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    Method and System for Determining Projections in Non-Central Catadioptric Optical Systems
    3.
    发明申请
    Method and System for Determining Projections in Non-Central Catadioptric Optical Systems 失效
    用于确定非中央反射折射光学系统中的投影的方法和系统

    公开(公告)号：US20120250977A1

    公开(公告)日：2012-10-04

    申请号：US13077810

    申请日：2011-03-31

    Applicant: Amit K. Agrawal ,  Yuichi Taguchi ,  Srikumar Ramalingam

    Inventor： Amit K. Agrawal ,  Yuichi Taguchi ,  Srikumar Ramalingam

    IPC: G06K9/00

    CPC classification number: G02B17/08 ,  G06T7/514

    Abstract: A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.

    Abstract translation: 确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。 反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。 反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在 反射点与对称轴。

    Method and system for determining projections in non-central catadioptric optical systems
    4.
    发明授权
    Method and system for determining projections in non-central catadioptric optical systems 有权
    用于确定非中心反射折射光学系统中的投影的方法和系统

    公开(公告)号：US08134786B2

    公开(公告)日：2012-03-13

    申请号：US12826823

    申请日：2010-06-30

    Applicant: Yuichi Taguchi ,  Amit K. Agrawal ,  Srikumar Ramalingam

    Inventor： Yuichi Taguchi ,  Amit K. Agrawal ,  Srikumar Ramalingam

    IPC: G02B17/00 ,  G06K9/00 ,  G06F7/60

    CPC classification number: G02B17/08 ,  G02B27/0012

    Abstract: Embodiment of invention discloses a system and a method for determining a three-dimensional (3D) location of a folding point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system. One embodiment maps the catadioptric system, including 3D locations of the PS and the COP on a two-dimensional (2D) plane defined by an axis of symmetry of a folding optical element and the PS to produce a conic and 2D locations of the PS and COP on the 2D plane, and determines a 2D location of the folding point on the 2D plane based on the conic, the 2D locations of the PS and the COP. Next, the embodiment determines the 3D location of the folding point from the 2D location of the folding point on the 2D plane.

    Abstract translation: 发明的实施方式公开了一种用于确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的折叠点的三维（3D）位置的系统和方法 。 一个实施例将反射折射系统（包括PS和COP的3D位置）映射在由折叠光学元件和PS的对称轴限定的二维（2D）平面上，以产生PS的圆锥和2D位置， COP在2D平面上，并且基于二次曲线，PS和COP的2D位置来确定2D平面上的折叠点的2D位置。 接下来，该实施例从2D平面上的折叠点的2D位置确定折叠点的3D位置。

    Method for registering points and planes of 3D data in multiple coordinate systems
    5.
    发明授权
    Method for registering points and planes of 3D data in multiple coordinate systems 有权
    在多个坐标系中记录3D数据的点和平面的方法

    公开(公告)号：US09183631B2

    公开(公告)日：2015-11-10

    申请号：US13539060

    申请日：2012-06-29

    Applicant: Yuichi Taguchi ,  Srikumar Ramalingam ,  Yong-Dian Jian ,  Chen Feng

    Inventor： Yuichi Taguchi ,  Srikumar Ramalingam ,  Yong-Dian Jian ,  Chen Feng

    IPC: G06K9/60 ,  G06T7/00

    CPC classification number: G06T7/344 ,  G06T7/579 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/30244

    Abstract: Three-dimensional data are registered by selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least one plane, at least one point, and a third primitive that is either a point or a plane, and selecting a second set of primitives from the data in a second coordinate system, wherein the second set of primitives includes at least one plane, at least one point, and a third primitive corresponding to the third primitive in the first set of primitives. Then, the planes are registered with each other, as are the points, to obtain registered primitives.

    Abstract translation: 通过从第一坐标系中的数据中选择第一组图元来注册三维数据，其中第一组图元包括至少一个平面，至少一个点和第三基元，其是点或 并且从第二坐标系中的数据中选择第二组图元，其中所述第二组图元包括与所述第一组图元中的所述第三图元对应的至少一个平面，至少一个点和第三图元 。 然后，如同点一样，飞机相互注册，以获得注册的原语。

    Method and system for determining projections in non-central catadioptric optical systems
    6.
    发明授权
    Method and system for determining projections in non-central catadioptric optical systems 失效
    用于确定非中心反射折射光学系统中的投影的方法和系统

    公开(公告)号：US08630446B2

    公开(公告)日：2014-01-14

    申请号：US13077810

    申请日：2011-03-31

    Applicant: Amit K. Agrawal ,  Yuichi Taguchi ,  Srikumar Ramalingam

    Inventor： Amit K. Agrawal ,  Yuichi Taguchi ,  Srikumar Ramalingam

    IPC: G06K9/00

    CPC classification number: G02B17/08 ,  G06T7/514

    Abstract: A three-dimensional (3D) location of a reflection point of a ray between a point in a scene (PS) and a center of projection (COP) of a camera of a catadioptric system is determined. The catadioptric system is non-central and includes the camera and a reflector, wherein a surface of the reflector is a quadric surface rotationally symmetric around an axis of symmetry. The 3D location of the reflection point is determined based on a law of reflection, an equation of the reflector, and an equation describing a reflection plane defined by the COP, the PS, and a point of intersection of a normal to the reflector at the reflection point with the axis of symmetry.

