838 results about "3d coordinates" patented technology

A method and apparatus for video retrieval and cueing that automatically detects human faces in the video and identifies face-specific video frames so as to allow retrieval and viewing of person-specific video segments. In one embodiment, the method locates human faces in the video, stores the time stamps associated with each face, displays a single image associated with each face, matches each face against a database, computes face locations with respect to a common 3D coordinate system, and provides a means of displaying: 1) information retrieved from the database associated with a selected person or people, 2) path of travel associated with a selected person or people 3) interaction graph of people in video, 4) video segments associated with each person and/or face. The method may also provide the ability to input and store text annotations associated with each person, face, and video segment, and the ability to enroll and remove people from database. The videos of non-human objects may be processed in a similar manner. Because of the rules governing abstracts, this abstract should not be used to construe the claims.

A system and methods for transprojection of geometry data acquired by a coordinate measuring machine (CMM). The CMM acquires geometry data corresponding to 3D coordinate measurements collected by a measuring probe that are transformed into scaled 2D data that is transprojected upon various digital object image views captured by a camera. The transprojection process can utilize stored image and coordinate information or perform live transprojection viewing capabilities in both still image and video modes.

A method compresses a point cloud composed of a plurality of points in a three-dimensional (3D) space by first acquiring the point cloud with a sensor, wherein each point is associated with a 3D coordinate and at least one attribute. The point cloud is partitioned into an array of 3D blocks of elements, wherein some of the elements in the 3D blocks have missing points. For each 3D block, attribute values for the 3D block are predicted based on the attribute values of neighboring 3D blocks, resulting in a 3D residual block. A 3D transform is applied to each 3D residual block using locations of occupied elements to produce transform coefficients, wherein the transform coefficients have a magnitude and sign. The transform coefficients are entropy encoded according the magnitudes and sign bits to produce a bitstream.

A method for reconstructing 3D surface structure of an object uses a two stage approach. In the first stage, a first set of images is obtained, and a spatial coding technique, such as a random grid, is used for correspondence mapping of coordinates from a first image to a second image of an object, and the images are obtained at different angles with respect to the object. In the second stage, a second structured illumination, typically comprising a striped grid, is used to obtain a second set of images, typically comprising two further images of the object. The mapping provided by the first stage provides proper labeling of the grid between these two images of the second set, and enables accurate matching of elements between these images. Triangulation or epipole methods can then be used for obtaining the 3D coordinates of the surface being reconstructed.

The present invention relates to three-dimensional (3D) handwriting recognition methods and systems. The present invention provides a 3D handwriting recognition method and corresponding system which allows to generate 3D motion data by tracking corresponding 3D motion, calculate corresponding 3D coordinates, construct corresponding 3D tracks, derive 2D projection plane based on some strokes 3D tracks of on character, and generate 2D image for handwriting recognition by mapping the 3D tracks onto the said 2D projection plane. The 3D handwriting recognition method according to the present invention can use the processing power of system more efficiently and highly improve the system performance. So that the system can get the final input result in a much shorter time after the user finishes writing a character without a long time waiting between two characters input, thus the user has more pleased and natural input experience.

A method of dynamically adjusting an angular speed of a light beam emitted by a scanner in measuring three-dimensional (3D) coordinates of a surface or of dynamically adjusting an acquisition rate of 3D coordinates of a surface.

The invention discloses an omni-directional automatic forklift and a 3D stereoscopic vision navigating and positioning method. The 3D stereoscopic vision navigating and positioning method comprises the following steps: acquiring information of a 3D coordinate in the working environment of the automatic forklift; generating a 3D map; acquiring real-time images and positioning an initial position according to the 3D map; determining a target position; navigating to the target position and judging whether encountering barriers; scanning and identifying two-dimensional codes on a goods shelf; judging whether the automatic forklift is over against the goods and is aligned with the goods; enabling the automatic forklift to insert into a goods shelf tray and completing taking the goods and putting the goods. The omni-directional automatic forklift and the 3D stereoscopic vision navigating and positioning method have the benefits that the 3D map of the working environment is built by a plurality of binocular stereo cameras, the automatic forklift is capable of effectively and accurately positioning, taking the goods and putting the goods with combination of a speedometer, a laser radar and a front camera, three-freedom-degree omni-directional movement on the plane is implemented by Mecanum wheels, the automatic forklift is capable of taking the goods and putting the goods on the same goods shelf without steering, any barriers in the working environment can be effectively avoided in tine by the laser radar and an infrared sensor, and the automatic forklift can be automatically charged by communication between an upper computer and a charging box.

