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1. 发明授权

US10955654B2 Imaging device and method 有权
公开(公告)号：US10955654B2
公开(公告)日：2021-03-23
申请号：US15539320
申请日：2015-12-16
申请人： UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6) , CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE—CNRS , INSERM (INSTITUT NATIONAL DE LA SANTE ET DE LA RECHERCHE MEDICALE) , UNIVERSITE PARIS—SUD , ASSISTANCE PUBLIQUE-HOPITAUX DE PARIS—APHP
发明人： Guillaume Chenegros , Ryad Benosman , Nicolas Libert , Jacques Durenteau , Anatole Harrois , Serge Picaud , Jose-Alain Sahel
IPC分类号： A61B5/00 , G02B21/36 , A61B5/026 , G01N21/47 , A61B5/1455 , G01N21/53 , G02B21/06
摘要： Disclosed is an imaging device including a light source arranged so as to generate an optical signal, an optical support coupled to the light source and arranged so as to project a luminous excitation signal with a substantially constant light intensity, from the light source to a body to be observed during the use of the device, and an asynchronous camera coupled to the optical support and designed so as to generate a signal including, for each pixel of a first pixel matrix, a signal sequence representing asynchronous events corresponding to variations of the light backscattered by the body to be observed for the pixel.

2. 发明申请

US20140363049A1 METHOD OF ESTIMATING OPTICAL FLOW ON THE BASIS OF AN ASYNCHRONOUS LIGHT SENSOR 有权
标题翻译：基于异步光传感器估算光流的方法
公开(公告)号：US20140363049A1
公开(公告)日：2014-12-11
申请号：US14366103
申请日：2012-12-21
申请人： Universite Pierre et Marie Curie (Paris 6) , Centre National de la Recherche Scientifique-CNRS
发明人： Ryad Benosman , Siohoi Ieng
IPC分类号： G06K9/00
CPC分类号： G06K9/00771 , G06T7/269
摘要： A computer receives asynchronous information originating from a light sensor (10) having a pixel matrix disposed opposite a scene. The asynchronous information comprises, for each pixel of the matrix, successive events originating from this pixel and depending on variations in light in the scene. For a place of estimation (p) in the matrix of pixels and an estimation time (t), the computer selects a set (Sp t) of events originating from pixels included in a spatial neighbourhood (πρ) of the place of estimation and which have occurred in a time interval (Θ) defined with respect to the estimation time, such that this set has at most one event per pixel of the spatial neighbourhood. The computer quantifies the variations in the times of occurrence of the events of the set selected as a function of the positions, in the matrix, of the pixels from which these events originate.
摘要翻译：计算机接收源自具有与场景相对设置的像素矩阵的光传感器（10）的异步信息。对于矩阵的每个像素，异步信息包括源自该像素并依赖于场景中光的变化的连续事件。对于像素矩阵中的估计位置（p）和估计时间（t），计算机选择源自包含在空间邻域（＆pgr;＆rgr;）中的像素的集合（Sp t）并且其在相对于估计时间定义的时间间隔（θ）中发生，使得该集合在空间邻域的每像素中具有至多一个事件。计算机根据这些事件产生的像素的矩阵位置的函数来量化所选择的集合的事件的出现次数的变化。

3. 发明授权

US10109057B2 Method of tracking shape in a scene observed by an asynchronous light sensor 有权
公开(公告)号：US10109057B2
公开(公告)日：2018-10-23
申请号：US15307490
申请日：2015-04-24
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE—CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Ryad Benosman , Siohoi Ieng , Stephane Regnier , Ni Zhenjiang
IPC分类号： G06T7/00 , G06T1/00 , G06T7/246 , G06T7/73
摘要： Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.

