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1. 发明申请

US20170070724A9 CAMERA POSE ESTIMATION APPARATUS AND METHOD FOR AUGMENTED REALITY IMAGING 审中-公开
标题翻译：摄像机位置估计装置和方法，用于实现现实成像
公开(公告)号：US20170070724A9
公开(公告)日：2017-03-09
申请号：US13900158
申请日：2013-05-22
申请人： Metaio GmbH
发明人： Torbjorn Engedal
IPC分类号： H04N13/02
CPC分类号： H04N13/204 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244
摘要： An apparatus for providing an estimate for a 3D camera pose relative to a scene from 2D image data of a 2D image frame provided by the camera is provided, the apparatus using four types of observations: (a) detected 2D-3D point correspondences; (b) tracked 2D-3D point correspondences; (c) motion model observations; and (d) edge observations.
摘要翻译：提供了一种用于从由相机提供的2D图像帧的2D图像数据提供相对于场景的3D照相机姿态的估计的装置，该装置使用四种类型的观察：（a）检测到的2D-3D点对应; （b）跟踪2D-3D点对应; （c）运动模型观察; 和（d）边缘观察。

2. 发明授权

US09262678B2 Method and system for analyzing an image generated by at least one camera 有权
标题翻译：用于分析由至少一个照相机产生的图像的方法和系统
公开(公告)号：US09262678B2
公开(公告)日：2016-02-16
申请号：US14198146
申请日：2014-03-05
申请人： Metaio GmbH
发明人： Sebastian Lieberknecht , Peter Meier
IPC分类号： G06K9/46 , G06K9/00 , G06F17/30 , G06F3/01
CPC分类号： G06F17/30277 , G06F3/011 , G06F17/30011 , G06F17/30247 , G06F17/30256 , G06K9/00442 , G06K9/00671
摘要： A method for analyzing an image of a real object, generated by at least one camera includes the following steps: generating at least a first image by the camera capturing at least one real object, defining a first search domain comprising multiple data sets of the real object, each of the data sets being indicative of a respective portion of the real object, and analyzing at least one characteristic property of the first image with respect to the first search domain, in order to determine whether the at least one characteristic property corresponds to information of at least a particular one of the data sets of the first search domain. If it is determined that the at least one characteristic property corresponds to information of at least a particular one of the data sets, a second search domain comprising only the particular one of the data sets is defined and the second search domain is used for analyzing the first image and/or at least a second image.
摘要翻译：用于分析由至少一个照相机产生的真实物体的图像的方法包括以下步骤：通过摄像机生成至少第一图像，捕获至少一个真实对象，定义包括真实物体的多个数据集的第一搜索域对象，每个数据集指示真实对象的相应部分，并且相对于第一搜索域分析第一图像的至少一个特征属性，以便确定至少一个特征属性是否对应于至少第一搜索域的数据集中的特定一个的信息。如果确定至少一个特征属性对应于数据集中的至少一个的信息，则仅定义仅包括特定数据集的第二搜索域，并且使用第二搜索域来分析第一图像和/或至少第二图像。

3. 发明授权

US09170766B2 Method of displaying virtual information in a view of a real environment 有权
标题翻译：在真实环境中显示虚拟信息的方法
公开(公告)号：US09170766B2
公开(公告)日：2015-10-27
申请号：US13582314
申请日：2011-02-28
申请人： Peter Meier
发明人： Peter Meier
IPC分类号： G09G5/00 , G06F3/14 , G02B27/01 , G06F3/01 , G06T19/00
CPC分类号： G06T19/006 , G02B27/017 , G02B2027/0138 , G02B2027/014 , G02B2027/0187 , G06F3/011 , G06F3/14
摘要： A method of displaying virtual information in a view of a real environment comprising the following steps: providing a system for displaying of virtual information in a view of a real environment, determining a current pose of at least one part of the system relative to at least one part of the real environment and providing accuracy information of the current pose, providing multiple pieces of virtual information, and assigning a respective one of the pieces of virtual information to one of different parameters indicative of different pose accuracy information, and displaying at least one of the pieces of virtual information in the view of the real environment according to the accuracy information of the current pose in relation to the assigned parameter of the at least one of the pieces of virtual information.
摘要翻译：一种在真实环境中显示虚拟信息的方法，包括以下步骤：提供在真实环境中显示虚拟信息的系统，至少至少确定系统的至少一部分的当前姿态提供真实环境的一部分并提供当前姿势的准确性信息，提供多条虚拟信息，并将相应的一条虚拟信息分配给指示不同姿态精度信息的不同参数之一，并且显示至少一个根据当前姿势的准确度信息，与虚拟信息中的至少一个的分配参数相关的真实环境视图中的虚拟信息。

