公开(公告)号：US11948501B2

公开(公告)日：2024-04-02

申请号：US18142951

申请日：2023-05-03

申请人： STEREYO BV

发明人： Robbie Thielemans ,  Vince Dundee

IPC分类号： G09G3/32 ,  G09G3/34 ,  G09G5/12 ,  G10K11/162 ,  H04N5/765 ,  H04N13/194 ,  H04N13/20 ,  H04N21/242 ,  H04N23/73

CPC分类号： G09G3/32 ,  G09G3/3406 ,  G09G3/342 ,  G09G5/12 ,  G10K11/162 ,  H04N5/765 ,  H04N13/194 ,  H04N13/20 ,  H04N21/242 ,  H04N23/73 ,  G09G2310/08 ,  G09G2354/00

摘要： Light-emitting or light-reflecting displays with enhanced visual and acoustic characteristics, include a display based on light-emitting elements such as light-emitting diodes (LEDs). A LED display or screen with enhanced acoustic characteristics and/or improved visual performance is herewith presented for particular use or application in a studio environment where the quality performance of both image and sound, when being captured by a camera or an audience, is challenged. The use and applications of such display, include systems and methods making use of such display, and more particularly concerning the use and application of such displays in studio environments.

公开(公告)号：US11810313B2

公开(公告)日：2023-11-07

申请号：US17249095

申请日：2021-02-19

申请人： GOOGLE LLC

发明人： Vladimir Tankovich ,  Christian Haene ,  Sean Ryan Francesco Fanello ,  Yinda Zhang ,  Shahram Izadi ,  Sofien Bouaziz ,  Adarsh Prakash Murthy Kowdle ,  Sameh Khamis

IPC分类号： G06T7/593 ,  H04N13/20 ,  G06T3/00 ,  G06T3/40 ,  G06T5/30 ,  H04N13/00

CPC分类号： G06T7/593 ,  G06T3/0093 ,  G06T3/40 ,  G06T5/30 ,  H04N13/20 ,  G06T2207/20016 ,  G06T2207/20084 ,  H04N2013/0081

摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.

公开(公告)号：US11798152B2

公开(公告)日：2023-10-24

申请号：US17949054

申请日：2022-09-20

申请人： PACKSIZE LLC

发明人： Carlo Dal Mutto ,  Kinh Tieu ,  Francesco Peruch ,  Jason Trachewsky ,  Tony Zuccarino ,  Chase Garber

IPC分类号： G06T7/00 ,  G06T7/10 ,  H04N13/20 ,  G06N3/084 ,  G06T3/40 ,  G06T17/00

CPC分类号： G06T7/0002 ,  G06N3/084 ,  G06T3/4046 ,  G06T7/10 ,  G06T17/00 ,  H04N13/20 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2210/12

摘要： A method for estimating tightly enclosing bounding boxes by a computing system includes: controlling a scanning system including one or more depth cameras to capture visual information of the scene including one or more objects; detecting the one or more objects of the scene based on the visual information; singulating each the one or more objects from the frame of the scene to generate one or more 3D models corresponding to the one or more objects, the one or more 3D models including a partial 3D model of a corresponding one of the one or more objects; extrapolating a more complete 3D model of the corresponding one of the one or more objects based on the partial 3D model; and estimating a tightly enclosing bounding box of the corresponding one of the one or more objects based on the more complete 3D model.

公开(公告)号：US20230230312A1

公开(公告)日：2023-07-20

申请号：US17893368

申请日：2022-08-23

申请人： Qingdao University of Technology ,  Shandong University ,  Hebei University of Technology

发明人： Chengjun CHEN ,  Zhengxu ZHAO ,  Tianliang HU ,  Jianhua ZHANG ,  Yang GUO ,  Dongnian LI ,  Qinghai ZHANG ,  Yuanlin GUAN

IPC分类号： G06T17/00 ,  G06T7/00 ,  G06T7/70 ,  G06T7/50 ,  G06T19/20 ,  G06T7/194 ,  H04N9/04 ,  H04N13/20 ,  B25J9/16 ,  B25J13/08

CPC分类号： G06T17/00 ,  B25J9/1605 ,  B25J9/1687 ,  B25J9/1689 ,  B25J9/1697 ,  B25J13/08 ,  G06T7/0004 ,  G06T7/50 ,  G06T7/70 ,  G06T7/194 ,  G06T19/20 ,  H04N9/04 ,  H04N13/20 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20081 ,  G06T2207/30164 ,  G06T2207/30204 ,  G06T2219/2004

摘要： A digital twin modeling method to assemble a robotic teleoperation environment, including: capturing images of the teleoperation environment; identifying a part being assembled; querying the assembly assembling order to obtain a list of assembled parts according to the part being assembled; generating a three-dimensional model of the current assembly from the list and calculating position pose information of the current assembly in an image acquisition device coordinate system; loading a three-dimensional model of the robot, determining a coordinate transformation relationship between a robot coordinate system and an image acquisition device coordinate system; determining position pose information of the robot in an image acquisition device coordinate system from the coordinate transformation relationship; determining a relative positional relationship between the current assembly and the robot from position pose information of the current assembly and the robot in an image acquisition device coordinate system; establishing a digital twin model of the teleoperation environment.

