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1. 发明申请

US20110157373A1 SYSTEM AND METHOD FOR RUNTIME DETERMINATION OF CAMERA MISCALIBRATION 审中-公开
标题翻译：用于运动测定摄像机分离的系统和方法
公开(公告)号：US20110157373A1
公开(公告)日：2011-06-30
申请号：US12647192
申请日：2009-12-24
申请人： Xiangyun Ye , David Y. Li , Guruprasad Shivaram , David J. Michael
发明人： Xiangyun Ye , David Y. Li , Guruprasad Shivaram , David J. Michael
IPC分类号： H04N17/00
CPC分类号： G06T7/85 , G06T2207/10012 , G06T2207/30108
摘要： This invention provides a system and method for runtime determination (self-diagnosis) of camera miscalibration (accuracy), typically related to camera extrinsics, based on historical statistics of runtime alignment scores for objects acquired in the scene, which are defined based on matching of observed and expected image data of trained object models. This arrangement avoids a need to cease runtime operation of the vision system and/or stop the production line that is served by the vision system to diagnose if the system's camera(s) remain calibrated. Under the assumption that objects or features inspected by the vision system over time are substantially the same, the vision system accumulates statistics of part alignment results and stores intermediate results to be used as indicator of current system accuracy. For multi-camera vision systems, cross validation is illustratively employed to identify individual problematic cameras. The system and method allows for faster, less-expensive and more-straightforward diagnosis of vision system failures related to deteriorating camera calibration.
摘要翻译：本发明提供了一种用于基于场景中获取的对象的运行时对准分数的历史统计信息的通常与摄像机外部特征相关的摄像机误差（精确度）的运行时确定（自诊断）的系统和方法，其基于训练对象模型的观察和预期图像数据。这种安排避免了停止视觉系统的运行时操作和/或停止由视觉系统服务的生产线来诊断系统的相机是否保持校准的需要。在视觉系统随时间检查的对象或特征基本相同的假设下，视觉系统累积部分对齐结果的统计信息，并存储要用作当前系统精度指标的中间结果。对于多摄像机视觉系统，交叉验证被说明性地用于识别个别有问题的摄像机。该系统和方法允许对与相机校准恶化相关的视觉系统故障的更快，更便宜和更直接的诊断。

2. 发明授权

US09734419B1 System and method for validating camera calibration in a vision system 有权
公开(公告)号：US09734419B1
公开(公告)日：2017-08-15
申请号：US12346773
申请日：2008-12-30
申请人： Xiangyun Ye , Aaron S. Wallack , Guruprasad Shivaram , Cyril C. Marrion , David Y. Li
发明人： Xiangyun Ye , Aaron S. Wallack , Guruprasad Shivaram , Cyril C. Marrion , David Y. Li
IPC分类号： G06K9/20
CPC分类号： G06K9/209 , G06T7/85
摘要： This invention provides a system and method to validate the accuracy of camera calibration in a single or multiple-camera embodiment, utilizing either 2D cameras or 3D imaging sensors. It relies upon an initial calibration process that generates and stores camera calibration parameters and residual statistics based upon images of a first calibration object. A subsequent validation process (a) acquires images of the first calibration object or a second calibration object having a known pattern and dimensions; (b) extracts features of the images of the first calibration object or the second calibration object; (c) predicts positions expected of features of the first calibration object or the second calibration object using the camera calibration parameters; and (d) computes a set of discrepancies between positions of the extracted features and the predicted positions of the features. The validation process then uses the computed set of discrepancies in a decision process that determines whether at least one of the discrepancies exceeds a predetermined threshold value. If so, recalibration is required. Where multiple cameras are employed, extrinsic parameters are determined and used in conjunction with the intrinsics.