    Abstract translation: 确定场景（PS）中的点与反射折射系统的照相机的投影中心（COP）之间的光线的反射点的三维（3D）位置。 反射折射系统是非中心的，并且包括相机和反射器，其中反射器的表面是围绕对称轴线旋转对称的二次曲面。 反射点的3D位置是基于反射定律，反射器的方程和描述由COP，PS和由反射器的法线在 反射点与对称轴。

    Digital Refocusing for Wide-Angle Images Using Axial-Cone Cameras
    7.
    发明申请
    Digital Refocusing for Wide-Angle Images Using Axial-Cone Cameras 有权
    使用轴向相机的广角图像的数字重新对焦

    公开(公告)号：US20110316968A1

    公开(公告)日：2011-12-29

    申请号：US12825608

    申请日：2010-06-29

    Applicant: Yuichi Taguchi ,  Amit K. Agrawal ,  Ashok N. Veeraraghavan ,  Srikumar Ramalingam ,  Ramesh Raskar

    Inventor： Yuichi Taguchi ,  Amit K. Agrawal ,  Ashok N. Veeraraghavan ,  Srikumar Ramalingam ,  Ramesh Raskar

    IPC: H04N7/00

    CPC classification number: G06T5/50 ,  G06T2200/21 ,  G06T2207/10052 ,  H04N5/23238

    Abstract: A single camera acquires an input image of a scene as observed in an array of spheres, wherein pixels in the input image corresponding to each sphere form a sphere image. A set of virtual cameras are defined for each sphere on a line joining a center of the sphere and a center of projection of the camera, wherein each virtual camera has a different virtual viewpoint and an associated cone of rays, appearing as a circle of pixels on its virtual image plane. A projective texture mapping of each sphere image is applied to all of the virtual cameras on the virtual image plane to produce a virtual camera image comprising circle of pixels. Each virtual camera image for each sphere is then projected to a refocusing geometry using a refocus viewpoint to produce a wide-angle lightfield view, which are averaged to produce a refocused wide-angle image.

    Abstract translation: 单个相机获取在球体阵列中观察到的场景的输入图像，其中与每个球体对应的输入图像中的像素形成球面图像。 在连接球体中心的线和摄像机的投影中心的线上为每个球体定义一组虚拟照相机，其中每个虚拟照相机具有不同的虚拟视点和相关联的光线锥，呈现为像素圆 在其虚拟图像平面上。 每个球体图像的投影纹理映射被应用于虚拟图像平面上的所有虚拟相机，以产生包括像素圆的虚拟相机图像。 然后使用重聚焦点将每个球体的每个虚拟照相机图像投影到重聚焦几何，以产生广角光场视图，其被平均以产生重新聚焦的广角图像。

    Voting-based pose estimation for 3D sensors
    8.
    发明授权
    Voting-based pose estimation for 3D sensors 有权
    基于投票的3D传感器姿态估计

    公开(公告)号：US08908913B2

    公开(公告)日：2014-12-09

    申请号：US13329493

    申请日：2011-12-19

    Applicant: Yuichi Taguchi ,  Oncel Tuzel ,  Srikumar Ramalingam ,  Changhyun Choi ,  Ming-Yu Liu

    Inventor： Yuichi Taguchi ,  Oncel Tuzel ,  Srikumar Ramalingam ,  Changhyun Choi ,  Ming-Yu Liu

    IPC: G06K9/00

    CPC classification number: G06T7/75 ,  G06T7/521 ,  G06T2207/30108 ,  G06T2207/30164

    Abstract: A pose of an object is estimated by first defining a set of pair features as pairs of geometric primitives, wherein the geometric primitives include oriented surface points, oriented boundary points, and boundary line segments. Model pair features are determined based on the set of pair features for a model of the object. Scene pair features are determined based on the set of pair features from data acquired by a 3D sensor, and then the model pair features are matched with the scene pair features to estimate the pose of the object.

    Abstract translation: 通过首先将一组成对特征定义为几何图元的对来估计对象的姿态，其中几何基元包括定向表面点，定向边界点和边界线段。 基于对象模型的对特征集合确定模型对特征。 场景对特征是根据3D传感器获取的数据对的一组特征确定的，然后将模型对特征与场景对特征相匹配，以估计对象的姿态。

    Method for Registering Points and Planes of 3D Data in Multiple Coordinate Systems
    10.
    发明申请
    Method for Registering Points and Planes of 3D Data in Multiple Coordinate Systems 有权
    多坐标系中3D数据的点和平面注册方法

    公开(公告)号：US20140003705A1

    公开(公告)日：2014-01-02

    申请号：US13539060

    申请日：2012-06-29

    Applicant: Yuichi Taguchi ,  Srikumar Ramalingam ,  Yong-Dian Jian ,  Chen Feng

    Inventor： Yuichi Taguchi ,  Srikumar Ramalingam ,  Yong-Dian Jian ,  Chen Feng

    IPC: G06K9/60

    CPC classification number: G06T7/344 ,  G06T7/579 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/30244

    Abstract: Three-dimensional data are registered by selecting a first set of primitives from the data in a first coordinate system, wherein the first set of primitives includes at least one plane, at least one point, and a third primitive that is either a point or a plane, and selecting a second set of primitives from the data in a second coordinate system, wherein the second set of primitives includes at least one plane, at least one point, and a third primitive corresponding to the third primitive in the first set of primitives. Then, the planes are registered with each other, as are the points, to obtain registered primitives.

    Abstract translation: 通过从第一坐标系中的数据中选择第一组图元来注册三维数据，其中第一组图元包括至少一个平面，至少一个点和第三基元，其是点或 并且从第二坐标系中的数据中选择第二组图元，其中所述第二组图元包括与所述第一组图元中的所述第三图元对应的至少一个平面，至少一个点和第三图元 。 然后，如同点一样，飞机相互注册，以获得注册的原语。

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