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1. 发明公开

US20240290057A1 PROCESSING APPARATUS AND METHOD PERFORMED BY PROCESSING APPARATUS 审中-公开
公开(公告)号：US20240290057A1
公开(公告)日：2024-08-29
申请号：US18429505
申请日：2024-02-01
申请人： KEIO UNIVERSITY , HONDA MOTOR CO., LTD.
发明人： Yoshimitsu Aoki , Kentaro Yoshikawa , Takuma Mori , Yoichi Natori , Kenji Nishimiya
IPC分类号： G06V10/20 , G06T7/277 , G06T7/73
CPC分类号： G06V10/20 , G06T7/277 , G06T7/73
摘要： A processing apparatus includes: a processing portion that interpolates, when at least one of two-dimensional image information and three-dimensional sensor information that are input at an arbitrary time is missing, the missing two-dimensional image information or the missing three-dimensional sensor information and outputs an object detection result based on the interpolated two-dimensional image information and the interpolated three-dimensional sensor information to an object-tracking apparatus, wherein the processing portion interpolates the missing one of the two-dimensional image information and the three-dimensional sensor information with conversion of another of the two-dimensional image information and the three-dimensional sensor information, or interpolates the two-dimensional image information or the three-dimensional sensor information at a missing time with estimation based on two-dimensional image information or three-dimensional sensor information at another time.

2. 发明授权

US12073630B2 Moving object tracking method and apparatus 有权
公开(公告)号：US12073630B2
公开(公告)日：2024-08-27
申请号：US17513859
申请日：2021-10-28
申请人： HUAWEI TECHNOLOGIES CO., LTD.
发明人： Wanlong Li , Xueshi Li , Yajun Gao , Feng Wen
IPC分类号： G06T7/246 , G06T7/277 , G06V10/25 , G06V20/56
CPC分类号： G06V20/56 , G06T7/246 , G06T7/277 , G06V10/25 , G06T2207/30244 , G06T2207/30252
摘要： This disclosure provides a moving object tracking method and apparatus. The method includes: obtaining a current frame captured by a camera; predicting a current state vector of the camera based on an inertial measurement unit IMU and the current frame, to obtain a predicted value of the current state vector of the camera; predicting a current state vector of a target object that is moving in the current frame, to obtain a predicted value of the current state vector of the target object; and updating a Kalman state vector based on a measurement result of an image feature in the current frame. According to technical solutions provided in this disclosure, a target object that is moving in a surrounding environment can be tracked and a pose of the target object can be estimated while a pose of a system can be estimated.

3. 发明授权

US12014551B2 Method, device, computer program and computer program product for providing a trajectory of an object for a vehicle 有权
公开(公告)号：US12014551B2
公开(公告)日：2024-06-18
申请号：US17423944
申请日：2019-10-18
申请人： Bayerische Motoren Werke Aktiengesellschaft
发明人： Dominik Bauch , Josef Mehringer , Daniel Meissner , Marco Baumgartl , Michael Himmelsbach , Luca Trentinaglia
IPC分类号： G06V20/56 , G06T7/277
CPC分类号： G06V20/56 , G06T7/277
摘要： In the method, a predetermined first number of sensed positions (Pi) of the object (20) are provided, the positions being provided with respect to a vehicle coordinate system (K) of the vehicle (10). Depending on a predetermined second number of the provided positions, a second coordinate system (K′) is determined. The provided positions are transformed into the second coordinate system (K′) and a function is determined which approximates a course of the provided positions in the second coordinate system (K′). For a predetermined third number of sampling points of the function, at least one analytical property of the function is determined at the respective sampling point. The coordinates and the at least one analytical property of the respective sampling point are transformed into the vehicle coordinate system (K).

4. 发明授权

US12008173B2 Multi-sensor handle controller hybrid tracking method and device 有权
公开(公告)号：US12008173B2
公开(公告)日：2024-06-11
申请号：US18086425
申请日：2022-12-21
申请人： QINGDAO PICO TECHNOLOGY CO., LTD.
发明人： Tao Wu
IPC分类号： G06F3/0346 , G02B27/01 , G06F3/01 , G06T7/277 , G06T7/73
CPC分类号： G06F3/0346 , G02B27/0101 , G02B27/0172 , G06F3/011 , G06T7/277 , G06T7/73 , G02B2027/0138 , G02B2027/014 , G06T2207/20024 , G06T2207/20221
摘要： The present disclosure discloses a multi-sensor handle controller hybrid tracking method and device, wherein the method includes: acquiring tracking data of a handle controller, the tracking data including optical tracking data, electromagnetic tracking data, and inertial navigation data; constructing a state transition model and an observation model of an extended Kalman filtering iteration strategy according to the tracking data, and performing an extended Kalman filtering fusion on the optical tracking data, the electromagnetic tracking data, and the inertial navigation data; and determining position and orientation information of the handle controller in a space according to the extended Kalman filtering iteration strategy.

