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1. 发明授权

US08355529B2 Motion capture apparatus and method, and motion capture program 有权
标题翻译：运动捕捉装置和方法以及运动捕捉程序
公开(公告)号：US08355529B2
公开(公告)日：2013-01-15
申请号：US11764407
申请日：2007-06-18
申请人： Weiguo Wu , Keisuke Yamaoka , Yuyu Liu
发明人： Weiguo Wu , Keisuke Yamaoka , Yuyu Liu
IPC分类号： G06K9/00 , G06T17/00 , H04N7/18
CPC分类号： A61B5/1113 , A61B5/1116 , A61B5/1121 , A61B5/4528 , G06K9/00362 , G06T7/251 , G06T2207/30241
摘要： A motion capture apparatus includes: generating means; predicting means; projecting means; evaluating means; and estimating means. The generating means generates a kinematics model having joints connected to one another. The predicting means hierarchically calculates predicted positions at a current time of the joints of the objective person, and predicts three-dimensional positions and postures of the joints and the limbs. The projecting means projects the three-dimensional positions and postures of the joints and the limbs of the objective person on a two-dimensional image plane, the three-dimensional positions and the postures being predicted by predicting means. The evaluating means evaluates reliability about projection positions projected by the projecting means based on the observation image of the objective person. The estimating means estimates the three-dimensional positions and postures of the joints and the limbs of the objective person at the current time based on an evaluation result about the reliability.
摘要翻译：运动捕捉装置包括：发生装置; 预测手段投影装置评估手段和估计装置。生成装置产生具有彼此连接的关节的运动学模型。预测装置分级地计算目标人的关节当前时间的预测位置，并且预测关节和四肢的三维位置和姿势。投影装置将目标人物的关节和肢体的三维位置和姿势投影在二维图像平面上，三维位置和姿势由预测装置预测。评估装置基于目标人物的观察图像评估由投影装置投影的投影位置的可靠性。估计装置基于关于可靠性的评估结果来估计目前人物的关节和肢体的三维位置和姿势。

2. 发明申请

US20100119162A1 IMAGE PROCESSING APPARATUS, IMAGE PROCESSING METHOD, AND PROGRAM 失效
标题翻译：图像处理设备，图像处理方法和程序
公开(公告)号：US20100119162A1
公开(公告)日：2010-05-13
申请号：US12613899
申请日：2009-11-06
申请人： Yuyu Liu , Keisuke Yamaoka , Takayuki Yoshigahara , Xi Chen
发明人： Yuyu Liu , Keisuke Yamaoka , Takayuki Yoshigahara , Xi Chen
IPC分类号： G06K9/68
CPC分类号： G06T7/207
摘要： An image processing apparatus includes: an image pyramid forming section configured to form an image pyramid by hierarchically creating layered image data including differently scaled images from inputted image data; a position calculating section configured to determine an in-image-pyramid position as a height position in the image pyramid to which template image data having an image portion of a target object at a fixed scale corresponds; an upper-layer-side likelihood calculating section configured to determine a likelihood for a target object by matching between upper-side layer image data directly above the in-image-pyramid position, and a state prediction; a lower-layer-side likelihood calculating section configured to determine a likelihood for a target object by matching between lower-side layer image data directly below the in-image-pyramid position, and a state prediction; and a true likelihood calculating section configured to determine a true likelihood from the likelihoods determined by the upper-layer-side and lower-layer-side likelihood calculating sections.
摘要翻译：一种图像处理装置，包括：图像金字塔形成部，被配置为通过从输入的图像数据分层地生成包括不同比例的图像的分层图像数据来形成图像金字塔; 位置计算部分，被配置为将图像中的金字塔位置确定为图像金字塔中的具有固定尺度的目标对象的图像部分的模板图像数据对应的高度位置; 上层侧似然度计算部，被配置为通过匹配直接在图像内棱角位置上方的上层图像数据和状态预测来确定目标对象的可能性; 下层侧似然度计算部，被配置为通过匹配直接在图像内角度位置之下的下侧图像数据和状态预测来确定目标对象的可能性; 以及真实似然度计算部，被配置为从由上层侧和下层侧似然度计算部确定的似然度确定真实似然。

