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1. 发明授权

US10726593B2 Artificially rendering images using viewpoint interpolation and extrapolation 有权
公开(公告)号：US10726593B2
公开(公告)日：2020-07-28
申请号：US14860983
申请日：2015-09-22
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Stephen David Miller , Martin Saelzle , Radu Bogdan Rusu
IPC分类号： G09G5/00 , G06T11/60 , G06T5/00 , H04N13/111
摘要： Various embodiments of the present invention relate generally to systems and methods for artificially rendering images using viewpoint interpolation and/or extrapolation. According to particular embodiments, a transformation between a first frame and a second frame is estimated, where the first frame includes a first image captured from a first location and the second frame includes a second image captured from a second location. An artificially rendered image corresponding to a third location positioned on a trajectory between the first location and the second location is then generated by interpolating a transformation from the first location to the third location and from the third location to the second location and gathering image information from the first frame and the second frame by transferring first image information from the first frame to the third frame based on the interpolated transformation and second image information from the second frame to the third frame based on the interpolated transformation. The first image information and the second image information are then combined. If an occlusion is created by a change in layer placement between the first frame and second frame, this occlusion is detected and missing data is replaced to fill the occlusion.

2. 发明授权

US10713851B2 Live augmented reality using tracking 有权
公开(公告)号：US10713851B2
公开(公告)日：2020-07-14
申请号：US16186994
申请日：2018-11-12
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Alexander Jay Bruen Trevor , Martin Saelzle , Stephen David Miller , Radu Bogdan Rusu
IPC分类号： G06T19/00 , G06T7/70 , G06T7/20 , G06F3/01 , G06T11/00 , G06T7/55 , G06T7/33 , G06T7/246
摘要： Various embodiments of the present invention relate generally to systems and methods for analyzing and manipulating images and video. According to particular embodiments, the spatial relationship between multiple images and video is analyzed together with location information data, for purposes of creating a representation referred to herein as a surround view for presentation on a device. A real object can be tracked in the live image data for the purposes of creating a surround view using a number of tracking points. As a camera is moved around the real object, virtual objects can be rendered into live image data to create synthetic images where a position of the tracking points can be used to position the virtual object in the synthetic image. The synthetic images can be output in real-time. Further, virtual objects in the synthetic images can be incorporated into surround views.

3. 发明申请

US20190096137A1 LIVE AUGMENTED REALITY USING TRACKING 审中-公开
公开(公告)号：US20190096137A1
公开(公告)日：2019-03-28
申请号：US16186994
申请日：2018-11-12
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Alexander Jay Bruen Trevor , Martin Saelzle , Stephen David Miller , Radu Bogdan Rusu
IPC分类号： G06T19/00 , G06T7/246 , G06T7/33 , G06T7/70 , G06F3/01 , G06T7/55 , G06T7/20 , G06T11/00
CPC分类号： G06T19/006 , G06F3/011 , G06T7/20 , G06T7/246 , G06T7/33 , G06T7/55 , G06T7/70 , G06T11/00 , G06T2200/32 , G06T2207/10016 , G06T2207/10024 , G06T2207/20221
摘要： Various embodiments of the present invention relate generally to systems and methods for analyzing and manipulating images and video. According to particular embodiments, the spatial relationship between multiple images and video is analyzed together with location information data, for purposes of creating a representation referred to herein as a surround view for presentation on a device. A real object can be tracked in the live image data for the purposes of creating a surround view using a number of tracking points. As a camera is moved around the real object, virtual objects can be rendered into live image data to create synthetic images where a position of the tracking points can be used to position the virtual object in the synthetic image. The synthetic images can be output in real-time. Further, virtual objects in the synthetic images can be incorporated into surround views.

