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1. 发明申请

US20220398756A1 METHOD OF AUTONOMOUS HIERARCHICAL MULTI-DRONE IMAGE CAPTURING 有权
公开(公告)号：US20220398756A1
公开(公告)日：2022-12-15
申请号：US17344664
申请日：2021-06-10
申请人： Sony Group Corporation , Sony Corporation of America
发明人： Cheng-Yi Liu
IPC分类号： G06T7/37 , G06T7/70 , B64C39/02 , G01S17/933 , G05D1/10
摘要： A method for optimizing image capture of a scene by a swarm of drones including a root drone and first and second level-1 drones involves the root drone following a predetermined trajectory over the scene, capturing one or more root keyframe images, at a corresponding one or more root drone orientations and root drone-to-scene distances. For each root keyframe image: the root drone generates a ground mask image for that root keyframe image, and applies that ground mask image to the root keyframe image to generate a target image. The root drone then analyzes the target image to generate first and second scanning tasks for the first and second level-1 drones to capture a plurality of images of the scene at a level-1 drone-to-scene distance smaller than the root drone-to-scene distance; and the first and second level-1 drones carry out the first and second scanning tasks respectively.

2. 发明授权

US09791264B2 Method of fast and robust camera location ordering 有权
公开(公告)号：US09791264B2
公开(公告)日：2017-10-17
申请号：US14614224
申请日：2015-02-04
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu , Alexander Berestov
IPC分类号： H04N7/18 , G01B11/14 , H04N5/247 , G06K9/00 , G06T7/11 , G06T7/143 , G06T7/292 , G06T7/194
CPC分类号： G01B11/14 , G06K9/00744 , G06T7/11 , G06T7/143 , G06T7/194 , G06T7/292 , G06T2207/10016 , G06T2207/20012 , G06T2207/20072 , G06T2207/20076 , H04N5/247
摘要： A method to estimate a set of camera locations, in clockwise or counter-clockwise order, according to the videos captured by these cameras is described herein. In some embodiments, the cameras are assumed to be fixed, with no or very mild tilting angles and no rolling angles (the horizon is horizontal in each camera image). The difference of orientation (rolling angle) between each neighboring (closest) camera pair is able to be up to 45 degrees. Each camera is assumed to have overlapped views with at least one other camera. Each camera has one right neighboring camera and one left neighboring camera, except the first and the last cameras which have only one neighboring camera at one side. The locations of the cameras then are able to be expressed as a unique list counter-clockwise. The input videos are assumed to be synchronized in time.

3. 发明申请

US20140270479A1 SYSTEMS AND METHODS FOR PARAMETER ESTIMATION OF IMAGES 审中-公开
标题翻译：用于参数估计图像的系统和方法
公开(公告)号：US20140270479A1
公开(公告)日：2014-09-18
申请号：US13840872
申请日：2013-03-15
申请人： SONY CORPORATION
发明人： Alexander Berestov , Cheng-Yi Liu
IPC分类号： G06T7/00
CPC分类号： G06T7/73 , G06T7/13 , G06T7/41
摘要： Systems and methods are disclosed for identifying the vanishing point, vanishing direction and road width of an image using scene identification algorithms and a new edge-scoring technique.
摘要翻译：公开了用于使用场景识别算法和新的边缘评分技术来识别图像的消失点，消失方向和道路宽度的系统和方法。

4. 发明申请

US20210089783A1 METHOD FOR FAST VISUAL DATA ANNOTATION 有权
公开(公告)号：US20210089783A1
公开(公告)日：2021-03-25
申请号：US16582913
申请日：2019-09-25
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu
IPC分类号： G06K9/00 , G06T11/60
摘要： Fast visual data annotation includes automatic detection using an automatic detector to detect subjects and joints in video frames. Then, annotation with sampling is performed, including determining when a frame is a sample (e.g., based on comparison of frames). Replay and refinement is utilized where user is involved with manually annotating subjects and/or joints in only select video frames.

5. 发明申请

US20210405661A1 SYSTEM OF MULTI-SWARM DRONE CAPTURING 有权
公开(公告)号：US20210405661A1
公开(公告)日：2021-12-30
申请号：US16917024
申请日：2020-06-30
申请人： Sony Corporation
发明人： Cheng-Yi Liu
IPC分类号： G05D1/12 , G05D1/00 , G05D1/10 , G08G5/00 , G06F3/01 , G06T7/73 , B64C39/02
摘要： A system of multi-view imaging of an environment through which a target moves includes pluralities of drones, each drone having a drone camera.
A first plurality of drones moves to track target movement, capturing a corresponding first plurality of images of the target's face, making real time determinations of the target's head pose and gaze from the captured images and transmitting the determinations to a second plurality of drones. The second plurality of drones moves to track target movement of the target, with drone camera poses determined at least in part by the head pose and gaze determinations received from the first plurality of drones, in order to capture a second plurality of images of portions of the environment in front of the target. Post-processing of the second plurality of images allows generation of a first-person view representative of a view of the environment seen by the target.