3. 发明授权

US08160370B2 Image processing apparatus, image processing method, and program 失效
标题翻译：图像处理装置，图像处理方法和程序
公开(公告)号：US08160370B2
公开(公告)日：2012-04-17
申请号：US12613899
申请日：2009-11-06
申请人： Yuyu Liu , Keisuke Yamaoka , Takayuki Yoshigahara , Xi Chen
发明人： Yuyu Liu , Keisuke Yamaoka , Takayuki Yoshigahara , Xi Chen
IPC分类号： G06K9/68 , H04N5/225 , G10L15/00
CPC分类号： G06T7/207
摘要： An image processing apparatus includes: an image pyramid forming section configured to form an image pyramid by hierarchically creating layered image data including differently scaled images from inputted image data; a position calculating section configured to determine an in-image-pyramid position as a height position in the image pyramid to which template image data having an image portion of a target object at a fixed scale corresponds; an upper-layer-side likelihood calculating section configured to determine a likelihood for a target object by matching between upper-side layer image data directly above the in-image-pyramid position, and a state prediction; a lower-layer-side likelihood calculating section configured to determine a likelihood for a target object by matching between lower-side layer image data directly below the in-image-pyramid position, and a state prediction; and a true likelihood calculating section configured to determine a true likelihood from the likelihoods determined by the upper-layer-side and lower-layer-side likelihood calculating sections.
摘要翻译：一种图像处理装置，包括：图像金字塔形成部，被配置为通过从输入的图像数据分层地生成包括不同比例的图像的分层图像数据来形成图像金字塔; 位置计算部分，被配置为将图像中的金字塔位置确定为图像金字塔中的具有固定尺度的目标对象的图像部分的模板图像数据对应的高度位置; 上层侧似然度计算部，被配置为通过匹配直接在图像内棱角位置上方的上层图像数据和状态预测来确定目标对象的可能性; 下层侧似然度计算部，被配置为通过匹配直接在图像内角度位置之下的下侧图像数据和状态预测来确定目标对象的可能性; 以及真实似然度计算部，被配置为从由上层侧和下层侧似然度计算部确定的似然度确定真实似然。

4. 发明授权

US07602966B2 Image processing method, image processing apparatus, program and recording medium 失效
标题翻译：图像处理方法，图像处理装置，程序和记录介质
公开(公告)号：US07602966B2
公开(公告)日：2009-10-13
申请号：US11370051
申请日：2006-03-08
申请人： Yuyu Liu , Weiguo Wu
发明人： Yuyu Liu , Weiguo Wu
IPC分类号： G06K9/00
CPC分类号： G06T7/593
摘要： An image processing method and apparatus is disclosed which can produce parallax data between a plurality of image data with a high degree of accuracy. Probability density functions are updated successively, and a corresponding relationship which minimizes the energy in each of the probability density functions is specified. Then, that one of the probability density functions which finally minimizes the energy and parallax data corresponding to the correspondence relationship are specified.
摘要翻译：公开了一种图像处理方法和装置，其能够以高精度产生多个图像数据之间的视差数据。概率密度函数被连续地更新，并且指定使每个概率密度函数中的能量最小化的对应关系。然后，指定最终最小化与对应关系对应的能量和视差数据的概率密度函数之一。

5. 发明申请

US20080284784A1 Image processing device, method, and program, and objective function 失效
标题翻译：图像处理装置，方法和程序以及目标函数
公开(公告)号：US20080284784A1
公开(公告)日：2008-11-20
申请号：US12008815
申请日：2008-01-14
申请人： Yuyu Liu , Weiguo Wu , Takayuki Yoshigahara
发明人： Yuyu Liu , Weiguo Wu , Takayuki Yoshigahara
IPC分类号： G06T15/70
CPC分类号： G06T13/40
摘要： An image processing device that models, based on a plurality of frame images being results of time-sequential imaging of an object in motion, a motion of the object using a three-dimensional (3D) body configured by a plurality of parts is disclosed. The device includes: acquisition means for acquiring the frame images being the imaging results; estimation means for computing a first matrix of coordinates of a joint of the 3D body and a second matrix of coordinates of each of the parts of the 3D body, and generating a first motion vector; computing means for computing a second motion vector; and determination means for determining the 3D body.
摘要翻译：公开了一种图像处理装置，其基于多个帧图像，其中所述多个帧图像是运动中的对象的时间顺序成像的结果，使用由多个部件配置的三维（3D）主体来进行所述对象的运动。该装置包括：获取装置，用于获取作为成像结果的帧图像; 用于计算3D体的关节的第一坐标矩阵和3D体的每个部分的第二坐标矩阵的估计装置，以及生成第一运动矢量; 用于计算第二运动矢量的计算装置; 以及用于确定3D体的确定装置。

