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公开(公告)号：US20190304135A1
公开(公告)日：2019-10-03
申请号：US16150673
申请日：2018-10-03
发明人： Sili Chen , Yongjie Zhang , Zhaoliang Liu , Yuan Lin , Hongwu Zhang
摘要： An object tracking method, device are provided according to the disclosure. The object tracking method includes: acquiring an object image comprising an object; determining a current image with the object from images captured consecutively, according to the object image; calculating a first pose of the object in the current image using a first algorithm, and calculating a second pose of the object in the current image using a second algorithm, wherein the first algorithm has a faster calculating speed than the second algorithm; determining a pose of the object to be the first pose before a calculation of the second pose is completed; and in a case that the calculation of the second pose is completed, calculating a third pose of the object according to the first pose and the second pose; and determining the pose of the object to be the third pose.
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公开(公告)号：US10410315B2
公开(公告)日：2019-09-10
申请号：US15720966
申请日：2017-09-29
发明人： Sili Chen , Yuan Lin , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
IPC分类号： G06T3/00 , H04N1/00 , H04N101/00
摘要： A method and apparatus for generating image information. A specific embodiment of the method includes: acquiring a rotation angle and a scaling of a target image relative to a reference image, and acquiring an intrinsic parameter of a video camera collecting the reference image; generating a projective transformation matrix based on the rotation angle, the scaling and the intrinsic parameter; generating a coordinate offset of the each neighborhood pixel of the feature point in the reference image; generating, based on a coordinate of the feature point in the reference image, the coordinate offset of the each neighborhood pixel of the feature point in the reference image and the projective transformation matrix, coordinates of the each neighborhood pixel of the feature point in the reference image; and generating a feature point descriptor of the feature point.
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3.发明授权公开(公告)号：US11145080B2
公开(公告)日：2021-10-12
申请号：US16508372
申请日：2019-07-11
发明人： Sili Chen , Yuan Lin , Yongjie Zhang
摘要： The present application provides a method and an apparatus for three-dimensional object pose estimation, a device and a storage medium. The method includes: calculating a graph of a previous frame and a graph of a current frame for a target three-dimensional object; performing a matching calculation on the graph of the previous frame and the graph of the current frame using a graph matching algorithm to obtain a vertex correspondence relationship between the graph of the previous frame and the graph of the current frame; calculating a pose of the target three-dimensional object in the current frame according to the vertex correspondence relationship, a pose of the target three-dimensional object in the previous frame and a PnP algorithm. The matching accuracy of feature points is effectively improved, and thereby the accuracy of three-dimensional object pose estimation is improved.
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公开(公告)号：US20180255282A1
公开(公告)日：2018-09-06
申请号：US15720966
申请日：2017-09-29
发明人： Sili Chen , Yuan Lin , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
CPC分类号： G06T3/0006 , G06T2207/10004 , G06T2207/20081 , H04N1/00007 , H04N1/00031 , H04N1/00045 , H04N1/00053 , H04N1/00061 , H04N1/00068 , H04N1/00087 , H04N1/0009 , H04N1/00244 , H04N1/00307 , H04N2101/00 , H04N2201/0039 , H04N2201/0044 , H04N2201/0049 , H04N2201/0053 , H04N2201/0055 , H04N2201/0096
摘要： A method and apparatus for generating image information. A specific embodiment of the method includes: acquiring a rotation angle and a scaling of a target image relative to a reference image, and acquiring an intrinsic parameter of a video camera collecting the reference image; generating a projective transformation matrix based on the rotation angle, the scaling and the intrinsic parameter; generating a coordinate offset of the each neighborhood pixel of the feature point in the reference image; generating, based on a coordinate of the feature point in the reference image, the coordinate offset of the each neighborhood pixel of the feature point in the reference image and the projective transformation matrix, coordinates of the each neighborhood pixel of the feature point in the reference image; and generating a feature point descriptor of the feature point.