公开(公告)号：US20190231220A1

公开(公告)日：2019-08-01

申请号：US16201614

申请日：2018-11-27

申请人： Optecks, LLC

发明人： Hakki Refai ,  Badia Koudsi

IPC分类号： A61B5/06 ,  H04N5/225 ,  G06T7/557 ,  G06T7/521 ,  H04N13/239 ,  H04N13/254 ,  G06T7/73 ,  G06T7/33 ,  A61B1/00 ,  A61B1/05 ,  A61B1/06

CPC分类号： A61B5/065 ,  A61B1/00 ,  A61B1/00009 ,  A61B1/00135 ,  A61B1/00172 ,  A61B1/00179 ,  A61B1/00193 ,  A61B1/051 ,  A61B1/0676 ,  G06T7/33 ,  G06T7/521 ,  G06T7/557 ,  G06T7/73 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/10048 ,  G06T2207/10052 ,  H04N5/2254 ,  H04N5/22541 ,  H04N5/332 ,  H04N13/20 ,  H04N13/239 ,  H04N13/254 ,  H04N2005/2255

摘要： Systems and methods for three-dimensional imaging, modeling, mapping, and/or control capabilities in compact size suitable for integration with and/or augmentation of robotic, laparoscopic, and endoscopic surgical systems. The systems including at least one optical source configured to project onto a surgical or endoscopic environment, and at least one camera positioned to capture at least one image of the surgical or endoscopic environment,

公开(公告)号：US20190208132A1

公开(公告)日：2019-07-04

申请号：US16303253

申请日：2017-12-20

申请人： Sony Semiconductor Solutions Corporation

发明人： Keisuke SAITO ,  Takeshi AKABANE

IPC分类号： H04N5/232 ,  H04N5/225 ,  G02B7/36 ,  G02B7/34

CPC分类号： H04N5/232127 ,  B60R1/00 ,  B60R2300/105 ,  G02B7/28 ,  G02B7/34 ,  G02B7/36 ,  G03B13/36 ,  G03B19/07 ,  G03B35/08 ,  H04N5/225 ,  H04N5/2258 ,  H04N5/232 ,  H04N5/232122 ,  H04N5/232123 ,  H04N13/20 ,  H04N13/239 ,  H04N2013/0081

摘要： The focus detection accuracy is improved in an imaging apparatus that detects focus of each of a plurality of lenses.A main side focus control section detects, as a main side in-focus position, a main side lens position where focus is achieved in a main side detection region inside a main side image. A parallax acquisition section acquires parallax proportional to a distance by finding the distance on the basis of the main side in-focus position. A subordinate side detection region setup section sets a subordinate side detection region position in a subordinate side image on the basis of the parallax and the main side detection region position. A subordinate side focus control section detects, as a subordinate side in-focus position, a subordinate side lens position where focus is achieved in the subordinate side detection region.

公开(公告)号：US20190205697A1

公开(公告)日：2019-07-04

申请号：US16299616

申请日：2019-03-12

申请人： Google Inc.

发明人： Alexander Thomas Starns ,  Arjun Raman ,  Gadi Royz

IPC分类号： G06K9/62 ,  G06T17/00 ,  G06T7/68 ,  G06T7/593 ,  H04N13/20 ,  G01C11/02 ,  H04N5/232

CPC分类号： G06K9/6215 ,  G01C11/02 ,  G01C11/025 ,  G06T7/593 ,  G06T7/68 ,  G06T17/00 ,  G06T2207/10012 ,  G06T2207/30244 ,  H04N5/23238 ,  H04N13/20

摘要： Provided is a method of spatially referencing a plurality of images captured from a plurality of different locations within an indoor space by determining the location from which the plurality of images was captured. The method may include obtaining a plurality of distance-referenced panoramas of an indoor space. The distance-referenced panoramas may each include a plurality of distance-referenced images each captured from one position in the indoor space and at a different azimuth from the other distance-referenced images, a plurality of distance measurements, and orientation indicators each indicative of the azimuth of the corresponding one of the distance-referenced images. The method may further include determining the location of each of the distance-referenced panoramas based on the plurality of distance measurements and the orientation indicators and associating in memory the determined locations with the plurality of distance-referenced images captured from the determined location.