4. 发明授权

US09940541B2 Artificially rendering images using interpolation of tracked control points 有权
公开(公告)号：US09940541B2
公开(公告)日：2018-04-10
申请号：US14800638
申请日：2015-07-15
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Stephen David Miller , Martin Saelzle , Radu Bogdan Rusu
IPC分类号： G06T3/40 , G06K9/62 , G06T15/20
CPC分类号： G06K9/6201 , G06K9/00664 , G06T15/205 , H04N13/111 , H04N2013/0085
摘要： Various embodiments of the present invention relate generally to systems and processes for artificially rendering images using interpolation of tracked control points. According to particular embodiments, a set of control points is tracked between a first frame and a second frame, where the first frame includes a first image captured from a first location and the second frame includes a second image captured from a second location. An artificially rendered image corresponding to a third location is then generated by interpolating individual control points for the third location using the set of control points and interpolating pixel locations using the individual control points. The individual control points are used to transform image data.

5. 发明申请

US20170018055A1 ARTIFICIALLY RENDERING IMAGES USING VIEWPOINT INTERPOLATION AND EXTRAPOLATION 审中-公开
标题翻译：使用视点插值和扩展进行人工渲染图像
公开(公告)号：US20170018055A1
公开(公告)日：2017-01-19
申请号：US14800642
申请日：2015-07-15
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Stephen David Miller , Martin Saelzle , Radu Bogdan Rusu
IPC分类号： G06T3/00 , G06T11/60 , G06T7/20 , G06T7/00
CPC分类号： G06T11/60 , G06T15/205 , H04N13/111
摘要： Various embodiments of the present invention relate generally to systems and methods for artificially rendering images using viewpoint interpolation and extrapolation. According to particular embodiments, a method includes moving a set of control points perpendicular to a trajectory between a first frame and a second frame, where the first frame includes a first image captured from a first location and the second frame includes a second image captured from a second location. The set of control points is associated with a layer and each control point is moved based on an associated depth of the control point. The method also includes generating an artificially rendered image corresponding to a third location outside of the trajectory by extrapolating individual control points using the set of control points for the third location and extrapolating pixel locations using the individual control points.
摘要翻译：本发明的各种实施例一般涉及使用视点插值和外推人工渲染图像的系统和方法。根据特定实施例，一种方法包括移动垂直于第一帧和第二帧之间的轨迹的一组控制点，其中第一帧包括从第一位置捕获的第一图像，并且第二帧包括从第二个位置。该组控制点与一层相关联，并且每个控制点基于控制点的相关深度移动。所述方法还包括通过使用所述第三位置的控制点的集合外推外部控制点并使用各个控制点来外推像素位置，来生成对应于轨迹外的第三位置的人为渲染图像。

6. 发明公开

US20240112301A1 VEHICLE UNDERCARRIAGE IMAGING 审中-公开
公开(公告)号：US20240112301A1
公开(公告)日：2024-04-04
申请号：US18531614
申请日：2023-12-06
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Krunal Ketan Chande , Matteo Munaro , Pavel Hanchar , Aidas Liaudanskas , Wook Yeon Hwang , Johan Nordin , Milos Vlaski , Martin Markus Hubert Wawro , Nick Stetco , Martin Saelzle
IPC分类号： G06T3/40 , G06T7/00 , G06T7/50
CPC分类号： G06T3/4038 , G06T7/0004 , G06T7/50 , G06T2207/10028 , G06T2207/20221 , G06T2207/30252
摘要： Images of an undercarriage of a vehicle may be captured via one or more cameras. A point cloud may be determined based on the images. The point cloud may includes points positioned in a virtual three-dimensional space. A stitched image may be determined based on the point cloud by projecting the point cloud onto a virtual camera view. The stitched image may be stored on a storage device

7. 发明授权

US11605151B2 Vehicle undercarriage imaging 有权
公开(公告)号：US11605151B2
公开(公告)日：2023-03-14
申请号：US17190268
申请日：2021-03-02
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Krunal Ketan Chande , Matteo Munaro , Pavel Hanchar , Aidas Liaudanskas , Wook Yeon Hwang , Blake McConnell , Johan Nordin , Milos Vlaski , Martin Markus Hubert Wawro , Nick Stetco , Martin Saelzle
IPC分类号： G06T3/40 , G06T7/50 , G06T7/00
摘要： Images of an undercarriage of a vehicle may be captured via one or more cameras. A point cloud may be determined based on the images. The point cloud may includes points positioned in a virtual three-dimensional space. A stitched image may be determined based on the point cloud by projecting the point cloud onto a virtual camera view. The stitched image may be stored on a storage device.

