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1. 发明授权

US08818036B1 Contextual behavior state filter for sensor registration 有权
标题翻译：用于传感器注册的上下文行为状态过滤器
公开(公告)号：US08818036B1
公开(公告)日：2014-08-26
申请号：US13558257
申请日：2012-07-25
申请人： Yuri Owechko , Shinko Y. Cheng , Swarup Medasani , Kyungnam Kim
发明人： Yuri Owechko , Shinko Y. Cheng , Swarup Medasani , Kyungnam Kim
IPC分类号： G06K9/00
CPC分类号： G06K9/00771 , G06K9/00369 , G06K9/209 , G06T7/277 , G06T2207/10016 , G06T2207/20076 , G06T2207/30232 , G06T2207/30241
摘要： Described is a system for registering a viewpoint of an imaging sensor with respect to a geospatial model or map. An image of a scene of a geospatial region comprising an object is received as input. The image of the scene is captured by a sensor having a current sensor state. Observation data related to the object's state is received, wherein the observation data comprises an object behavior of the object given the geospatial region. An estimate of the current sensor state is generated using a probability of an observation from the observation data given the current sensor state x. Finally, the image of the scene is registered with a geospatial model or map based on the estimate of the current sensor state.
摘要翻译：描述了一种用于记录关于地理空间模型或地图的成像传感器的视点的系统。接收包括对象的地理空间区域的场景的图像作为输入。场景的图像由具有当前传感器状态的传感器捕获。接收与对象状态相关的观测数据，其中观测数据包括给定地理空间区域的对象的对象行为。使用给定当前传感器状态x的观测数据的观察概率来生成当前传感器状态的估计。最后，基于当前传感器状态的估计，将场景的图像与地理空间模型或地图一起注册。

2. 发明授权

US08253792B2 Vision system for monitoring humans in dynamic environments 有权
标题翻译：用于在动态环境中监测人的视觉系统
公开(公告)号：US08253792B2
公开(公告)日：2012-08-28
申请号：US12549425
申请日：2009-08-28
申请人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
发明人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
IPC分类号： H04N9/47
CPC分类号： H04N7/181
摘要： A safety monitoring system for a workspace area. The workspace area related to a region having automated moveable equipment. A plurality of vision-based imaging devices capturing time-synchronized image data of the workspace area. Each vision-based imaging device repeatedly capturing a time synchronized image of the workspace area from a respective viewpoint that is substantially different from the other respective vision-based imaging devices. A visual processing unit for analyzing the time-synchronized image data. The visual processing unit processes the captured image data for identifying a human from a non-human object within the workspace area. The visual processing unit further determining potential interactions between a human and the automated moveable equipment. The visual processing unit further generating control signals for enabling dynamic reconfiguration of the automated moveable equipment based on the potential interactions between the human and the automated moveable equipment in the workspace area.
摘要翻译：用于工作区的安全监控系统。与具有自动移动设备的区域相关的工作空间区域。多个基于视觉的成像设备捕获工作区域的时间同步图像数据。每个基于视觉的成像设备从与其他各自的基于视觉的成像设备基本上不同的相应视点重复地捕获工作区域的时间同步图像。一种用于分析时间同步图像数据的可视处理单元。视觉处理单元从工作区域内的非人物对象处理用于识别人的拍摄图像数据。视觉处理单元进一步确定人与自动移动设备之间的潜在交互作用。视觉处理单元还基于人与工作空间区域中的自动移动设备之间的潜在交互，进一步产生用于实现自动移动设备的动态重新配置的控制信号。