4. 发明申请

US20150178927A1 METHOD AND SYSTEM FOR DETERMINING A TRANSFORMATION ASSOCIATED WITH A CAPTURING DEVICE 审中-公开
标题翻译：用于确定与捕获设备相关的转换的方法和系统
公开(公告)号：US20150178927A1
公开(公告)日：2015-06-25
申请号：US14139298
申请日：2013-12-23
申请人： Metaio GmbH
发明人： Thomas Olszamowski
IPC分类号： G06T7/00
CPC分类号： G06T7/73 , G06T2207/30244
摘要： A method and system for determining a transformation associated with a capturing device are provided. Aspects of the method include the steps of: providing or receiving a first plurality of features of a real object captured by the capturing device; providing or receiving a second plurality of features associated with the real object; estimating a first plurality of transformations associated with the capturing device according to the first and second plurality of features, the transformations including translational and rotational components; determining a second plurality of transformations which is a subset of the first plurality of transformations, matching each of the second plurality of transformations against other ones of the second plurality of transformations, and computing at least one score parameter for each of the second plurality of transformations; and selecting among the second plurality of transformations at least one transformation based on its at least one score parameter in comparison with respective score parameters of other ones of the second plurality of transformations.
摘要翻译：提供了一种用于确定与捕获装置相关联的变换的方法和系统。该方法的方面包括以下步骤：提供或接收由捕获设备捕获的真实对象的第一多个特征; 提供或接收与所述真实对象相关联的第二多个特征; 根据所述第一和第二多个特征估计与所述捕获装置相关联的第一多个变换，所述变换包括平移和旋转分量; 确定作为所述第一多个变换的子集的第二多个变换，将所述第二多个变换中的每一个与所述第二多个变换中的其他变换匹配，以及为所述第二多个变换中的每一个转换计算至少一个分数参数 ; 以及与所述第二多个转换中的其他变换的各个分数参数相比较，基于其至少一个分数参数来选择所述第二多个变换中的至少一个变换。

5. 发明授权

US09001154B2 Method for representing virtual information in a view of a real environment 有权
标题翻译：用于在真实环境的视图中表示虚拟信息的方法
公开(公告)号：US09001154B2
公开(公告)日：2015-04-07
申请号：US13501697
申请日：2010-10-11
申请人： Peter Meier , Michael Kuhn , Frank Angermann
发明人： Peter Meier , Michael Kuhn , Frank Angermann
IPC分类号： G09G5/00 , G02B27/14 , G06T19/00
CPC分类号： G06T19/006 , G06T19/00 , G06T2219/024
摘要： A method for representing virtual information in a view of a real environment comprises providing a virtual object having a global position and orientation with respect to a geographic global coordinate system, with first pose data on the global position and orientation of the virtual object, in a database of a server, taking an image of a real environment by a mobile device and providing second pose data as to at which position and with which orientation with respect to the geographic global coordinate system the image was taken. The method further includes displaying the image on a display of the mobile device, accessing the virtual object in the database and positioning the virtual object in the image on the basis of the first and second pose data, manipulating the virtual object or adding a further virtual object, and providing the manipulated virtual object with modified first pose data or the further virtual object with third pose data in the database.
摘要翻译：一种用于在真实环境中表示虚拟信息的方法包括提供具有关于地理全局坐标系统的全局位置和取向的虚拟对象，其中第一姿态数据关于虚拟对象的全局位置和取向，在服务器的数据库，通过移动设备拍摄真实环境的图像，并提供第二姿势数据，关于在哪个位置以及相对于地理全局坐标系采用哪个方位。该方法还包括在移动设备的显示器上显示图像，访问数据库中的虚拟对象并基于第一和第二姿势数据将虚拟对象定位在图像中，操纵虚拟对象或者添加另外的虚拟对象，以及使用经修改的第一姿态数据提供被处理的虚拟对象，或者在数据库中提供具有第三姿态数据的另外的虚拟对象。