4. 发明授权

US10154235B2 Device for displaying an image sequence and system for displaying a scene 有权
公开(公告)号：US10154235B2
公开(公告)日：2018-12-11
申请号：US15128996
申请日：2015-03-12
申请人： UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6) , CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE—CNRS
发明人： Ryad Benosman , Guillaume Chenegros , Serge Picaud , Siohoi Ieng , Jose-Alain Sahel
IPC分类号： H04N9/31 , H04N5/64 , A61B5/00 , A61N1/05 , G02B27/18 , A61N1/36 , G02B27/01 , G02B26/08 , G02C11/00
摘要： A device for displaying an image sequence in the form of a pixel matrix, includes a control unit coupled to a projector. The control unit includes an input interface designed to receive asynchronous information representing, for each pixel of the matrix, events concerning the pixel, and a processor designed to control the activation of each pixel of the matrix at moments determined by the respective events indicated by the asynchronous information for the pixel. The projector is disposed on a support so as to illuminate the light receptors of the eye when the device is in use and is designed to project a light flux corresponding to the pixels activated by the control unit.

5. 发明申请

US20170053407A1 METHOD OF TRACKING SHAPE IN A SCENE OBSERVED BY AN ASYNCHRONOUS LIGHT SENSOR 审中-公开
标题翻译：在异常光传感器观察的场景中跟踪形状的方法
公开(公告)号：US20170053407A1
公开(公告)日：2017-02-23
申请号：US15307490
申请日：2015-04-24
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE - CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Ryad Benosman , Siohoi Ieng , Stephane Regnier , Ni Zhenjiang
IPC分类号： G06T7/00 , G06T7/20
CPC分类号： G06T7/73 , G06T1/0007 , G06T7/246 , G06T2207/10141
摘要： Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.
摘要翻译：异步信息由具有与场景相对设置的像素矩阵的传感器提供。对于矩阵的每个像素，异步信息包括源自该像素的连续事件，其可以取决于场景中的光的变化。在异步信息中检测到归因于该对象的事件之后，更新表示对象的跟踪形状的模型。在检测之后，模型的更新包括模型的点与通过最小化相对于检测到的事件从其发生的矩阵的像素的距离的标准而检测到的事件的关联。然后，更新的模型被确定为与检测到的事件之前执行的关联无关的，检测到的事件从该矩阵的像素起始并归因于对象和模型中的关联点的函数。

6. 发明申请

US20140085447A1 METHOD AND DEVICE FOR CONTROLLING A DEVICE FOR AIDING VISION 有权
标题翻译：用于控制用于吸引愿景的装置的方法和装置
公开(公告)号：US20140085447A1
公开(公告)日：2014-03-27
申请号：US14115983
申请日：2012-05-11
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE-CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Henri Lorach , Ryad Benosman , Jose Sahel , Srege Picaud
IPC分类号： A61F9/08
CPC分类号： A61F9/08 , A61N1/0543 , A61N1/36046 , G06K9/4623 , G06N3/063 , G09B21/008
摘要： An input signal (f) representative of a scene to be viewed comprises, for each pixel of a matrix of pixels, an event-based asynchronous-signal sequence obtained as a function of variations of light relating to the pixel in the scene. This input signal is transformed spatially within the matrix of pixels and temporally along the signal sequences to generate respective control signals (S) for pixel zones of a device for aiding vision (20).
摘要翻译：代表要被观看的场景的输入信号（f）包括对于像素矩阵的每个像素，基于事件的异步信号序列作为与场景中的像素有关的光的变化而获得。该输入信号在像素矩阵内在时间上沿信号序列空间变换，以产生用于辅助视觉的设备的像素区域的相应控制信号（S）（20）。

7. 发明授权

US10559247B2 Display control method and device for implementing said method 有权
公开(公告)号：US10559247B2
公开(公告)日：2020-02-11
申请号：US15129055
申请日：2015-03-18
申请人： CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE—CNRS , UNIVERSITE PIERRE ET MARIE CURIE (PARIS 6)
发明人： Ryad Benosman , Guillaume Chenegros , Sihem Kime , Siohoi Ieng , Jose-Alain Sahel
IPC分类号： G09G3/20 , A61N1/05 , A61F2/14 , G09G3/34
摘要： A method of controlling the display of images in the form of a pixel array, includes for a pixel of the array, asynchronous information representing events concerning the pixel is received, a first activation of the pixel is actuated at an activation time determined by a first event of the asynchronous information, and at least a second activation of the pixel is actuated in order to repeat the first activation of the pixel at respective times defined by a refresh sequence.