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5.发明授权公开(公告)号：US11023781B2
公开(公告)日：2021-06-01
申请号：US16510164
申请日：2019-07-12
发明人： Zhaoliang Liu , Sili Chen , Yongjie Zhang
摘要： The present disclosure provides a method, an apparatus, a device for evaluating image tracking effectiveness and a readable storage medium. The method includes: extracting feature points from a target image according to a predefined algorithm; determining first texture information for the target image according to the feature points; processing the target image according to a predefined processing policy to derive a contrast image, and determining second texture information for the target image according to the contrast image; and rating the target image according to the first texture information and the second texture information. In the solution provide by the present disclosure, the tracking effectiveness for the target image can be known without having to place the target image into any actual product, nor having to wait until the product has been finalized before the target image tracking effectiveness is determined. Moreover, efficiency can be enhanced when evaluating image tracking effectiveness.
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公开(公告)号：US10796451B2
公开(公告)日：2020-10-06
申请号：US16150673
申请日：2018-10-03
发明人： Sili Chen , Yongjie Zhang , Zhaoliang Liu , Yuan Lin , Hongwu Zhang
摘要： An object tracking method, device are provided according to the disclosure. The object tracking method includes: acquiring an object image comprising an object; determining a current image with the object from images captured consecutively, according to the object image; calculating a first pose of the object in the current image using a first algorithm, and calculating a second pose of the object in the current image using a second algorithm, wherein the first algorithm has a faster calculating speed than the second algorithm; determining a pose of the object to be the first pose before a calculation of the second pose is completed; and in a case that the calculation of the second pose is completed, calculating a third pose of the object according to the first pose and the second pose; and determining the pose of the object to be the third pose.
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公开(公告)号：US20190206078A1
公开(公告)日：2019-07-04
申请号：US16145540
申请日：2018-09-28
发明人： Yuan Lin , Yongjie Zhang , Sili Chen , Hongwu Zhang
IPC分类号： G06T7/73
CPC分类号： G06T7/73 , G06T7/33 , G06T2207/30204 , G06T2207/30244
摘要： A method for determining a pose of a camera is provided, the method includes: S101, acquiring an image of a marker; S102, estimating a first pose of the camera according to the image of the marker by a characteristic point method; S103, estimating a second pose of the camera according to the image of the marker by a direct method; and S104, determining the pose of the camera based on the first pose and the second pose.
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公开(公告)号：US10964049B2
公开(公告)日：2021-03-30
申请号：US16145540
申请日：2018-09-28
发明人： Yuan Lin , Yongjie Zhang , Sili Chen , Hongwu Zhang
摘要： A method for determining a pose of a camera is provided, the method includes: S101, acquiring an image of a marker; S102, estimating a first pose of the camera according to the image of the marker by a characteristic point method; S103, estimating a second pose of the camera according to the image of the marker by a direct method; and S104, determining the pose of the camera based on the first pose and the second pose.
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公开(公告)号：US10580206B2
公开(公告)日：2020-03-03
申请号：US15726017
申请日：2017-10-05
发明人： Yuan Lin , Sili Chen , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
摘要： The present disclosure discloses a method and apparatus for constructing a three-dimensional map. A specific embodiment of the method includes: acquiring multiple frames of a monocular image containing a target object collected by a monocular camera, and constructing a three-dimensional map containing the target object and other objects in the monocular image based on the monocular image; determining an absolute scale of the target object, and determining a ratio of a relative scale corresponding to the target object to the absolute scale; and adjusting a scale of each object in the three-dimensional map to obtain a three-dimensional map meeting a preset condition based on the ratio. The method and apparatus provided by the present disclosure achieves the construction of a world coordinate system with absolute scales in a three-dimensional map constructed based on a monocular image.
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公开(公告)号：US20180261005A1
公开(公告)日：2018-09-13
申请号：US15726017
申请日：2017-10-05
发明人： Yuan Lin , Sili Chen , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
IPC分类号： G06T17/05
CPC分类号： G06T17/05 , G06T7/55 , G06T17/00 , G06T2200/08 , G06T2207/10004
摘要： The present disclosure discloses a method and apparatus for constructing a three-dimensional map. A specific embodiment of the method includes: acquiring multiple frames of a monocular image containing a target object collected by a monocular camera, and constructing a three-dimensional map containing the target object and other objects in the monocular image based on the monocular image; determining an absolute scale of the target object, and determining a ratio of a relative scale corresponding to the target object to the absolute scale; and adjusting a scale of each object in the three-dimensional map to obtain a three-dimensional map meeting a preset condition based on the ratio. The method and apparatus provided by the present disclosure achieves the construction of a world coordinate system with absolute scales in a three-dimensional map constructed based on a monocular image.
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