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公开(公告)号：US08934707B2
公开(公告)日：2015-01-13
申请号：US13726821
申请日：2012-12-26
Applicant: Industrial Technology Research Institute
Inventor： Te-Mei Wang , Hsiao-Wei Chen
CPC classification number: G06K9/36 , G06T5/005 , G06T2200/04 , G06T2207/10028 , H04N13/111
Abstract: An image processing apparatus includes a determination unit, a search unit, a weight assignment unit and a filling unit. The determination unit determines whether a hole is surrounded by the foreground in a disparity map or a depth map. The search unit searches for multiple relative backgrounds along multiple directions when the hole is surrounded by the foreground. The weight assignment unit respectively assigns weights to the relative backgrounds. The filling unit selects an extremum from the weights, and fills the hole according to the relative background corresponding to the extremum.
Abstract translation: 图像处理装置包括确定单元，搜索单元，重量分配单元和填充单元。 确定单元确定孔在视差图或深度图中是否被前景包围。 当孔被前景包围时，搜索单元沿着多个方向搜索多个相对背景。 权重分配单元分配权重给相对背景。 填充单元从重物中选择极值，并根据与极值相对应的相对背景填充孔。
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12.发明授权公开(公告)号：US11506901B2
公开(公告)日：2022-11-22
申请号：US17369669
申请日：2021-07-07
Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
Inventor： Te-Mei Wang , Chung-Yang Hsieh
Abstract: A method and a system for simultaneously tracking several 6 DoF poses of a movable object and a movable camera are provided. The method the following steps: A series of images are captured by a movable camera, several environmental feature points are extracted from the images and are matched to compute several camera matrixes of the movable camera, and the 6 DoF poses of the movable camera are computed using the camera matrixes. At the same time, several feature points of the movable object are inferred from the images captured by the movable camera, the coordinates of the feature points of the movable object are corrected using the camera matrixes corresponding to the images as well as the predefined geometric and temporal constraints. Then, the 6 DoF poses of the movable object are computed using the coordinates of the corrected feature points and their corresponding camera matrixes.
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Patent Agency Ranking
公开(公告)号：US11164321B2
公开(公告)日：2021-11-02
申请号：US16380904
申请日：2019-04-10
Applicant: Industrial Technology Research Institute
Inventor： Fu-Song Hsu , Te-Mei Wang
Abstract: A motion tracking system includes a first image-capturing module, a computing module and a database. The first image-capturing module captures the full body motion of an object to obtain a depth image. The database provides a plurality of training samples, wherein the training samples include a plurality of depth feature information related to joint positions of the object. The computing module receives the depth image, performs an association operation and a prediction operation for the depth image to obtain a plurality of first joint positions of the object. The computing module projects the first joint positions to a three-dimensional space to generate a three-dimensional skeleton of the object. The depth image includes an image in which limbs of the object are not occluded or an image in which some of limbs of the object are not occluded and the others of limbs of the object are occluded.
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公开(公告)号：US10921119B2
公开(公告)日：2021-02-16
申请号：US15792781
申请日：2017-10-25
Applicant: Industrial Technology Research Institute
Inventor： Yu-Wen Chen , Te-Mei Wang
Abstract: A three dimensional image measurement system including a first optical system and a second optical system is provided. The first optical system is adapted to output a structural light beam and a zero order light beam. There is an angle between the structural light beam and the zero order light beam. The first optical system performs an optical operation to project the structural light beam to a three dimensional object to obtain three dimensional information of the three dimensional object. The second optical system is adapted to receive the zero order light beam and perform another optical operation by using the zero order light beam. The first optical system includes a plurality of optical elements. The value of the angle between the structural light beam and the zero order light beam is determined according to position parameters of the optical elements.
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公开(公告)号：US20190056217A1
公开(公告)日：2019-02-21
申请号：US15792781
申请日：2017-10-25
Applicant: Industrial Technology Research Institute
Inventor： Yu-Wen Chen , Te-Mei Wang
Abstract: A three dimensional image measurement system including a first optical system and a second optical system is provided. The first optical system is adapted to output a structural light beam and a zero order light beam. There is an angle between the structural light beam and the zero order light beam. The first optical system performs an optical operation to project the structural light beam to a three dimensional object to obtain three dimensional information of the three dimensional object. The second optical system is adapted to receive the zero order light beam and perform another optical operation by using the zero order light beam. The first optical system includes a plurality of optical elements. The value of the angle between the structural light beam and the zero order light beam is determined according to position parameters of the optical elements.
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16.发明申请DEPTH SENSING APPARATUS WITH SELF-CALIBRATION AND SELF-CALIBRATION METHOD THEREOF 审中-公开具有自校准的深度感测装置及其自校准方法公开(公告)号：US20170064288A1
公开(公告)日：2017-03-02
申请号：US15255164
申请日：2016-09-02
Applicant: Industrial Technology Research Institute
Inventor： Te-Mei Wang , Zen-Chung Shih
Abstract: A depth sensing apparatus with self-calibration and a self-calibration method thereof are provided. The depth sensing apparatus includes a projection apparatus, an image capturing apparatus and a calibration module. The projection apparatus projects a calibration pattern and a depth computation pattern to a reference plane based on a predefined calibration pattern and a predefined depth computation pattern. The image capturing apparatus captures an image including the calibration pattern and the depth computation pattern. The calibration module coupled to the image capturing apparatus adjusts apparatus parameters of the depth sensing apparatus to calibrate a depth computation deviation according to the calibration pattern of the image, the predefined calibration pattern and a predefined lookup table corresponding to the predefined calibration pattern.
Abstract translation: 提供了具有自校准和自校准方法的深度感测装置。 深度检测装置包括投影装置，图像捕获装置和校准模块。 投影装置基于预定义的校准图案和预定深度计算图案将校准图案和深度计算图案投影到参考平面。 图像捕获装置捕获包括校准图案和深度计算图案的图像。 耦合到图像捕获装置的校准模块调整深度感测装置的装置参数，以根据图像的校准图案，预定义的校准图案和与预定义的校准图案对应的预定义查找表来校准深度计算偏差。
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公开(公告)号：US20130321405A1
公开(公告)日：2013-12-05
申请号：US13789693
申请日：2013-03-08
Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE
Inventor： Hsiao-Wei Chen , Te-Mei Wang , Wei-Yi Lee
IPC: G06T15/00
CPC classification number: G06T15/00 , H04N13/00 , H04N13/111
Abstract: A hole filling method for multi-view disparity maps is provided. At least one disparity map is respectively captured as a plurality of known views among a plurality of views for capturing an object. As for a plurality of virtual views among the views excluding the at least one known view, disparity maps of the virtual views are synthesized by sequentially using the disparity maps of the known views according to a distance of a virtual camera position or a transformed angle between each virtual view and each known view. Hole filling information of the disparity maps of other virtual views having the distances or the transformed angles smaller than that of the virtual view is used to fill holes in the synthesized disparity maps of the virtual views.
Abstract translation: 提供了一种用于多视角视差图的孔填充方法。 在用于捕获对象的多个视图中，分别捕获至少一个视差图作为多个已知视图。 对于除了至少一个已知视图之外的视图中的多个虚拟视图，虚拟视图的视差图通过根据虚拟相机位置的距离或虚拟相机位置的距离或者在 每个虚拟视图和每个已知视图。 使用具有小于虚拟视图的距离或变换角度的其他虚拟视图的视差图的填孔信息来填充虚拟视图的合成视差图中的空洞。
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