6. 发明授权

US08896629B2 Method for representing virtual information in a real environment 有权
标题翻译：在真实环境中表示虚拟信息的方法
公开(公告)号：US08896629B2
公开(公告)日：2014-11-25
申请号：US13391589
申请日：2010-08-13
申请人： Peter Meier , Frank Angermann
发明人： Peter Meier , Frank Angermann
IPC分类号： G06G5/00 , G06F3/01 , G06T15/20 , G06T19/00
CPC分类号： G06T19/006 , G01C21/00 , G01C23/00 , G06F3/011 , G06F3/147 , G06T15/20 , G06T19/00 , G09G2354/00
摘要： The invention relates to a method for ergonomically representing virtual information in a real environment, comprising the following steps: providing at least one view of a real environment and of a system setup for blending in virtual information for superimposing with the real environment in at least part of the view, the system setup comprising at least one display device, ascertaining a position and orientation of at least one part of the system setup relative to at least one component of the real environment, subdividing at least part of the view of the real environment into a plurality of regions comprising a first region and a second region, with objects of the real environment within the first region being placed closer to the system setup than objects of the real environment within the second region, and blending in at least one item of virtual information on the display device in at least part of the view of the real environment, considering the position and orientation of said at least one part of the system setup, wherein the virtual information is shown differently in the first region than in the second region with respect to the type of blending in in the view of the real environment.
摘要翻译：本发明涉及一种用于在真实环境中人体工程学地表示虚拟信息的方法，包括以下步骤：提供真实环境的至少一个视图和用于混合虚拟信息的系统设置，用于与至少部分地与真实环境叠加所述系统设置包括至少一个显示设备，相对于所述真实环境的至少一个组件来确定所述系统设置的至少一部分的位置和方向，将所述真实环境的视图的至少部分细分进入包括第一区域和第二区域的多个区域中，使第一区域内的真实环境的物体被放置成比第二区域内的真实环境的物体更接近于系统设置，并且将至少一个项目考虑到sa的位置和方向，在至少部分真实环境的视图中的显示设备上的虚拟信息标识系统设置的至少一部分，其中相对于真实环境中的混合类型，虚拟信息在第一区域中显示的不同于第二区域中的虚拟信息。

7. 发明申请

US20140321705A1 METHOD OF DETERMINING REFERENCE FEATURES FOR USE IN AN OPTICAL OBJECT INITIALIZATION TRACKING PROCESS AND OBJECT INITIALIZATION TRACKING METHOD 有权
标题翻译：确定用于光学对象初始化跟踪过程和对象初始化跟踪方法的参考特征的方法
公开(公告)号：US20140321705A1
公开(公告)日：2014-10-30
申请号：US14304370
申请日：2014-06-13
申请人： Selim BenHimane , Daniel Ulbricht
发明人： Selim BenHimane , Daniel Ulbricht
IPC分类号： G06K9/00
CPC分类号： G06K9/00624 , G06K9/6211 , G06T7/246 , G06T2207/30244
摘要： A method of determining reference features for use in an optical object initialization tracking process is disclosed, said method comprising the following steps: a) capturing at least one current image of a real environment or synthetically generated by rendering a virtual model of a real object to be tracked with at least one camera and extracting current features from the at least one current image, b) providing reference features adapted for use in an optical object initialization tracking process, c) matching a plurality of the current features with a plurality of the reference features, d) estimating at least one parameter associated with the current image based on a number of current and reference features which were matched, and determining for each of the reference features which were matched with one of the current features whether they were correctly or incorrectly matched, e) wherein the steps a) to d) are processed iteratively multiple times.
摘要翻译：公开了一种确定用于光学对象初始化跟踪过程的参考特征的方法，所述方法包括以下步骤：a）捕获真实环境的至少一个当前图像或者通过将真实对象的虚拟模型呈现为合成地生成跟踪至少一个相机并从所述至少一个当前图像中提取当前特征，b）提供适于在光学对象初始化跟踪过程中使用的参考特征，c）使多个当前特征与多个参考特征，d）基于匹配的当前和参考特征的数量来估计与当前图像相关联的至少一个参数，以及针对与当前特征之一匹配的每个参考特征确定它们是否正确或不正确匹配，e）其中步骤a）至d）被迭代地多次处理。

8. 发明授权

US08686923B2 Interactive data view and command system 有权
标题翻译：交互式数据视图和命令系统
公开(公告)号：US08686923B2
公开(公告)日：2014-04-01
申请号：US13109260
申请日：2011-05-17
申请人： Heinrich A. Eberl , Roland H. C. Eberl , David P. Dickerson , Karsten Koenigstein , Edgar Jochheim
发明人： Heinrich A. Eberl , Roland H. C. Eberl , David P. Dickerson , Karsten Koenigstein , Edgar Jochheim
IPC分类号： G09G5/00
CPC分类号： G05D1/0038 , G02B27/017 , G02B27/0172 , G02B2027/0132 , G02B2027/0178 , G05D1/0016
摘要： A method and information system for capturing signals, for processing signals, and for providing signals at least partially based on, or bearing correlation to, the captured signals is disclosed. The information system includes a signal input unit, a wireless communication unit, and an output unit. The signal input unit (preferably an optical signal unit) is constructed and is positionable to capture signals associated with an eye. The output unit is constructed to provide information based on the captured signals or to provide information as a function of the captured signals or in correlation with the captured signals.
摘要翻译：公开了一种用于捕获信号，用于处理信号以及至少部分地基于捕获信号或与其相关联地提供信号的方法和信息系统。信息系统包括信号输入单元，无线通信单元和输出单元。信号输入单元（优选地是光信号单元）被构造并且可定位以捕获与眼睛相关联的信号。输出单元被构造成基于所捕获的信号提供信息或者根据所捕获的信号提供信息或者与所捕获的信号相关。