5. 发明公开

US20240185613A1 OBJECT DETECTION SYSTEM 审中-公开
公开(公告)号：US20240185613A1
公开(公告)日：2024-06-06
申请号：US18523789
申请日：2023-11-29
申请人： Zimeno Inc.
发明人： Sanket GOYAL , Bijju K. VEDURUPARTHI , Ihsane DEBBACHE
IPC分类号： G06V20/58 , G06T7/11 , G06T7/277 , G06T7/73 , G06V10/80 , G06V20/70
CPC分类号： G06V20/58 , G06T7/11 , G06T7/277 , G06T7/74 , G06V10/803 , G06V20/70 , B62D6/00 , G06T2207/10012 , G06T2207/10028 , G06T2207/20084 , G06T2207/30261 , G06V2201/08
摘要： An object detection system may apply an object detection model to the first image frame to predict a location of a first bounding box of an object in the first image frame and apply a confidence value to the predicted location of first bounding box. In response to the confidence level exceeding a predetermined threshold, a location of a second bounding box in the second image frame may be estimated based on the location of the first bounding box and non-zero movement of the vehicle. The object detection model is updated based on the estimated location of the second bounding box in the second image frame. A location of a third bounding box in the third image frame is predicted using the updated object detection model. An operation of the vehicle is controlled based on the predicted location of the third bounding box.

6. 发明授权

US11994392B2 Square-root multi-state constraint Kalman filter for vision-aided inertial navigation system 有权
公开(公告)号：US11994392B2
公开(公告)日：2024-05-28
申请号：US18045406
申请日：2022-10-10
申请人： Regents of the University of Minnesota
发明人： Stergios I. Roumeliotis , Kejian J. Wu
IPC分类号： G01C21/16 , G01S5/16 , G06F17/16 , G06T7/277 , G06T7/70
CPC分类号： G01C21/1656 , G01S5/16 , G06F17/16 , G06T7/277 , G06T7/70 , G06T2207/30241 , G06T2207/30244
摘要： A vision-aided inertial navigation system (VINS) implements a square-root multi-state constraint Kalman filter (SR-MSCKF) for navigation. In one example, a processor of a VINS receives image data and motion data for a plurality of poses of a frame of reference along a trajectory. The processor executes an Extended Kalman Filter (EKF)-based estimator to compute estimates for a position and orientation for each of the plurality of poses of the frame of reference along the trajectory. For features observed from multiple poses along the trajectory, the estimator computes constraints that geometrically relate the multiple poses of the respective feature. Using the motion data and the computed constraints, the estimator computes state estimates for the position and orientation of the frame of reference. Further, the estimator determines uncertainty data for the state estimates and maintains the uncertainty data as a square root factor of a covariance matrix.

7. 发明公开

US20240161316A1 METHOD AND SYSTEM OF IMAGE PROCESSING WITH MULTI-SKELETON TRACKING 审中-公开
公开(公告)号：US20240161316A1
公开(公告)日：2024-05-16
申请号：US18281946
申请日：2021-04-26
申请人： Intel Corporation
发明人： Hongzhai Tao , Yikai Fang , Longwei Fang
IPC分类号： G06T7/246 , G06T7/277 , G06T7/73 , G06V10/74
CPC分类号： G06T7/251 , G06T7/277 , G06T7/73 , G06V10/761 , G06T2207/20044 , G06T2207/30196 , G06V2201/07
摘要： A method and system of image processing with multi-skeleton tracking uses a temporal object key point loss metric.