3. 发明授权

US08442304B2 System and method for three-dimensional alignment of objects using machine vision 有权
标题翻译：使用机器视觉对象的三维对准的系统和方法
公开(公告)号：US08442304B2
公开(公告)日：2013-05-14
申请号：US12345130
申请日：2008-12-29
申请人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
发明人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K9/6211
摘要： This invention provides a system and method for determining the three-dimensional alignment of a modeled object or scene. A 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. 3D points are computed for each pair of cameras to derive a 3D point cloud. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified whereby the closest match is the best refined three-dimensional pose.
摘要翻译：本发明提供了一种用于确定建模对象或场景的三维对准的系统和方法。 3D（立体声）传感器系统查看对象以导出包含对象的场景的运行时3D表示。来自每个立体声头的整流图像被预处理以增强其边缘特征。为每对相机计算3D点以导出3D点云。通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。粗略的评分过程会减少姿势的数量。然后，剩下的候选姿势进一步进行更精细的评分过程。然后验证这些存活的候选姿势，从而最接近的匹配是最好的精制三维姿态。

4. 发明申请

US20100166294A1 SYSTEM AND METHOD FOR THREE-DIMENSIONAL ALIGNMENT OF OBJECTS USING MACHINE VISION 有权
标题翻译：使用机器视觉的三维对准对象的系统和方法
公开(公告)号：US20100166294A1
公开(公告)日：2010-07-01
申请号：US12345130
申请日：2008-12-29
申请人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
发明人： Cyril C. Marrion , Nigel J. Foster , Lifeng Liu , David Y. Li , Guruprasad Shivaram , Aaron S. Wallack , Xiangyun Ye
IPC分类号： G06K9/00
CPC分类号： G06K9/00214 , G06K9/6211
摘要： This invention provides a system and method for determining the three-dimensional alignment of a modeledobject or scene. After calibration, a 3D (stereo) sensor system views the object to derive a runtime 3D representation of the scene containing the object. Rectified images from each stereo head are preprocessed to enhance their edge features. A stereo matching process is then performed on at least two (a pair) of the rectified preprocessed images at a time by locating a predetermined feature on a first image and then locating the same feature in the other image. 3D points are computed for each pair of cameras to derive a 3D point cloud. The 3D point cloud is generated by transforming the 3D points of each camera pair into the world 3D space from the world calibration. The amount of 3D data from the point cloud is reduced by extracting higher-level geometric shapes (HLGS), such as line segments. Found HLGS from runtime are corresponded to HLGS on the model to produce candidate 3D poses. A coarse scoring process prunes the number of poses. The remaining candidate poses are then subjected to a further more-refined scoring process. These surviving candidate poses are then verified by, for example, fitting found 3D or 2D points of the candidate poses to a larger set of corresponding three-dimensional or two-dimensional model points, whereby the closest match is the best refined three-dimensional pose.
摘要翻译：本发明提供一种用于确定建模对象或场景的三维对准的系统和方法。校准后，3D（立体声）传感器系统会查看对象以导出包含对象的场景的运行时3D表示。来自每个立体声头的整流图像被预处理以增强其边缘特征。然后，通过在第一图像上定位预定特征，然后将另一图像中的相同特征定位，对至少两（一对）经整流的预处理图像执行立体匹配处理。为每对相机计算3D点以导出3D点云。 3D点云是通过将世界三维空间中的每个摄像机对的3D点变换为世界校准而产生的。通过提取诸如线段的较高级几何形状（HLGS）来减少来自点云的3D数据量。从运行时发现的HLGS对应于模型上的HLGS，以产生候选的3D姿势。粗略的评分过程会减少姿势的数量。然后，剩下的候选姿势进一步进行更精细的评分过程。然后通过例如将候选姿势的3D或2D点拟合到较大的一组相应的三维或二维模型点来验证这些幸存的候选姿势，由此最接近的匹配是最佳精细三维姿态。

