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1. 发明申请

WO2006002299A2 METHOD AND APPARATUS FOR RECOGNIZING 3-D OBJECTS 审中-公开
标题翻译：用于识别三维物体的方法和装置
公开(公告)号：WO2006002299A2
公开(公告)日：2006-01-05
申请号：PCT/US2005022213
申请日：2005-06-22
申请人： SARNOFF CORP , SHAN YING , MATEI BOGDAN C M , SAWHNEY HARPREET SINGH , KUMAR RAKESH
发明人： SHAN YING , MATEI BOGDAN C M , SAWHNEY HARPREET SINGH , KUMAR RAKESH
IPC分类号： G06K9/00
CPC分类号： G06K9/00201 , G06K9/00214 , G06K9/6211
摘要： A method and apparatus for recognizing an object, comprising providing a set of scene features from a scene, pruning a set of model features, generating a set of hypotheses associated with the pruned set of model features for the set of scene features, pruning the set of hypotheses, and verifying the set of pruned hypotheses is provided.
摘要翻译：一种用于识别对象的方法和装置，包括从场景提供一组场景特征，修剪一组模型特征，生成与所述一组场景特征的修剪的模型特征集合相关联的一组假设，修剪该组提供了假设，并提供了一套修剪的假设。

2. 发明申请

WO2004054228A3 DYNAMIC DEPTH RECOVERY FROM MULTIPLE SYNCHRONIZED VIDEO STREAMS 审中-公开
标题翻译：动态深度恢复从多个同步视频流
公开(公告)号：WO2004054228A3
公开(公告)日：2004-12-23
申请号：PCT/US0339254
申请日：2003-12-09
申请人： SARNOFF CORP
发明人： TAO HAI , SAWHNEY HARPREET SINGH , KUMAR RAKESH
IPC分类号： G06T7/00 , G06K9/00
CPC分类号： G06T7/579
摘要： A method of generating a dynamic depth map for a sequence of images from multiple cameras models a scene as a collection of 3D piecewise planar surface patches induced by color based image segmentation. This representation is continuously estimated using an incremental formulation in which the 3D geometric, motion, and global visibility constraints are enforced over space and time. The proposed algorithm optimizes a cost function that incorporates the spatial color consistency constraint and a smooth scene motion model.
摘要翻译：为来自多个相机的图像序列生成动态深度图的方法将场景模型化为由基于颜色的图像分割引起的3D分段平面表面块的集合。这种表示方式使用增量公式进行连续估算，其中3D空间几何，运动和全局可见性约束在空间和时间上得到执行。所提出的算法优化了包含空间颜色一致性约束和平滑场景运动模型的成本函数。

3. 发明申请

WO0104055A3 METHOD AND APPARATUS FOR ESTIMATING SCENE STRUCTURE AND EGO-MOTION FROM MULTIPLE IMAGES OF A SCENE USING CORRELATION 审中-公开
标题翻译：使用相关性对场景的多个图像估计场景结构和EGO运动的方法和装置
公开(公告)号：WO0104055A3
公开(公告)日：2001-05-03
申请号：PCT/US0019404
申请日：2000-07-14
申请人： SARNOFF CORP
发明人： MANDELBAUM ROBERT , SALGIAN GARBIS , SAWHNEY HARPREET SINGH
IPC分类号： G06T7/00 , G06T7/20
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。

4. 发明申请

WO0167749A3 CAMERA POSE ESTIMATION 审中-公开
标题翻译：摄像机位置估计
公开(公告)号：WO0167749A3
公开(公告)日：2003-01-23
申请号：PCT/US0107099
申请日：2001-03-07
申请人： SARNOFF CORP
发明人： SAWHNEY HARPREET SINGH , KUMAR RAKESH , HSU STEVE , SAMARASEKERA SUPUN
IPC分类号： G01S5/16 , G06T7/00 , G06T15/20 , G06T17/10
CPC分类号： G06T15/20 , G01S5/163 , G06T7/74 , G06T17/10 , G06T2200/08 , G06T2207/30244
摘要： The present invention is embodied in a video flashlight method. This method creates virtual images of a scene using a dynamically updated three-dimensional model of the scene and at least one video sequence of images. An estimate of the camera pose is generated by comparing a present image to the three-dimensional model. Next, relevant features of the model are selected based on the estimated pose. The relevant features are then virtually projected onto the estimated pose and matched to features of the image. Matching errors are measured between the relevant features of the virtual projection and the features of the image. The estimated pose is then updated to reduce these matching errors. The model is also refined with updated information from the image. Meanwhile, a viewpoint for a virtual image is selected. The virtual image is then created by projecting the dynamically updated three-dimensional model onto the selected virtual viewpoint.
摘要翻译：本发明以视频手电筒方式实现。该方法使用场景的动态更新的三维模型和至少一个图像的视频序列来创建场景的虚拟图像。通过将当前图像与三维模型进行比较来生成相机姿态的估计。接下来，基于估计的姿势来选择模型的相关特征。然后将相关特征虚拟地投影到估计姿态上并与图像的特征相匹配。在虚拟投影的相关特征和图像的特征之间测量匹配误差。然后更新估计的姿势以减少这些匹配错误。该模型还从图像中更新了更新的信息。同时，选择虚拟图像的视点。然后通过将动态更新的三维模型投影到所选择的虚拟视点上来创建虚拟图像。

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