6. 发明申请

US20060204104A1 Image processing method, image processing apparatus, program and recording medium 失效
公开(公告)号：US20060204104A1
公开(公告)日：2006-09-14
申请号：US11370051
申请日：2006-03-08
申请人： Yuyu Liu , Weiguo Wu
发明人： Yuyu Liu , Weiguo Wu
IPC分类号： G06K9/46
CPC分类号： G06T7/593
摘要： An image processing method and apparatus is disclosed which can produce parallax data between a plurality of image data with a high degree of accuracy. Probability density functions are updated successively, and a corresponding relationship which minimizes the energy in each of the probability density functions is specified. Then, that one of the probability density functions which finally minimizes the energy and parallax data corresponding to the correspondence relationship are specified.

7. 发明授权

US07999811B2 Image processing device, method, and program, and objective function 失效
标题翻译：图像处理装置，方法和程序以及目标函数
公开(公告)号：US07999811B2
公开(公告)日：2011-08-16
申请号：US12008815
申请日：2008-01-14
申请人： Yuyu Liu , Weiguo Wu , Takayuki Yoshigahara
发明人： Yuyu Liu , Weiguo Wu , Takayuki Yoshigahara
IPC分类号： G06T13/00 , G06T15/00 , G06T15/70 , G09G5/00
CPC分类号： G06T13/40
摘要： An image processing device that models, based on a plurality of frame images being results of time-sequential imaging of an object in motion, a motion of the object using a three-dimensional (3D) body configured by a plurality of parts is disclosed. The device includes: acquisition means for acquiring the frame images being the imaging results; estimation means for computing a first matrix of coordinates of a joint of the 3D body and a second matrix of coordinates of each of the parts of the 3D body, and generating a first motion vector; computing means for computing a second motion vector; and determination means for determining the 3D body.
摘要翻译：公开了一种图像处理装置，其基于多个帧图像，其中所述多个帧图像是运动中的对象的时间顺序成像的结果，使用由多个部件配置的三维（3D）主体来进行所述对象的运动。该装置包括：获取装置，用于获取作为成像结果的帧图像; 用于计算3D体的关节的第一坐标矩阵和3D体的每个部分的第二坐标矩阵的估计装置，以及生成第一运动矢量; 用于计算第二运动矢量的计算装置; 以及用于确定3D体的确定装置。

8. 发明授权

US09202277B2 Device for determining disappearing direction and method thereof, apparatus for video camera calibration and method thereof 有权
标题翻译：用于确定消失方向的装置及其方法，用于摄像机校准的装置及其方法
公开(公告)号：US09202277B2
公开(公告)日：2015-12-01
申请号：US13462210
申请日：2012-05-02
申请人： Yuyu Liu , Zhi Nie
发明人： Yuyu Liu , Zhi Nie
IPC分类号： H04N5/33 , H04N5/225 , H04N3/20 , G06T7/00 , G06T7/20 , G06T3/00
CPC分类号： G06T7/80 , G06T3/0031 , G06T7/246 , G06T7/70 , G06T2207/20021 , G06T2207/20076 , G06T2207/30232 , G06T2207/30241
摘要： A disappearing direction determination device and method, a video camera calibration apparatus and method, a video camera and a computer program product are provided. The device comprises: a moving target detecting unit for detecting in the video image a moving target area where a moving object locates; a feature point extracting unit for extracting at least one feature point on the moving object in the detected moving target area; a moving trajectory obtaining unit for tracking a movement of the feature point in a predetermined number of video image frames to obtain a movement trajectory of the feature point; and a disappearing direction determining unit for determining, according to the movement trajectories of one or more moving objects in the video image, a disappearing direction pointed by a major moving direction of the moving objects. Thus, a disappearing direction and video camera gesture parameters can be determined accurately.
摘要翻译：提供消失方向确定装置和方法，摄像机校准装置和方法，摄像机和计算机程序产品。该装置包括：移动目标检测单元，用于在视频图像中检测运动对象所在的移动目标区域; 特征点提取单元，用于提取检测到的移动目标区域中的移动物体上的至少一个特征点; 移动轨迹获取单元，用于跟踪预定数量的视频图像帧中的特征点的移动以获得特征点的移动轨迹; 以及消失方向确定单元，用于根据所述视频图像中的一个或多个移动对象的移动轨迹确定由所述移动对象的主移动方向指向的消失方向。因此，可以准确地确定消失方向和摄像机手势参数。