6. 发明授权

US10573050B1 Marker-based pose estimation 有权
公开(公告)号：US10573050B1
公开(公告)日：2020-02-25
申请号：US16196120
申请日：2018-11-20
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu , Daisuke Tahara
IPC分类号： G06T13/40 , G06T17/20
摘要： A system for marker-based pose estimation includes display of a 3D human body model on a display screen. The system includes circuitry that assigns a weight to each marker of a plurality of markers distributed on a human body. The circuitry determines an objective function for each joint of the plurality of joints based on a set of descendant markers. The circuitry updates each parameter of a first plurality of parameters that defines a first pose of the human body, based on a change in a value of the objective function. The circuitry determines a second plurality of parameters that defines a second pose of the human body based on the updated first plurality of parameters. The circuitry controls movement of the rigged 3D human body model on the display screen in synchronization with the second pose.

7. 发明授权

US10445898B2 System and method for camera calibration by use of rotatable three-dimensional calibration object 有权
公开(公告)号：US10445898B2
公开(公告)日：2019-10-15
申请号：US15016936
申请日：2016-02-05
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu , Alexander Berestov
IPC分类号： G06T7/80 , H04N17/00 , H04N13/246
摘要： Various aspects of a system and a method for camera calibration by use of a rotatable three-dimensional (3-D) calibration object are disclosed herein. In accordance with an embodiment, the system includes a first electronic device, which determines a rotation pattern of the 3-D calibration object, based on a set of pre-selected images. The set of pre-selected images includes the 3-D calibration object captured at pre-defined viewing angles. Control information is communicated by the first electronic device to a second electronic device associated with the 3-D calibration object to rotate the 3-D calibration object in accordance with the determined rotation pattern. A plurality of image frames of the 3-D calibration object are captured to calibrate intrinsic and/or extrinsic camera parameters of the first electronic device.

8. 发明申请

US20170124712A1 METHOD OF MULTIPLE CAMERA POSITIONING UTILIZING CAMERA ORDERING 有权
公开(公告)号：US20170124712A1
公开(公告)日：2017-05-04
申请号：US14925465
申请日：2015-10-28
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu , Alexander Berestov
IPC分类号： G06T7/00 , G06K9/46 , G06K9/20
CPC分类号： G06T7/73 , G06K9/209 , G06K9/4671 , G06T7/33 , G06T7/80 , G06T7/97 , G06T2207/10016 , G06T2207/30244 , H04N17/002
摘要： A method to position multiple camera using camera ordering is described herein. Based on two known camera positions, a third camera position is able to be determined using acquired information and calculations.

9. 发明申请

US20160223318A1 METHOD OF FAST AND ROBUST CAMERA LOCATION ORDERING 有权
标题翻译：快速和可靠的摄像机位置订购方法
公开(公告)号：US20160223318A1
公开(公告)日：2016-08-04
申请号：US14614224
申请日：2015-02-04
申请人： SONY CORPORATION
发明人： Cheng-Yi Liu , Alexander Berestov
IPC分类号： G01B11/14 , H04N5/247 , G06K9/00 , G06T7/00
CPC分类号： G01B11/14 , G06K9/00744 , G06T7/11 , G06T7/143 , G06T7/194 , G06T7/292 , G06T2207/10016 , G06T2207/20012 , G06T2207/20072 , G06T2207/20076 , H04N5/247
摘要： A method to estimate a set of camera locations, in clockwise or counter-clockwise order, according to the videos captured by these cameras is described herein. In some embodiments, the cameras are assumed to be fixed, with no or very mild tilting angles and no rolling angles (the horizon is horizontal in each camera image). The difference of orientation (rolling angle) between each neighboring (closest) camera pair is able to be up to 45 degrees. Each camera is assumed to have overlapped views with at least one other camera. Each camera has one right neighboring camera and one left neighboring camera, except the first and the last cameras which have only one neighboring camera at one side. The locations of the cameras then are able to be expressed as a unique list counter-clockwise. The input videos are assumed to be synchronized in time.
摘要翻译：这里描述了根据这些摄像机拍摄的视频来以顺时针或逆时针顺序估计一组相机位置的方法。在一些实施例中，假设摄像机是固定的，没有或非常温和的倾斜角度和没有滚动角度（每个摄像机图像中的水平线是水平的）。每个相邻（最近）相机对之间的取向（滚动角度）的差可以达到45度。假设每个相机与至少一个其他相机具有重叠视图。每个相机具有一个右邻近相机和一个左邻近相机，除了在一侧仅具有一个相邻相机的第一和最后相机。然后，相机的位置能够被逆时针表示为唯一的列表。输入视频被假定为及时同步。

10. 发明申请

US20220398395A1 EXTRANEOUS CONTENT REMOVAL FROM IMAGES OF A SCENE CAPTURED BY A MULTI-DRONE SWARM 有权
公开(公告)号：US20220398395A1
公开(公告)日：2022-12-15
申请号：US17344659
申请日：2021-06-10
申请人： Sony Group Corporation , Sony Corporation of America
发明人： Cheng-Yi Liu
IPC分类号： G06K9/00 , G06K9/32 , B64C39/02 , G06K9/62
摘要： A method for removing extraneous content in a first plurality of images, captured at a corresponding plurality of poses and a corresponding first plurality of times, by a first drone, of a scene in which a second drone is present includes the following steps, for each of the first plurality of captured images. The first drone predicts a 3D position of the second drone at a time of capture of that image. The first drone defines, in an image plane corresponding to that captured image, a region of interest (ROI) including a projection of the predicted 3D position of the second drone at a time of capture of that image. A drone mask for the second drone is generated, and then applied to the defined ROI, to generate an output image free of extraneous content contributed by the second drone.

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