3. 发明授权

US08948501B1 Three-dimensional (3D) object detection and multi-agent behavior recognition using 3D motion data 有权
标题翻译：使用3D运动数据的三维（3D）物体检测和多代理行为识别
公开(公告)号：US08948501B1
公开(公告)日：2015-02-03
申请号：US13535286
申请日：2012-06-27
申请人： Kyungnam Kim , Shankar R. Rao , Yuri Owechko , Swarup Medasani , Michael Cao , Jiejun Xu
发明人： Kyungnam Kim , Shankar R. Rao , Yuri Owechko , Swarup Medasani , Michael Cao , Jiejun Xu
IPC分类号： G06K9/62
CPC分类号： G01S7/4808 , G01S17/89 , G06K9/00201 , G06K9/00335 , G06K9/00711 , G06T7/11 , G06T7/136 , G06T7/187 , G06T2207/10044 , G06T2207/20021
摘要： The present invention relates to an object detection and behavior recognition system using three-dimensional motion data. The system receives three-dimensional (3D) motion data of a scene from at least one sensor, such as a LIDAR sensor. An object is identified in the 3D motion data. Thereafter, an object track is extracted, the object track being indicative of object motion in the scene over time. Through Dynamic Time Warping (DTW) or other comparison techniques, the object track is compared to a database to identify the behavior of the object based on its object track.
摘要翻译：本发明涉及使用三维运动数据的物体检测和行为识别系统。该系统从诸如LIDAR传感器的至少一个传感器接收场景的三维（3D）运动数据。在3D运动数据中识别对象。此后，提取对象轨道，物体轨迹指示场景中的物体运动随着时间的推移。通过动态时间扭曲（DTW）或其他比较技术，将对象轨迹与数据库进行比较，以基于其对象轨迹来识别对象的行为。

4. 发明申请

US20110050878A1 Vision System for Monitoring Humans in Dynamic Environments 有权
标题翻译：动态环境监测人的视觉系统
公开(公告)号：US20110050878A1
公开(公告)日：2011-03-03
申请号：US12549425
申请日：2009-08-28
申请人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
发明人： James W. Wells , Roland J. Menassa , Charles W. Wampler, II , Swarup Medasani , Yuri Owechko , Kyungnam Kim , Yang Chen
IPC分类号： H04N7/18
CPC分类号： H04N7/181
摘要： A safety monitoring system for a workspace area. The workspace area related to a region having automated moveable equipment. A plurality of vision-based imaging devices capturing time-synchronized image data of the workspace area. Each vision-based imaging device repeatedly capturing a time synchronized image of the workspace area from a respective viewpoint that is substantially different from the other respective vision-based imaging devices. A visual processing unit for analyzing the time-synchronized image data. The visual processing unit processes the captured image data for identifying a human from a non-human object within the workspace area. The visual processing unit further determining potential interactions between a human and the automated moveable equipment. The visual processing unit further generating control signals for enabling dynamic reconfiguration of the automated moveable equipment based on the potential interactions between the human and the automated moveable equipment in the workspace area.
摘要翻译：用于工作区的安全监控系统。与具有自动移动设备的区域相关的工作空间区域。多个基于视觉的成像设备捕获工作区域的时间同步图像数据。每个基于视觉的成像设备从与其他各自的基于视觉的成像设备基本上不同的相应视点重复地捕获工作区域的时间同步图像。一种用于分析时间同步图像数据的可视处理单元。视觉处理单元从工作区域内的非人物对象处理用于识别人的拍摄图像数据。视觉处理单元进一步确定人与自动移动设备之间的潜在交互作用。视觉处理单元还基于人与工作空间区域中的自动移动设备之间的潜在交互，进一步产生用于实现自动移动设备的动态重新配置的控制信号。

5. 发明授权

US08891820B2 Multi-modal sensor fusion 有权
标题翻译：多模式传感器融合
公开(公告)号：US08891820B2
公开(公告)日：2014-11-18
申请号：US13249064
申请日：2011-09-29
申请人： Yuri Owechko , Shinko Y. Cheng , Swarup S. Medasani , Kyungnam Kim
发明人： Yuri Owechko , Shinko Y. Cheng , Swarup S. Medasani , Kyungnam Kim
IPC分类号： G06K9/00 , G06K9/32 , G06T7/00 , G06T7/20
CPC分类号： G06K9/00771 , G06T7/277 , G06T7/33 , G06T7/344 , G06T2207/10016 , G06T2207/10032 , G06T2207/10044 , G06T2207/10048 , G06T2207/20076
摘要： A method and apparatus for processing images. A sequence of images for a scene is received from an imaging system. An object in the scene is detected using the sequence of images. A viewpoint of the imaging system is registered to a model of the scene using a region in the model of the scene in which an expected behavior of the object is expected to occur.
摘要翻译：一种用于处理图像的方法和装置。从成像系统接收场景的一系列图像。使用图像序列检测场景中的对象。使用预期发生对象的期望行为的场景的模型中的区域将成像系统的视点注册到场景的模型。