8. 发明申请

US20220392151A1 ENCLOSED MULTI-VIEW VISUAL MEDIA REPRESENTATION 有权
公开(公告)号：US20220392151A1
公开(公告)日：2022-12-08
申请号：US17342258
申请日：2021-06-08
申请人： Fyusion, Inc.
发明人： Nico Gregor Sebastian Blodow , Martin Saelzle , Matteo Munaro , Krunal Ketan Chande , Rodrigo Ortiz Cayon , Stefan Johannes Josef Holzer
IPC分类号： G06T15/20 , G06T19/00 , H04N13/282
摘要： Images may be captured at an image capture device mounted on an image capture device gimbal capable of rotating the image capture device around a nodal point in one or more dimensions. Each of the plurality of images may be captured from a respective rotational position. The images may be captured by a designated camera that is not located at the nodal point in one or more of the respective rotational positions. A designated three-dimensional point cloud may be determined based on the plurality of images. The designated three-dimensional point cloud may include a plurality of points each having a respective position in a virtual three-dimensional space.

9. 发明授权

US10504293B2 Augmenting multi-view image data with synthetic objects using IMU and image data 有权
公开(公告)号：US10504293B2
公开(公告)日：2019-12-10
申请号：US16181227
申请日：2018-11-05
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Stephen David Miller , Alexander Jay Bruen Trevor , Martin Saelzle , Radu Bogdan Rusu
IPC分类号： G06T19/00 , G06T13/20
CPC分类号： G06T19/006 , G06T13/20 , G06T2219/028
摘要： Provided are mechanisms and processes for augmenting multi-view image data with synthetic objects using inertial measurement unit (IMU) and image data. In one example, a process includes receiving a selection of an anchor location in a reference image for a synthetic object to be placed within a multi-view image. Movements between the reference image and a target image are computed using visual tracking information associated with the multi-view image, device orientation corresponding to the multi-view image, and an estimate of the camera's intrinsic parameters. A first synthetic image is then generated by placing the synthetic object at the anchor location using visual tracking information in the multi-view image, orienting the synthetic object using the inverse of the movements computed between the reference image and the target image, and projecting the synthetic object along a ray into a target view associated with the target image. The first synthetic image is overlaid on the target image to generate an augmented image from the target view.

10. 发明授权

US10147211B2 Artificially rendering images using viewpoint interpolation and extrapolation 有权
公开(公告)号：US10147211B2
公开(公告)日：2018-12-04
申请号：US14800642
申请日：2015-07-15
申请人： Fyusion, Inc.
发明人： Stefan Johannes Josef Holzer , Stephen David Miller , Martin Saelzle , Radu Bogdan Rusu
IPC分类号： G09G5/00 , G06T11/60 , G06T15/20
摘要： Various embodiments of the present invention relate generally to systems and methods for artificially rendering images using viewpoint interpolation and extrapolation. According to particular embodiments, a method includes moving a set of control points perpendicular to a trajectory between a first frame and a second frame, where the first frame includes a first image captured from a first location and the second frame includes a second image captured from a second location. The set of control points is associated with a layer and each control point is moved based on an associated depth of the control point. The method also includes generating an artificially rendered image corresponding to a third location outside of the trajectory by extrapolating individual control points using the set of control points for the third location and extrapolating pixel locations using the individual control points.

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