8. 发明授权

US11941915B2 Golf game video analytic system 有权
公开(公告)号：US11941915B2
公开(公告)日：2024-03-26
申请号：US17106116
申请日：2020-11-29
申请人： RoundU Technologies Ltd, UAB
发明人： Boris Tyomkin
IPC分类号： G06V40/20 , A63B69/36 , A63B71/06 , G06F18/23213 , G06N20/00 , G06T7/277 , G06T17/00 , G06V20/40 , G06V40/12
CPC分类号： G06V40/23 , A63B69/3605 , A63B69/3694 , A63B71/0669 , G06F18/23213 , G06N20/00 , G06T7/277 , G06T17/00 , G06V20/46 , G06V40/1365 , G06T2207/30224 , G06T2207/30228 , G06T2207/30241 , G06T2210/12
摘要： A system and method for video analytics of a golf game is disclosed. In an embodiment, cameras capture videos from different angles of a golfer's swing and/or strike; a system network comprises: a processing module to receive the videos, to 3D-model the trajectory of the swing/strike, and 3D-model the golfer; a machine-learning module to receive 3D swing-trajectories and golfer models of swings/strikes of professional golfers and compute a 3D model of one or more reference swings, as a function of an aggregation of the professional golfers' swings/strikes; a database storing the reference swings/strikes; an analysis module configured to receive the golfer's 3D swing/strike trajectory model and the 3D golfer model, compare the 3D trajectory model with the reference swing, and compute recommendations for the golfer, as a function of the comparison; and a display module configured to display the recommendations to the golfer.

9. 发明公开

US20240095942A1 CONTROLLER, CONTROL METHOD, AND WEARABLE TRACKING SYSTEM 审中-公开
公开(公告)号：US20240095942A1
公开(公告)日：2024-03-21
申请号：US17945118
申请日：2022-09-15
申请人： HTC Corporation
发明人： Wen-Shan Yang , SyuanYu Hsieh
IPC分类号： G06T7/70 , G01C21/16 , G06F3/01 , G06T7/277
CPC分类号： G06T7/70 , G01C21/1656 , G06F3/011 , G06T7/277 , G06T2207/20221 , G06T2207/30196
摘要： A controller is provided. The controller is adapted to determine a position conversion relationship between a predetermined position of a body part of a user and a tracking position of a wearing part of the user. The wearing part is where a wearable device is disposed on the user. The controller is configured to: obtain a camera data of a previous moment from a camera, wherein the camera data comprises an image of a wearable device; obtain a sensor data of the previous moment from a sensor of the wearable device; determine the position conversion relationship based on the camera data of the previous moment and the sensor data of the previous moment; and output a fusion data of the wearing part of a current moment based on the position conversion relationship.

10. 发明公开

US20240078686A1 METHOD AND SYSTEM FOR DETERMINING A STATE OF A CAMERA 审中-公开
公开(公告)号：US20240078686A1
公开(公告)日：2024-03-07
申请号：US18270397
申请日：2021-12-13
申请人： Verity AG
发明人： Markus HEHN , Fabio ROSSETTO
IPC分类号： G06T7/277
CPC分类号： G06T7/277 , G06T2207/30252
摘要： The invention relates to a method for determining a state xk (8) of a camera (11) at a time tk, the state xk (8) being a realization of a state random variable Xk, wherein the state is related to a state-space model of a movement of the camera (11). The method comprises the following steps: a) receiving an image (1) of a scene of interest (15) in an indoor environment (15) captured by the camera (11) at the time tk, wherein the indoor environment (15) comprises N landmarks (9) having known positions in a world coordinate system (12), N being a natural number; b) receiving a state estimate x{circumflex over ( )}k (2) of the camera (11) at the time tk, c) determining (3) positions of M features in the image (1), M being a natural number; d) receiving (4) distance data indicative of distance between the M features and the corresponding M landmarks (9), respectively; e) determining (5) an injective mapping estimate from the M features into the set of the N landmarks (9) using at least (i) the positions of the M features in the image and (ii) the state estimate (2); f) using the determined injective mapping estimate (5) to set up (6) an observation model in the state-space model, wherein the observation model is configured for mapping the state random variable Xk of the camera onto a joint observation random variable Zk, wherein at the time tk, an observation zk is a realization of the joint observation random variable Zk, and wherein the observation zk comprises (i) the position of at least one of the M features in the image, and (ii) the distance data indicative of distance; and g) using (7) (i) the state estimate, (ii) the observation model, and (iii) the observation zk, to determine the state xk (8) of the camera at the time tk. The invention also relates to a computer program product and to an assembly.

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