9. 发明授权

US08676033B2 Method and apparatus for extracting key frames from a video 失效
标题翻译：从视频中提取关键帧的方法和装置
公开(公告)号：US08676033B2
公开(公告)日：2014-03-18
申请号：US13228910
申请日：2011-09-09
申请人： Bo Han , Yuyu Liu
发明人： Bo Han , Yuyu Liu
IPC分类号： G11B27/00
CPC分类号： G06K9/00765 , G06K9/00751
摘要： The present invention relates to a method and apparatus for extracting key frames from a video. The method includes: dividing the video into multiple levels of video segments, wherein each video segment at a non-lowest level comprises one or more video segments at the next lower level, the multiple levels range from a first level to an N-th level, N is an integer greater than 1, the first level is the lowest level, and the N-th level is the highest level; extracting from video segments of the video at a non-highest level candidate frames at the non-highest level; for each level from a next higher level to the highest level, selecting zero, one or more candidate frames at the level from candidate frames at the next lower level in each video segment at the level; and outputting the candidate frames at the highest level as the key frames of the video.
摘要翻译：本发明涉及从视频中提取关键帧的方法和装置。该方法包括：将视频划分成多级视频片段，其中非最低级别的每个视频片段包括下一较低级别的一个或多个视频片段，多个级别的范围从第一级到第N级，N是大于1的整数，第一级是最低级，第N级是最高级; 在非最高级别的非最高级候选帧中从视频的视频片段中提取; 对于从下一个更高级别到最高级别的每个级别，从该级别的每个视频段中的下一个较低级别的候选帧中选择零级，一级或多级候选帧; 并输出最高级别的候选帧作为视频的关键帧。

10. 发明申请

US20120063746A1 METHOD AND APPARATUS FOR EXTRACTING KEY FRAMES FROM A VIDEO 失效
标题翻译：从视频中提取关键帧的方法和装置
公开(公告)号：US20120063746A1
公开(公告)日：2012-03-15
申请号：US13228910
申请日：2011-09-09
申请人： Bo HAN , Yuyu Liu
发明人： Bo HAN , Yuyu Liu
IPC分类号： H04N5/93
CPC分类号： G06K9/00765 , G06K9/00751
摘要： The present invention relates to a method and apparatus for extracting key frames from a video. The method includes: dividing the video into multiple levels of video segments, wherein each video segment at a non-lowest level comprises one or more video segments at the next lower level, the multiple levels range from a first level to an N-th level, N is an integer greater than 1, the first level is the lowest level, and the N-th level is the highest level; extracting from video segments of the video at a non-highest level candidate frames at the non-highest level; for each level from a next higher level to the highest level, selecting zero, one or more candidate frames at the level from candidate frames at the next lower level in each video segment at the level; and outputting the candidate frames at the highest level as the key frames of the video.
摘要翻译：本发明涉及从视频中提取关键帧的方法和装置。该方法包括：将视频划分成多级视频片段，其中非最低级别的每个视频片段包括下一较低级别的一个或多个视频片段，多个级别的范围从第一级到第N级，N是大于1的整数，第一级是最低级，第N级是最高级; 在非最高级别的非最高级候选帧中从视频的视频片段中提取; 对于从下一个更高级别到最高级别的每个级别，从该级别的每个视频段中的下一个较低级别的候选帧中选择零级，一级或多级候选帧; 并输出最高级别的候选帧作为视频的关键帧。

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