSIONAL (3D) FACIAL ANIMATION WITH SYNCHRONIZED VOICE 有权
公开(公告)号：US20210375020A1
公开(公告)日：2021-12-02
申请号：US17139792
申请日：2020-12-31
申请人： VanGogh Imaging, Inc.
发明人： Xiang Zhang , Xin Hou , Ken Lee , Yasmin Jahir
IPC分类号： G06T13/20 , G06T7/246 , G06T13/40 , G06T7/90 , G06T19/20 , G06T13/80 , G06K9/00
摘要： Described herein are methods and systems for remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice. A sensor captures frames of a face of a person, each frame comprising color images of the face, depth maps of the face, voice data associated with the person, and a timestamp. The sensor generates a 3D face model of the person using the depth maps. A computing device receives the frames of the face and the 3D face model. The computing device preprocesses the 3D face model. For each frame, the computing device: detects facial landmarks using the color images; matches the 3D face model to the depth maps using non-rigid registration; updates a texture on a front part of the 3D face model using the color images; synchronizes the 3D face model with a segment of the voice data using the timestamp; and transmits the synchronized 3D face model and voice data to a remote device.

3. 发明申请

US20170243397A1 SHAPE-BASED REGISTRATION FOR NON-RIGID OBJECTS WITH LARGE HOLES 审中-公开
公开(公告)号：US20170243397A1
公开(公告)日：2017-08-24
申请号：US15441166
申请日：2017-02-23
申请人： VanGogh Imaging, Inc.
发明人： Xin Hou , Yasmin Jahir , Jun Yin
IPC分类号： G06T17/10 , G06T5/00 , G06K9/46 , G06T17/20
CPC分类号： G06K9/6209 , G06K9/00214 , G06K9/469 , G06K9/6892 , G06T17/00 , G06T19/20 , G06T2210/56 , G06T2219/2021
摘要： Described herein are methods and systems for closed-form 3D model generation of non-rigid complex objects from scans with large holes. A computing device receives (i) a partial scan of a non-rigid complex object captured by a sensor coupled to the computing device; (ii) a partial 3D model corresponding to the object, and (iii) a whole 3D model corresponding to the object, wherein the partial 3D scan and the partial 3D model each includes one or more large holes. The device performs a rough match on the partial 3D model and changes the whole 3D model using the rough match to generate a deformed 3D model. The device refines the deformed 3D model using a deformation graph, reshapes the refined deformed 3D model to have greater detail, and adjusts the whole 3D model according to the reshaped 3D model to generate a closed-form 3D model that closes holes in the scan.

4. 发明授权

US09715761B2 Real-time 3D computer vision processing engine for object recognition, reconstruction, and analysis 有权
公开(公告)号：US09715761B2
公开(公告)日：2017-07-25
申请号：US14324891
申请日：2014-07-07
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Jun Yin , Xin Hou , Greg Werth , Yasmin Jahir
IPC分类号： G06T17/10 , G06K9/46 , G06T5/00 , G06T17/20 , G06T7/00 , G06K9/00
CPC分类号： G06T17/10 , G06K9/00201 , G06T7/55 , G06T7/75 , G06T17/20 , G06T2207/10028 , G06T2207/20028
摘要： Methods and systems are described for generating a three-dimensional (3D) model of a fully-formed object represented in a noisy or partial scene. An image processing module of a computing device receives images captured by a sensor. The module generates partial 3D mesh models of physical objects in the scene based upon analysis of the images, and determines a location of at least one target object in the scene by comparing the images to one or more 3D reference models and extracting a 3D point cloud of the target object. The module matches the 3D point cloud of the target object to a selected 3D reference model based upon a similarity parameter, and detects one or more features of the target object. The module generates a fully formed 3D model of the target object using partial or noisy 3D points from the scene, extracts the detected features of the target object and features of the 3D reference models that correspond to the detected features, and calculates measurements of the detected features.

5. 发明授权

US11620779B2 Remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice 有权
公开(公告)号：US11620779B2
公开(公告)日：2023-04-04
申请号：US17139792
申请日：2020-12-31
申请人： VanGogh Imaging, Inc.
发明人： Xiang Zhang , Xin Hou , Ken Lee , Yasmin Jahir
IPC分类号： G06T13/20 , G06T7/246 , G06T13/40 , G06T7/90 , G06T19/20 , G06T13/80 , G06V40/10 , G06V40/16
摘要： Described herein are methods and systems for remote visualization of real-time three-dimensional (3D) facial animation with synchronized voice. A sensor captures frames of a face of a person, each frame comprising color images of the face, depth maps of the face, voice data associated with the person, and a timestamp. The sensor generates a 3D face model of the person using the depth maps. A computing device receives the frames of the face and the 3D face model. The computing device preprocesses the 3D face model. For each frame, the computing device: detects facial landmarks using the color images; matches the 3D face model to the depth maps using non-rigid registration; updates a texture on a front part of the 3D face model using the color images; synchronizes the 3D face model with a segment of the voice data using the timestamp; and transmits the synchronized 3D face model and voice data to a remote device.

