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    Using topological structure for path planning in semi-structured environments
    3.
    发明授权
    Using topological structure for path planning in semi-structured environments 有权
    在半结构化环境中使用拓扑结构进行路径规划

    公开(公告)号：US08392117B2

    公开(公告)日：2013-03-05

    申请号：US12471079

    申请日：2009-05-22

    申请人： Dmitri A. Dolgov ,  Sebastian Thrun

    发明人： Dmitri A. Dolgov ,  Sebastian Thrun

    IPC分类号： G01C21/00 ,  G01C21/34

    CPC分类号： G05D1/0274 ,  G05D2201/0213

    摘要： A method of creating a lane network of a semi-structured environment for a vehicle, assigning a corresponding cost function to each of a plurality of coordinates of the semi-structured environment using the lane network and a state of the vehicle, the state of the vehicle corresponding to a coordinate location of the vehicle and an angular orientation of the vehicle, and determining an obstacle-free path on the semi-structured environment using the cost function of each of the plurality of coordinates.

    摘要翻译： 一种为车辆创建半结构化环境的车道网络的方法，使用车道网络和车辆状态为半结构化环境的多个坐标中的每一个分配相应的成本函数，该状态为 对应于车辆的坐标位置和车辆的角度定向的车辆，以及使用多个坐标中的每一个的成本函数来确定半结构化环境中的无障碍路径。

    Systems, methods and devices for motion capture using video imaging
    4.
    发明授权
    Systems, methods and devices for motion capture using video imaging 有权
    使用视频成像进行运动捕捉的系统，方法和装置

    公开(公告)号：US08384714B2

    公开(公告)日：2013-02-26

    申请号：US12343654

    申请日：2008-12-24

    申请人： Edilson De Aguiar ,  Carsten Stoll ,  Christian Theobalt ,  Hans-Peter Seidel ,  Sebastian Thrun

    发明人： Edilson De Aguiar ,  Carsten Stoll ,  Christian Theobalt ,  Hans-Peter Seidel ,  Sebastian Thrun

    IPC分类号： G06T17/00

    CPC分类号： G06T7/251 ,  G06T13/40 ,  G06T2207/10016 ,  G06T2207/20016 ,  G06T2207/30196

    摘要： A variety of methods, devices and storage mediums are implemented for creating digital representations of figures. According to one such computer implemented method, a volumetric representation of a figure is correlated with an image of the figure. Reference points are found that are common to each of two temporally distinct images of the figure, the reference points representing movement of the figure between the two images. A volumetric deformation is applied to the digital representation of the figure as a function of the reference points and the correlation of the volumetric representation of the figure. A fine deformation is applied as a function of the coarse/volumetric deformation. Responsive to the applied deformations, an updated digital representation of the figure is generated.

    摘要翻译： 实现各种方法，设备和存储介质以创建图形的数字表示。 根据一种这样的计算机实现的方法，图的体积表示与图的图像相关。 发现参考点，其是图中两个时间上不同的图像中的每一个共同的参考点，参考点表示两个图像之间的图形的移动。 体积变形作为参考点的函数和图的体积表示的相关性应用于图的数字表示。 作为粗/体积变形的函数施加微细变形。 响应于所应用的变形，生成图形的更新的数字表示。

    DETECTING PRINCIPAL DIRECTIONS OF UNKNOWN ENVIRONMENTS
    5.
    发明申请
    DETECTING PRINCIPAL DIRECTIONS OF UNKNOWN ENVIRONMENTS 有权
    检测未知环境的主要方向

    公开(公告)号：US20090306881A1

    公开(公告)日：2009-12-10

    申请号：US12134763

    申请日：2008-06-06

    申请人： Dmitri A. Dolgov ,  Sebastian Thrun

    发明人： Dmitri A. Dolgov ,  Sebastian Thrun

    IPC分类号： G01C21/00

    CPC分类号： G05D1/0246

    摘要： Apparatus and methods according to some embodiments of the present invention use a graphical model, such as a Markov random field model, to represent principal driving directions within an environment. The model has a plurality of nodes representing spatial locations within the environment, and the principal direction for each node is determined probabilistically using linear features detected within an image of the environment. Apparatus and methods according to embodiments of the present invention can be used in improved autonomous navigation systems, such as robotic vehicles.

    摘要翻译： 根据本发明的一些实施例的装置和方法使用诸如马尔可夫随机场模型的图形模型来表示环境中的主要驾驶方向。 该模型具有表示环境内的空间位置的多个节点，并且使用在环境图像内检测到的线性特征概率地确定每个节点的主方向。 根据本发明的实施例的装置和方法可用于改进的自主导航系统，例如机器人车辆。

    System and process for projecting location-referenced panoramic images into a 3-D environment model and rendering panoramic images from arbitrary viewpoints within the 3-D environment model
    6.
    发明授权
    System and process for projecting location-referenced panoramic images into a 3-D environment model and rendering panoramic images from arbitrary viewpoints within the 3-D environment model 有权
    将位置参考全景图像投影到三维环境模型中的系统和过程，并在三维环境模型中从任意视点渲染全景图像

