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    • 3. 发明申请
    • IMAGE PROCESSING SYSTEM AND METHODS FOR ALIGNING SKIN FEATURES FOR EARLY SKIN CANCER DETECTION SYSTEMS
    • 图像处理系统和方法,用于调整早期皮肤癌检测系统的皮肤特征
    • US20090304243A1
    • 2009-12-10
    • US12133163
    • 2008-06-04
    • Frederick C. MertzRobert K. PinaIvans S. ChouKarleen Seybold
    • Frederick C. MertzRobert K. PinaIvans S. ChouKarleen Seybold
    • G06K9/00G06K9/32
    • G06K9/4642A61B5/444A61B5/7425A61B2576/00G06T7/0016G06T7/337G06T2207/30088
    • Embodiments of an image processing system and methods for aligning features suitable for use in early skin-cancer detection systems are described herein. Corresponding skin features between a reference image and a later-captured image are precisely aligned. Curvatures are used to align body outlines of corresponding images using body-background masks. An initial-displacement flowfield map, generated from the aligned body outlines, may be applied to a filtered version of the later-captured image to generate a pre-warped image. The pre-warped image and a filtered version of the reference image are divided into a plurality of overlapping chips and a correlation is performed between corresponding chips. A transformation map may be generated based on the chip correlations. This chipping process may be iterated for successively smaller chip sizes to generate a final transform map which may be applied to the later-captured image to generate a registered image having its skin features aligned with the reference image.
    • 本文描述了图像处理系统的实施例和用于对准适于在早期皮肤癌检测系统中使用的特征的方法。 参考图像和后期拍摄图像之间的相应肤色特征精确对齐。 曲率用于使用身体背景蒙版对准相应图像的身体轮廓。 从对齐的身体轮廓生成的初始位移流场图可以被应用于稍后捕获的图​​像的过滤版本,以生成预翘曲图像。 预弯曲图像和参考图像的滤波版本被划分为多个重叠的码片,并且在相应的码片之间执行相关。 可以基于芯片相关性来生成转换图。 可以对连续更小的芯片尺寸迭代该切片处理以产生最终变换图,该最终变换图可以应用于稍后捕获的图​​像,以产生具有与参考图像对准的皮肤特征的注册图像。
    • 5. 发明授权
    • Image processing system and methods for aligning skin features for early skin cancer detection systems
    • 图像处理系统和方法,用于调整早期皮肤癌检测系统的皮肤特征
    • US08194952B2
    • 2012-06-05
    • US12133163
    • 2008-06-04
    • Frederick C. MertzRobert K. PinaIvans S. ChouKarleen Seybold
    • Frederick C. MertzRobert K. PinaIvans S. ChouKarleen Seybold
    • G06K9/48G06K9/36
    • G06K9/4642A61B5/444A61B5/7425A61B2576/00G06T7/0016G06T7/337G06T2207/30088
    • Embodiments of an image processing system and methods for aligning features suitable for use in early skin-cancer detection systems are described herein. Corresponding skin features between a reference image and a later-captured image are precisely aligned. Curvatures are used to align body outlines of corresponding images using body-background masks. An initial-displacement flowfield map, generated from the aligned body outlines, may be applied to a filtered version of the later-captured image to generate a pre-warped image. The pre-warped image and a filtered version of the reference image are divided into a plurality of overlapping chips and a correlation is performed between corresponding chips. A transformation map may be generated based on the chip correlations. This chipping process may be iterated for successively smaller chip sizes to generate a final transform map which may be applied to the later-captured image to generate a registered image having its skin features aligned with the reference image.
    • 本文描述了图像处理系统的实施例和用于对准适于在早期皮肤癌检测系统中使用的特征的方法。 参考图像和后期拍摄图像之间的相应肤色特征精确对齐。 曲率用于使用身体背景蒙版对准相应图像的身体轮廓。 从对齐的身体轮廓生成的初始位移流场图可以被应用于稍后捕获的图​​像的过滤版本,以生成预翘曲图像。 预弯曲图像和参考图像的滤波版本被划分为多个重叠的码片,并且在相应的码片之间执行相关。 可以基于芯片相关性来生成转换图。 可以对连续更小的芯片尺寸迭代该切片处理以产生最终变换图,该最终变换图可以应用于稍后捕获的图​​像,以产生具有与参考图像对准的皮肤特征的注册图像。
    • 6. 发明申请
    • Autonomous Space Flight System and Planetary Lander for Executing a Discrete Landing Sequence to Remove Unknown Navigation Error, Perform Hazard Avoidance and Relocate the Lander and Method
    • 自主空间飞行系统和行星起落架,用于执行离散着陆程序,以消除未知的导航错误,执行危险回避和拆迁登陆器和方法
    • US20080023587A1
    • 2008-01-31
    • US11782407
    • 2007-07-24
    • James HeadGregory HoppaThomas GardnerKaren TsetsenekosStephen DolfiniTomas SvitekKarleen Seybold
    • James HeadGregory HoppaThomas GardnerKaren TsetsenekosStephen DolfiniTomas SvitekKarleen Seybold
    • B64G1/10B64G1/24B64G1/40G01C21/00G05D1/00
    • G01C21/24B64G1/10B64G1/62B64G2001/1071
    • An autonomous unmanned space flight system and planetary lander executes a discrete landing sequence including performing an initial velocity braking maneuver to remove velocity at altitude, coasting during which the planet surface is imaged and correlated to reference maps to estimate cross-track and along-track navigation errors and one or more lateral braking maneuvers are performed to reduce cross-track navigation error, and performing a terminal velocity braking maneuver(s) to reduce the along-track braking maneuver and remove the remainder of the velocity just prior to landing. A bi-propellant propulsion system provides a very high T/M ratio, at least 15:1 per nozzle. Short, high T/M divert maneuvers provide the capability to remove cross-track navigation error efficiently up to the maximum resolution of the reference maps. Short, high T/M terminal velocity braking maneuver(s) provide the capability to remove along-track navigation error to a similar resolution and remove the remaining velocity in a very short time window, approximately 3-15 seconds prior to touchdown. The propulsive efficiency frees up mass which can be allocated to a fuel to remove the unknown navigation errors, perform hazard avoidance and/or relocate the lander by flying it to another site or be allocated to additional payload.
    • 自主无人空中飞行系统和行星着陆器执行离散的着陆序列,包括执行初始速度制动操纵以去除高度上的速度,在行星表面成像期间惯性滑行,并将其与参考图相关,以估计交叉轨道和沿轨道导航 执行错误和一个或多个横向制动操纵以减少交叉轨道导航误差,以及执行终端速度制动操纵以减少沿轨道制动操纵并且在着陆之前移除其余速度。 双推进剂推进系统提供非常高的T / M比,每个喷嘴至少15:1。 短,高T / M转向机动能够有效地去除跨轨道导航错误,直到参考地图的最大分辨率。 短,高T / M终端速度制动机动能够将沿轨道导航误差移除到相似的分辨率,并在触地之前约3-15秒在非常短的时间窗内消除剩余速度。 推进效率释放了可以分配给燃料的质量,以消除未知的导航错误,通过将着陆器飞到另一个站点或分配给另外的有效载荷来执行危险回避和/或重新定位着陆器。