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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
Inventor： Sili Chen , Yongjie Zhang , Zhaoliang Liu , Yuan Lin , Hongwu Zhang
Abstract: 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
Inventor： Yuan Lin , Yongjie Zhang , Sili Chen , Hongwu Zhang
IPC: G06T7/73
CPC classification number: G06T7/73 , G06T7/33 , G06T2207/30204 , G06T2207/30244
Abstract: 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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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
Inventor： Sili Chen , Yuan Lin , Yongjie Zhang
Abstract: 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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4.发明授权公开(公告)号：US10984554B2
公开(公告)日：2021-04-20
申请号：US16265350
申请日：2019-02-01
Inventor： Yuan Lin , Yongjie Zhang , Yingchao Li , Zhongqin Wu
Abstract: A monocular vision tracking method, apparatus and a non-volatile computer-readable storage medium are provided. The method includes: acquiring a first camera pose by using a wireless tracker; capturing calibration board images by using a camera, and calculating a second camera pose according to the captured calibration board images; obtaining a conversion parameter between the first camera pose and the second camera pose; and converting a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker and the second capturing pose corresponds to a pose of the camera; wherein a relative position between the wireless tracker and the camera remains unchanged, in processes of acquiring the first camera pose, capturing the calibration board images and capturing the scenario.
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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
Inventor： Sili Chen , Yuan Lin , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
CPC classification number: 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
Abstract: 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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Patent Agency Ranking
6.发明授权公开(公告)号：US11704833B2
公开(公告)日：2023-07-18
申请号：US17231796
申请日：2021-04-15
Inventor： Yuan Lin , Yongjie Zhang , Yingchao Li , Zhongqin Wu
CPC classification number: G06T7/80 , G06T7/70 , G06T2207/30244
Abstract: A monocular vision tracking method, apparatus, and a non-volatile computer-readable storage medium are provided. The method includes: acquiring a first camera pose by using a wireless tracker; capturing calibration board images by using a camera, and selecting a set of images from the captured calibration board images according to image sharpness and camera pose difference; calculating a second camera pose in the camera calibration algorithm according to the selected set of images; obtaining a conversion parameter between the first camera pose and the second camera pose; and converting a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker and the second capturing pose corresponds to a pose of the camera.
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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
Inventor： Sili Chen , Yongjie Zhang , Zhaoliang Liu , Yuan Lin , Hongwu Zhang
Abstract: 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
Inventor： Sili Chen , Yuan Lin , Yuhua Dong , Binbin Zheng , Yijie Yan , Zhongqin Wu
IPC: G06T3/00 , H04N1/00 , H04N101/00
Abstract: 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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9.发明申请公开(公告)号：US20210233275A1
公开(公告)日：2021-07-29
申请号：US17231796
申请日：2021-04-15
Inventor： Yuan Lin , Yongjie Zhang , Yingchao Li , Zhongqin Wu
Abstract: A monocular vision tracking method, apparatus, and a non-volatile computer-readable storage medium are provided. The method includes: acquiring a first camera pose by using a wireless tracker; capturing calibration board images by using a camera, and selecting a set of images from the captured calibration board images according to image sharpness and camera pose difference; calculating a second camera pose in the camera calibration algorithm according to the selected set of images; obtaining a conversion parameter between the first camera pose and the second camera pose; and converting a first capturing pose into a second capturing pose by means of the conversion parameter when a scenario is captured, wherein the first capturing pose is acquired by the wireless tracker and the second capturing pose corresponds to a pose of the camera.
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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
Inventor： Yuan Lin , Yongjie Zhang , Sili Chen , Hongwu Zhang
Abstract: 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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