6. 发明申请

US20130083959A1 Multi-Modal Sensor Fusion 有权
标题翻译：多模态传感器融合
公开(公告)号：US20130083959A1
公开(公告)日：2013-04-04
申请号：US13249064
申请日：2011-09-29
申请人： Yuri Owechko , Shinko Y. Cheng , Swarup S. Medasani , Kyungnam Kim
发明人： Yuri Owechko , Shinko Y. Cheng , Swarup S. Medasani , Kyungnam Kim
IPC分类号： G06K9/00
CPC分类号： G06K9/00771 , G06T7/277 , G06T7/33 , G06T7/344 , G06T2207/10016 , G06T2207/10032 , G06T2207/10044 , G06T2207/10048 , G06T2207/20076
摘要： A method and apparatus for processing images. A sequence of images for a scene is received from an imaging system. An object in the scene is detected using the sequence of images. A viewpoint of the imaging system is registered to a model of the scene using a region in the model of the scene in which an expected behavior of the object is expected to occur.
摘要翻译：一种用于处理图像的方法和装置。从成像系统接收场景的一系列图像。使用图像序列检测场景中的对象。使用预期发生对象的期望行为的场景的模型中的区域将成像系统的视点注册到场景的模型。

7. 发明授权

US09746988B2 Multi-sensor surveillance system with a common operating picture 有权
公开(公告)号：US09746988B2
公开(公告)日：2017-08-29
申请号：US13113295
申请日：2011-05-23
申请人： Kyungnam Kim , Yuri Owechko , Arturo Flores , Alejandro Nijamkin , Dmitriy V. Korchev
发明人： Kyungnam Kim , Yuri Owechko , Arturo Flores , Alejandro Nijamkin , Dmitriy V. Korchev
IPC分类号： G06F3/0481 , G08B13/196 , H04N7/18
CPC分类号： G06F3/04815 , G06T2207/30196 , G06T2207/30232 , G08B13/19641 , G08B13/19671 , G08B13/19682 , H04N7/181 , H04N7/185
摘要： A method and apparatus for processing video data streams for an area. Objects are identified in the area from images in the video data streams. The video data streams are generated by cameras. First locations are identified for the objects using the images. The first locations are defined using a coordinate system for the images. Graphical representations are formed for the objects using the images. The graphical representations are displayed for the objects in second locations in a model of the area on a display system with respect to features in the area that are represented in the model. The second locations are defined using a geographic coordinate system for the model. A first location in the first locations for an object in the objects corresponds to a second location in the second locations for a corresponding graphical representation in the graphical representations.

8. 发明申请

US20140093127A1 Method and System for Using Fingerprints to Track Moving Objects in Video 有权
标题翻译：使用指纹跟踪视频中的移动对象的方法和系统
公开(公告)号：US20140093127A1
公开(公告)日：2014-04-03
申请号：US13631726
申请日：2012-09-28
申请人： Terrell Nathan Mundhenk , Kyungnam Kim , Yuri Owechko
发明人： Terrell Nathan Mundhenk , Kyungnam Kim , Yuri Owechko
IPC分类号： G06K9/00
CPC分类号： G06K9/00771 , G06K9/00744 , G06K9/6212 , G06T7/194 , G06T7/215 , G06T7/251 , G06T7/254 , G06T2207/10048 , G06T2207/10132 , G06T2207/20076
摘要： A method and system for tracking moving objects in a sequence of images. In one illustrative embodiment, a current image in the sequence of images is segmented into a plurality of segments. Segments in the plurality of segments belonging to a same motion profile are fused together to form a set of master segments. A set of target segments is identified from the set of master segments. The set of target segments represent a set of moving objects in the current image. A set of fingerprints is created for use in tracking the set of moving objects in a number of subsequent images in the sequence of images.
摘要翻译：用于跟踪图像序列中的移动物体的方法和系统。在一个说明性实施例中，图像序列中的当前图像被分割成多个片段。属于相同运动轮廓的多个段中的段被融合在一起以形成一组主段。从一组主段识别一组目标段。目标段的集合表示当前图像中的一组移动物体。创建一组指纹，用于跟踪图像序列中多个后续图像中的一组移动对象。