6. 发明授权

US10169676B2 Shape-based registration for non-rigid objects with large holes 有权
公开(公告)号：US10169676B2
公开(公告)日：2019-01-01
申请号：US15441166
申请日：2017-02-23
申请人： VanGogh Imaging, Inc.
发明人： Xin Hou , Yasmin Jahir , Jun Yin
IPC分类号： G06K9/62 , G06K9/00 , G06K9/46 , G06K9/68 , G06T17/00 , G06T19/20
摘要： Described herein are methods and systems for closed-form 3D model generation of non-rigid complex objects from scans with large holes. A computing device receives (i) a partial scan of a non-rigid complex object captured by a sensor coupled to the computing device; (ii) a partial 3D model corresponding to the object, and (iii) a whole 3D model corresponding to the object, wherein the partial 3D scan and the partial 3D model each includes one or more large holes. The device performs a rough match on the partial 3D model and changes the whole 3D model using the rough match to generate a deformed 3D model. The device refines the deformed 3D model using a deformation graph, reshapes the refined deformed 3D model to have greater detail, and adjusts the whole 3D model according to the reshaped 3D model to generate a closed-form 3D model that closes holes in the scan.

7. 发明授权

US11170552B2 Remote visualization of three-dimensional (3D) animation with synchronized voice in real-time 有权
公开(公告)号：US11170552B2
公开(公告)日：2021-11-09
申请号：US16867196
申请日：2020-05-05
申请人： VanGogh Imaging, Inc.
发明人： Xiang Zhang , Yasmin Jahir , Xin Hou , Ken Lee
IPC分类号： G06T13/40 , G06T15/04 , G06F3/16 , G06T17/20 , G06F3/14
摘要： Described herein are methods and systems for remote visualization of three-dimensional (3D) animation. A sensor of a mobile device captures scans of non-rigid objects in a scene, each scan comprising a depth map and a color image. A server receives a first set of scans from the mobile device and reconstructs an initial model of the non-rigid objects using the first set of scans. The server receives a second set of scans. For each scan in the second set of one or more scans, the server determines an initial alignment between the depth map and the initial model. The server converts the depth map into a coordinate system of the initial model, and determines a displacement between the depth map and the initial model. The server deforms the initial model to the depth map using the displacement, and applies a texture to at least a portion of the deformed model.

8. 发明授权

US10380762B2 Real-time remote collaboration and virtual presence using simultaneous localization and mapping to construct a 3D model and update a scene based on sparse data 有权
公开(公告)号：US10380762B2
公开(公告)日：2019-08-13
申请号：US15726316
申请日：2017-10-05
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Yasmin Jahir , Xin Hou
IPC分类号： G06T7/73 , H04N21/44 , G06T9/00 , H04N21/234 , H04N21/6587 , H04N21/81 , G06T7/579 , G06T3/00
摘要： Described are methods and systems for generating a video stream of a scene including one or more objects. A sensor captures images of objects in a scene. A server coupled to the sensor, for each image, generates an initial 3D model for the objects and an initial 3D model of the scene. The server, for each image, captures pose information of the sensor as the sensor moves in relation to the scene or as the objects move in relation to the sensor. A viewing device receives the models and the pose information from the server. The viewing device captures pose information of the viewing device as the viewing device moves in relation to the scene. The viewing device renders a video stream on a display element using the received 3D models and at least one of the pose information of the sensor or the pose information of the viewing device.

9. 发明申请

US20150009214A1 REAL-TIME 3D COMPUTER VISION PROCESSING ENGINE FOR OBJECT RECOGNITION, RECONSTRUCTION, AND ANALYSIS 有权
标题翻译：实时3D计算机视觉处理引擎，用于对象识别，重建和分析
公开(公告)号：US20150009214A1
公开(公告)日：2015-01-08
申请号：US14324891
申请日：2014-07-07
申请人： VanGogh Imaging, Inc.
发明人： Ken Lee , Jun Yin , Xin Hou , Greg Werth , Yasmin Jahir
IPC分类号： G06T17/10 , G06K9/46 , G06T5/00 , G06T17/20 , G06T7/00
CPC分类号： G06T17/10 , G06K9/00201 , G06T7/55 , G06T7/75 , G06T17/20 , G06T2207/10028 , G06T2207/20028
摘要： Methods and systems are described for generating a three-dimensional (3D) model of a fully-formed object represented in a noisy or partial scene. An image processing module of a computing device receives images captured by a sensor. The module generates partial 3D mesh models of physical objects in the scene based upon analysis of the images, and determines a location of at least one target object in the scene by comparing the images to one or more 3D reference models and extracting a 3D point cloud of the target object. The module matches the 3D point cloud of the target object to a selected 3D reference model based upon a similarity parameter, and detects one or more features of the target object. The module generates a fully formed 3D model of the target object using partial or noisy 3D points from the scene, extracts the detected features of the target object and features of the 3D reference models that correspond to the detected features, and calculates measurements of the detected features.
摘要翻译：描述了用于生成在噪声或部分场景中表示的完全成形物体的三维（3D）模型的方法和系统。计算装置的图像处理模块接收由传感器捕获的图像。该模块基于对图像的分析来生成场景中的物理对象的部分3D网格模型，并且通过将图像与一个或多个3D参考模型进行比较并提取3D点云来确定场景中至少一个目标对象的位置的目标对象。该模块基于相似性参数将目标对象的3D点云匹配到所选择的3D参考模型，并且检测目标对象的一个或多个特征。该模块使用来自场景的部分或嘈杂的3D点来生成目标对象的完全形成的3D模型，提取检测到的目标对象的特征和对应于检测到的特征的3D参考模型的特征，并且计算检测到的特征。

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