公开(公告)号：US20180241914A1

公开(公告)日：2018-08-23

申请号：US15897042

申请日：2018-02-14

申请人： CANON KABUSHIKI KAISHA

发明人： Tomoyori Iwao

IPC分类号： H04N5/222 ,  H04N5/217 ,  H04N5/232 ,  G01B11/25 ,  G06F3/06

CPC分类号： H04N5/2226 ,  G01B11/25 ,  G06F3/0602 ,  H04N5/2173 ,  H04N5/23212 ,  H04N13/20 ,  H04N13/254 ,  H04N13/271 ,  H04N2013/0074

摘要： An image processing apparatus includes an acquisition unit configured to acquire position information indicating a position of a light source for irradiating an object with light, an acquisition unit configured to acquire position information indicating a position where a normal is acquired in the object, an acquisition unit configured to acquire position information indicating a position of an image capturing apparatus for imaging the object irradiated with the light by the light source, a calculation unit configured to, based on the position information, calculate a normal at the position where a normal is acquired, and a correction unit configured to, according to a predetermined condition, correct the position where a normal is acquired, wherein in a case where the correction unit corrects the position where a normal is acquired, the calculation unit calculates a normal at the corrected position where a normal is acquired.

公开(公告)号：US20180228351A1

公开(公告)日：2018-08-16

申请号：US15953517

申请日：2018-04-16

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： David D. Scott ,  David C. Shafer ,  Dominique Brichard ,  Peter M. Herzlinger

IPC分类号： A61B1/06 ,  A61B1/045 ,  G02B13/00 ,  G02B23/24 ,  H04N13/20 ,  A61B1/313 ,  H04N5/225

CPC分类号： A61B1/06 ,  A61B1/00 ,  A61B1/00009 ,  A61B1/00096 ,  A61B1/00105 ,  A61B1/0011 ,  A61B1/00114 ,  A61B1/00124 ,  A61B1/00149 ,  A61B1/00165 ,  A61B1/00167 ,  A61B1/00193 ,  A61B1/045 ,  A61B1/051 ,  A61B1/0684 ,  A61B1/313 ,  A61B1/3132 ,  A61B34/30 ,  A61B34/37 ,  A61B90/361 ,  A61B90/50 ,  A61B2034/302 ,  G02B13/00 ,  G02B13/0015 ,  G02B23/24 ,  G02B23/2415 ,  G02B23/2476 ,  H04N5/225 ,  H04N5/2254 ,  H04N13/20 ,  H04N13/204 ,  H04N2005/2255

摘要： In one embodiment, a minimally invasive surgical system includes a patient side manipulator, a hermetically sealed endoscopic camera instrument, a vision cart, and a monitor. The patient side manipulator has a robotic arm. The endoscopic camera instrument has a housing at a proximal end to couple to the robotic arm. The endoscopic camera instrument further has a hermetically sealed camera sensor at a distal end, a shaft coupled to the housing, and a wristed joint coupled between the shaft and the camera sensor. The vision cart has a camera control unit coupled in communication with the hermetically sealed camera sensor to capture the images of the surgical site. The monitor is coupled in communication with the camera control unit to display the captured images of the surgical site.

公开(公告)号：US20180061056A1

公开(公告)日：2018-03-01

申请号：US15251966

申请日：2016-08-30

申请人： Microsoft Technology Licensing, LLC

发明人： Jian Zhao ,  Raymond Kirk Price ,  Michael Bleyer ,  Denis Demandolx

IPC分类号： G06T7/00 ,  G06K9/52 ,  G06K9/62 ,  G06T7/60 ,  G06K9/66 ,  H04N5/225 ,  G01B11/22

CPC分类号： G06T7/0051 ,  G01B11/22 ,  G06K9/52 ,  G06K9/6201 ,  G06K9/66 ,  G06T5/006 ,  G06T7/0042 ,  G06T7/60 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20076 ,  G06T2207/20081 ,  H04N5/2252 ,  H04N13/20

摘要： Disclosed are an apparatus and a method of compensating temperature shifts of a structured light pattern for a depth imaging system. In some embodiments, a depth imaging device includes a light source, an imaging sensor and a processor. The light source emits light corresponding to a pattern. A temperature drift of the light source can cause a shift of the pattern. The imaging sensor receives the light reflected by environment in front of the depth imaging device and generates a depth map including a plurality of pixel values corresponding to depths of the environment relative to the depth imaging device. The processor estimates the shift of the pattern based on a polynomial model depending on the temperature drift of the light source. The processor further adjusts the depth map based on the shift of the pattern.