9. 发明申请

US20130335529A1 CAMERA POSE ESTIMATION APPARATUS AND METHOD FOR AUGMENTED REALITY IMAGING 审中-公开
标题翻译：摄像机位置估计装置和方法，用于实现现实成像
公开(公告)号：US20130335529A1
公开(公告)日：2013-12-19
申请号：US13900158
申请日：2013-05-22
申请人： Metaio GmbH
发明人： Torbjorn Engedal
IPC分类号： H04N13/02
CPC分类号： H04N13/204 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244
摘要： An apparatus for providing an estimate for a 3D camera pose relative to a scene from 2D image data of a 2D image frame provided by the camera is provided, the apparatus using four types of observations: (a) detected 2D-3D point correspondences; (b) tracked 2D-3D point correspondences; (c) motion model observations; and (d) edge observations.
摘要翻译：提供了一种用于从由相机提供的2D图像帧的2D图像数据提供相对于场景的3D照相机姿态的估计的装置，该装置使用四种类型的观察：（a）检测到的2D-3D点对应; （b）跟踪2D-3D点对应; （c）运动模型观察; 和（d）边缘观察。

10. 发明授权

US08452080B2 Camera pose estimation apparatus and method for augmented reality imaging 有权
标题翻译：用于增强现实成像的相机姿态估计装置和方法
公开(公告)号：US08452080B2
公开(公告)日：2013-05-28
申请号：US12601188
申请日：2008-05-22
申请人： Torbjørn Engedal
发明人： Torbjørn Engedal
IPC分类号： G06K9/46 , G06T15/00
CPC分类号： H04N13/204 , G06T7/251 , G06T7/75 , G06T2207/10016 , G06T2207/30244
摘要： An apparatus for providing an estimate for a 3D camera pose relative to a scene from 2D image data of 2D image frame provided by said camera. A candidate 2D key points detector determines candidate 2D key points from the 2D image frame. A detected 3D observations detector determines detected 3D observations from pre-recorded scene data and the candidate 2D key points. A detected 3D camera pose estimator determines a detected 3D camera pose estimate from the camera data, the detected 3D observations and the candidate 2D key points. A first storage stores the detected 2D candidate key points and the 2D image data, and outputs in response to a 3D camera pose estimate output previous 2D image data and candidate 2D key points related to a previous 3D camera pose estimate output. A second storage stores and outputs a previous 3D camera pose estimate. A tracked 3D observations detector determines tracked 3D observations from the 2D image data, the candidate 2D key points, the camera data, the previous 2D image data and candidate 2D key points, the previous 3D camera pose estimate and 3D scene model data. A pose estimate selector outputs a selected one of the detected camera pose estimate and the previous 3D camera pose estimate. A 3D camera pose estimator computes and outputs the 3D camera pose estimate from the camera data, the detected 3D observations, the tracked 3D observations and the selected 3D camera pose estimate.
摘要翻译：一种用于从由所述相机提供的2D图像帧的2D图像数据提供相对于场景的3D相机姿态的估计的装置。候选2D关键点检测器从2D图像帧确定候选2D关键点。检测到的3D观察检测器根据预先记录的场景数据和候选2D关键点确定检测到的3D观察值。检测到的3D摄像机姿态估计器根据摄像机数据，检测到的3D观察和候选2D关键点来确定检测到的3D摄像机姿态估计。第一存储器存储检测到的2D候选键点和2D图像数据，并且响应于3D相机姿态估计输出输出先前2D图像数据和与先前3D相机姿态估计输出相关的候选2D关键点的输出。第二存储器存储并输出先前的3D相机姿态估计。跟踪的3D观察检测器根据2D图像数据，候选2D关键点，相机数据，先前的2D图像数据和候选2D关键点，先前的3D相机姿态估计和3D场景模型数据来确定跟踪的3D观察。姿态估计选择器输出检测到的摄像机姿态估计和先前3D摄像机姿态估计中的所选择的一个。 3D摄像机姿态估计器从相机数据，检测到的3D观察，跟踪的3D观察和所选择的3D摄像机姿态估计计算并输出3D摄像机姿态估计。

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