9. 发明授权

US08768868B1 Optimal multi-class classifier threshold-offset estimation with particle swarm optimization for visual object recognition 有权
标题翻译：用于视觉对象识别的粒子群优化的最优多类分类器阈值偏移估计
公开(公告)号：US08768868B1
公开(公告)日：2014-07-01
申请号：US13440881
申请日：2012-04-05
申请人： Shinko Y. Cheng , Yang Chen , Deepak Khosla , Kyungnam Kim
发明人： Shinko Y. Cheng , Yang Chen , Deepak Khosla , Kyungnam Kim
IPC分类号： G06N5/00
CPC分类号： G06N5/00
摘要： Described is a system for multi-class classifier threshold-offset estimation for visual object recognition. The system receives an input image with input features for classifying. A pair-wise classifier is trained for each pair of a plurality of object classes. A set of classification responses is generated, and a multi-class receiver-operating-characteristics (ROC) curve is computed for a set of threshold-offsets. An objective function of classification performance is computed from the ROC curve and optimized using particle swarm optimization (PSO) to generate a set of optimized threshold-offsets. The optimized threshold-offsets are then applied to the classification responses. The resulting classification responses are compared to a predetermined value to classify each input feature as belonging to one object class or another. The tuning of the threshold-offsets with (PSO) improves classification performance in a visual object recognition system.
摘要翻译：描述了用于视觉对象识别的多类分类器阈值偏移估计的系统。系统接收具有输入特征进行分类的输入图像。针对多对象类的每一对训练一对成对的分类器。生成一组分类响应，并计算一组阈值偏移量的多类接收器操作特性（ROC）曲线。从ROC曲线计算分类性能的目标函数，并使用粒子群优化（PSO）进行优化，以生成一组优化的阈值偏移。然后将优化的阈值偏移应用于分类响应。将所得分类响应与预定值进行比较，以将每个输入特征分类为属于一个对象类或另一对象类。使用（PSO）调整阈值偏移可提高视觉对象识别系统中的分类性能。

10. 发明授权

US08811670B2 Method and system for using fingerprints to track moving objects in video 有权
标题翻译：使用指纹跟踪视频中的移动物体的方法和系统
公开(公告)号：US08811670B2
公开(公告)日：2014-08-19
申请号：US13631726
申请日：2012-09-28
申请人： Terrell Nathan Mundhenk , Kyungnam Kim , Yuri Owechko
发明人： Terrell Nathan Mundhenk , Kyungnam Kim , Yuri Owechko
IPC分类号： G06K9/00
CPC分类号： G06K9/00771 , G06K9/00744 , G06K9/6212 , G06T7/194 , G06T7/215 , G06T7/251 , G06T7/254 , G06T2207/10048 , G06T2207/10132 , G06T2207/20076
摘要： A method and system for tracking moving objects in a sequence of images. In one illustrative embodiment, a current image in the sequence of images is segmented into a plurality of segments. Segments in the plurality of segments belonging to a same motion profile are fused together to form a set of master segments. A set of target segments is identified from the set of master segments. The set of target segments represent a set of moving objects in the current image. A set of fingerprints is created for use in tracking the set of moving objects in a number of subsequent images in the sequence of images.
摘要翻译：用于跟踪图像序列中的移动物体的方法和系统。在一个说明性实施例中，图像序列中的当前图像被分割成多个片段。属于相同运动轮廓的多个段中的段被融合在一起以形成一组主段。从一组主段识别一组目标段。目标段的集合表示当前图像中的一组移动物体。创建一组指纹，用于跟踪图像序列中多个后续图像中的一组移动对象。

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