    公开(公告)号：US09369679B2

    公开(公告)日：2016-06-14

    申请号：US11837224

    申请日：2007-08-10

    申请人： Joakim Arfvidsson ,  Sebastian Thrun

    发明人： Joakim Arfvidsson ,  Sebastian Thrun

    IPC分类号： H04N7/00 ,  H04N7/18 ,  G06T3/00 ,  G06T15/20

    CPC分类号： H04N7/181 ,  G06T3/0062 ,  G06T15/205

    摘要： A system and process of morphing location-referenced panoramic images into views at nearby locations. When using panoramic images in an interactive tour, a user might desire to see the environment from viewpoints for which no panoramic images are available. This invention makes this possible. It enables a user to experience views from arbitrary locations in the environment, so as long as one or more panoramic images are available at nearby locations. In particular, this invention makes it possible to combine two non-overlapping geo-referenced panoramic video streams into a new video stream which seamlessly transitions between these streams. When used in a client-server architecture, this invention also makes it possible for the server to transmit a sparse sequence of panoramic images, and provide the user with a dense panoramic video stream, by synthesizing the missing panoramic images. Said system and process is also applicable to incomplete panoramic images, photographs, and video.

    摘要翻译： 将位置引用的全景图像变形为附近位置的视图的系统和过程。 当在互动游览中使用全景图像时，用户可能希望从没有全景图像可用的视点看待环境。 本发明使其成为可能。 它使用户能够在环境中的任意位置体验视图，因此只要一个或多个全景图像在附近的位置可用。 特别地，本发明使得可以将两个不重叠的地理参考全景视频流组合成在这些流之间无缝转换的新视频流。 当在客户机 - 服务器架构中使用时，本发明还使得服务器可以通过合成丢失的全景图像来发送全景图像的稀疏序列，并向用户提供密集的全景视频流。 所述系统和过程也适用于不完整的全景图像，照片和视频。

    INTERACTIVE CONTENT CREATION SYSTEM
    7.
    发明申请
    INTERACTIVE CONTENT CREATION SYSTEM 有权
    互动内容创建系统

    公开(公告)号：US20140123067A1

    公开(公告)日：2014-05-01

    申请号：US13660457

    申请日：2012-10-25

    申请人： Michael Sokolsky ,  David Stavens ,  Irene Au ,  Jacques Favreau ,  Sebastian Thrun ,  Joakim Arfvidsson

    发明人： Michael Sokolsky ,  David Stavens ,  Irene Au ,  Jacques Favreau ,  Sebastian Thrun ,  Joakim Arfvidsson

    IPC分类号： G06F3/0481 ,  G06F3/048

    CPC分类号： G06F3/04817 ,  G06F3/0482 ,  G06F8/34 ,  G06T11/206 ,  G06T2200/24 ,  G09B5/06 ,  G09B7/00 ,  G09B7/08

    摘要： According to various embodiments, a user interface (UI) includes a precedence graph area and an icon list displaying multiple types of program icons. A user selection of one of the program icons is received, the user selection corresponding to moving the selected program icon to the precedence graph area, the selected program icon referencing a composer UI to generate content of a specific media type. The selected program icon is characterized as a first program-content-pairing icon that references the content created by the composer UI. Thereafter, a user interaction with a plurality of program-content-pairing icons in the precedence graph area is detected, the user interaction corresponding to specifying an ordering of the plurality of program-content-pairing icons. A program flow precedence graph referencing a program flow of an interactive program is the generated, based on the ordering of the program-content-pairing icons in the precedence graph area.

    摘要翻译： 根据各种实施例，用户界面（UI）包括优先图形区域和显示多种类型的节目图标的图标列表。 接收对节目图标之一的用户选择，对应于将所选择的节目图标移动到优先图形区域的用户选择，所选择的节目图标引用作曲家UI以产生特定媒体类型的内容。 所选程序图标被表征为参考由作曲者UI创建的内容的第一节目内容配对图标。 此后，检测与优先图表区域中的多个节目内容配对图标的用户交互，该用户交互对应于指定多个节目内容配对图标的排序。 基于优先级图区域中的节目内容配对图标的顺序，生成引用交互式节目的节目流的节目流优先图。

    Method and apparatus to localize an autonomous vehicle using convolution
    8.
    发明授权
    Method and apparatus to localize an autonomous vehicle using convolution 有权
    使用卷积来定位自主车辆的方法和装置

    公开(公告)号：US08612135B1

    公开(公告)日：2013-12-17

    申请号：US13396153

    申请日：2012-02-14

    申请人： Michael Steven Montemerlo ,  Sebastian Thrun

    发明人： Michael Steven Montemerlo ,  Sebastian Thrun

    IPC分类号： G01C21/00 ,  G01C21/12 ,  G01C21/34 ,  G01C21/36

    CPC分类号： G01C21/00 ,  G01C21/30 ,  G05D1/0246 ,  G05D1/0274 ,  G05D2201/0213

    摘要： Aspects of the disclosure relate generally to an autonomous vehicle accessing portions of a map to localize itself within the map. More specifically, one or more convolution scores may be generated between a prior map and a current map. Convolution scores may be generated by applying a fast Fourier transform on both the prior and current maps, multiplying the results of the transforms, and taking the inverse fast Fourier transform of the product. Based on these convolution scores, an autonomous vehicle may determine the offset between the maps and localize itself relative to the prior map.

    摘要翻译： 本公开的方面通常涉及访问地图的部分以在地图内本地化的自主车辆。 更具体地，可以在先前地图和当前地图之间生成一个或多个卷积分数。 卷积得分可以通过在先前和当前图上应用快速傅里叶变换，乘以变换结果，并进行乘积的快速傅立叶反变换来产生。 基于这些卷积得分，自主车辆可以确定地图之间的偏移量并相对于先前的地图本身化。