5. 发明授权

US06714670B1 Methods and apparatuses to determine the state of elements 失效
标题翻译：确定元素状态的方法和装置
公开(公告)号：US06714670B1
公开(公告)日：2004-03-30
申请号：US09314820
申请日：1999-05-19
申请人： Kirk F. Goldsworthy , David Y. Li
发明人： Kirk F. Goldsworthy , David Y. Li
IPC分类号： G06K900
CPC分类号： G06T7/0004
摘要： A methods and apparatuses are disclosed for determining the state of elements in an image. The elements can be arranged in any regular pattern, such as a matrix of LCD display elements. The state of the elements is determined by extracting a characteristic of the elements, such as intensity, and processing the characteristic to provide comparison criteria, such as a difference value. The comparison criteria are then used to determine the state of the element alone or in combination with other comparisons, such as average intensity comparisons. Several comparisons and variations thereof are disclosed, as well as the preferred ordering and configuration of comparisons for LCD displays. Also disclosed is an embodiment where a model of the elements is generated and used to inspect the elements. Also disclosed is a method to normalize the intensity of any image, which in a preferred embodiment normalizes the intensity of the image of the LCD elements before evaluation, where normalizing the intensity of the image optimally makes the grey values of an element of one color the same throughout the image.
摘要翻译：公开了用于确定图像中的元件的状态的方法和装置。元件可以布置成任何规则图案，例如LCD显示元件的矩阵。元素的状态通过提取诸如强度的元素的特性来确定，并且处理特征以提供比较标准，例如差值。然后将比较标准用于单独确定元件的状态或与其他比较（例如平均强度比较）组合。公开了几种比较和变化，以及用于LCD显示器的比较的优选顺序和配置。还公开了一种实施例，其中生成元件的模型并用于检查元件。还公开了一种用于归一化任何图像的强度的方法，其在优选实施例中在评估之前对LCD元素的图像的强度进行归一化，其中使图像的强度最优化地使得一种颜色的元素的灰度值相同的图像。

6. 发明授权

US06577775B1 Methods and apparatuses for normalizing the intensity of an image 有权
标题翻译：用于对图像的强度进行归一化的方法和装置
公开(公告)号：US06577775B1
公开(公告)日：2003-06-10
申请号：US09314816
申请日：1999-05-19
申请人： David Y. Li
发明人： David Y. Li
IPC分类号： G06K940
CPC分类号： G06T5/40 , G06T5/007 , G06T2207/20021 , G09G3/006
摘要： A methods and apparatuses are disclosed for determining the state of elements in an image. The elements can be arranged in any regular pattern, such as a matrix of LCD display elements. The state of the elements is determined by extracting a characteristic of the elements, such as intensity, and processing the characteristic to provide comparison criteria, such as a difference value. The comparison criteria are then used to determine the state of the element alone or in combination with other comparisons, such as average intensity comparisons. Several comparisons and variations thereof are disclosed, as well as the preferred ordering and configuration of comparisons for LCD displays. Also disclosed is an embodiment where a model of the elements is generated and used to inspect the elements. Also disclosed is a method to normalize the intensity of any image, which in a preferred embodiment normalizes the intensity of the image of the LCD elements before evaluation, where normalizing the intensity of the image optimally makes the grey values of an element of one color the same throughout the image.
摘要翻译：公开了用于确定图像中的元件的状态的方法和装置。元件可以布置成任何规则图案，例如LCD显示元件的矩阵。元素的状态通过提取诸如强度的元素的特性来确定，并且处理特征以提供比较标准，例如差值。然后将比较标准用于单独确定元件的状态或与其他比较（例如平均强度比较）组合。公开了几种比较和变化，以及用于LCD显示器的比较的优选顺序和配置。还公开了一种实施例，其中生成元件的模型并用于检查元件。还公开了一种用于归一化任何图像的强度的方法，其在优选实施例中在评估之前对LCD元素的图像的强度进行归一化，其中使图像的强度最优化地使得一种颜色的元素的灰度值相同的图像。

7. 发明授权

US5742037A Method and apparatus for high speed identification of objects having an identifying feature 失效
标题翻译：用于高速识别具有识别特征的物体的方法和装置
公开(公告)号：US5742037A
公开(公告)日：1998-04-21
申请号：US612032
申请日：1996-03-07
申请人： Joseph R. Scola , David Y. Li
发明人： Joseph R. Scola , David Y. Li
IPC分类号： G06K7/14 , G06K7/10
CPC分类号： G06K7/1452 , G06K7/14
摘要： A method and apparatus for identifying an object having an identifying feature includes a two step process for detecting the identifying feature. The process involves locating the feature based upon a first characteristic of the feature and then verifying that feature is the identifying feature based upon a second characteristic of the feature. Preferably, the first step of the process is less discriminating and substantially faster than the second step. This permits the process to be performed rapidly without reducing accuracy.
摘要翻译：用于识别具有识别特征的对象的方法和装置包括用于检测识别特征的两步过程。该过程包括基于特征的第一特征定位特征，然后基于特征的第二特征来验证该特征是识别特征。优选地，该方法的第一步骤比第二步较少鉴别和显着更快。这允许快速执行该过程而不降低精度。

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