8. 发明授权

US09213902B2 Method of estimating optical flow on the basis of an asynchronous light sensor 有权
标题翻译：基于异步光传感器估计光流的方法
公开(公告)号：US09213902B2
公开(公告)日：2015-12-15
申请号：US14366103
申请日：2012-12-21
申请人： Universite Pierre et Marie Curie (Paris 6) , Centre National de la Recherche Scientifique—CNRS
发明人： Ryad Benosman , Siohoi Ieng
IPC分类号： G06K9/00 , G06T7/20
CPC分类号： G06K9/00771 , G06T7/269
摘要： A computer receives asynchronous information originating from a light sensor (10) having a pixel matrix disposed opposite a scene. The asynchronous information comprises, for each pixel of the matrix, successive events originating from this pixel and depending on variations in light in the scene. For a place of estimation (p) in the matrix of pixels and an estimation time (t), the computer selects a set (Sp t) of events originating from pixels included in a spatial neighborhood (πρ) of the place of estimation and which have occurred in a time interval (Θ) defined with respect to the estimation time, such that this set has at most one event per pixel of the spatial neighborhood. The computer quantifies the variations in the times of occurrence of the events of the set selected as a function of the positions, in the matrix, of the pixels from which these events originate.
摘要翻译：计算机接收源自具有与场景相对设置的像素矩阵的光传感器（10）的异步信息。对于矩阵的每个像素，异步信息包括源自该像素并依赖于场景中光的变化的连续事件。对于像素矩阵中的估计位置（p）和估计时间（t），计算机选择源自包含在空间邻域（＆pgr; rgr）中的像素的集合（Sp t）并且其在相对于估计时间定义的时间间隔（θ）中发生，使得该集合在空间邻域的每像素中具有至多一个事件。计算机根据这些事件产生的像素的矩阵位置的函数来量化所选择的集合的事件的出现次数的变化。

9. 发明授权

US09886768B2 Visual tracking of an object 有权
公开(公告)号：US09886768B2
公开(公告)日：2018-02-06
申请号：US14786577
申请日：2014-04-25
申请人： Universite Pierre et Marie Curie (Paris 6)
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
IPC分类号： G06K9/00 , G06T7/20 , G06K9/62 , G06T7/77 , G06T7/254 , G06T7/277
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterized in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

10. 发明申请

US20180122085A1 VISUAL TRACKING OF AN OBJECT 审中-公开
公开(公告)号：US20180122085A1
公开(公告)日：2018-05-03
申请号：US15852204
申请日：2017-12-22
申请人： Universite Pierre et Marie Curie (Paris 6)
发明人： Stéphane Regnier , Ryad Benosman , Cécile Pacoret , Ieng Siohoi , Ni Zhenjiang
IPC分类号： G06T7/20 , G06T7/277 , G06T7/77 , G06K9/62 , G06T7/254
CPC分类号： G06T7/20 , G06K9/6218 , G06T7/254 , G06T7/277 , G06T7/77 , G06T2200/28 , G06T2207/30108
摘要： Method for visual tracking of at least one object represented by a cluster of points with which information is associated, characterised in that it includes steps to: receive (E1) data representing a set of space-time events, determine (E2) the probability that an event in the set belongs to the cluster of points representing the at least one object, for each event in the received set, determine (E3) whether or not an event belongs to the cluster of points as a function of the determined probability for the event considered, for each event in the received set, update (E4) information associated with the cluster of points for at least one object, for each event for which it was determined in the previous step that it belongs to the cluster of points, calculate (E4, E5) the position, size and orientation of the at least one object as a function of the updated information.

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