The invention relates to a visual inspection technology. In order to meet the requirements of fast and high-accurate surface three-dimensional (3D) topography online measurement and the detection requirements of a production line on intelligence, fastness, high accuracy and low cost, the invention adopts the technical scheme that: a high-speed scanning and overall imaging 3D measurement method comprises the following steps of: carrying out external modulation on a driving power supply by using a laser so as to control the output of a word line laser; rotating a multifaceted prism under the drive of a high-speed motor, wherein line-structured light outputted by the laser is reflected and projected to the surface of a measured object by the multifaceted prism; and placing a photoelectric detector at a position which is the limit position projected by the line-structured light during the rotating process of the multifaceted prism, carrying out exposure on an area-array CCD (Charge-Coupled Device) camera during the process that the line-structured light scans the whole area, and establishing a measurement model, wherein the 3D coordinate (xp, yp, zp) of the surface feature point of the measured object is obtained according to a formula by using an image coordinate (u[theta]p, v[theta]p) formed by the area-array CCD camera and [theta]p. The high-speed scanning and overall imaging 3D measurement method is mainly applied to the fast and high-accurate surface 3D topography online measurement.

The present invention provides a patient couch top or device for quickly and accurately positioning a patient during simulation and treatment by placing a series of small fiducial markers in discrete locations on the couch top or device. With use of the fiducial markers, the present invention allows for the correction for misalignment and deformation of patient positioning equipment which occurs due in part to a patient's size and weight. The present invention also provides a method for positioning a patient and correcting for deformation of the couch top or device.

A system, computer-readable medium, and method for creating an annotated 3D model are provided. First, 3D coordinates of at least two real alignment points for/on a real object are acquired. Second, 3D virtual space, in which a 3D model exists, is merged with 3D real space, in which the real object exists, to thereby align the 3D model with the real object, by matching at least two virtual alignment points of the 3D model with the at least two real alignment points of the real object. Third, an annotated 2D image/video of the real object is prepared and projected to surfaces of the 3D model by translating a 3D coordinate and orientation of the visual sensor in the 3D real space used to acquire the annotated 2D image/video to a 3D coordinate and orientation of the visual sensor in the 3D virtual space, to thereby create an annotated 3D model.

A three-dimensional (3D) coordinate measuring system includes an external projector that projects a pattern of light onto an object and an aerial drone attached to a 3D imaging device, the 3D imaging device and the external projector cooperating to obtain 3D coordinates of the object.

A biometrics system captures and processes a handprint image using a structured light illumination to create a 2D representation equivalent of a rolled inked handprint. The biometrics system includes an enclosure with a scan volume for placement of the hand. A reference plane with a backdrop pattern forms one side of the scan volume. The backdrop pattern is preferably a random noise pattern and the coordinates of the backdrop pattern are predetermined at system provisioning. The biometrics system further includes at least one projection unit for projecting a structured light pattern onto a hand positioned in the scan volume on or in front of the backdrop pattern and at least two cameras for capturing a plurality of images of the hand, wherein each of the plurality of images includes at least a portion of the hand and the backdrop pattern. A processing unit calculates 3D coordinates of the hand from the plurality of images using the predetermined coordinates of the backdrop pattern to align the plurality of images and mapping the 3D coordinates to a 2D flat surface to create a 2D representation equivalent of a rolled inked handprint. The processing unit can also adjust calibration parameters for each hand scan from calculating coordinates of the portion of backdrop pattern in the at least one image and comparing with the predetermined coordinates of the backdrop pattern.

A sensing device having a sensing arrangement with a sensing end (32) for coming into contact with a surface to be scanned of a body (26), a camera (30), and a connecting device (34) for rigidly connecting the camera with the sensing end, the camera being arranged such that it can detect a surface (12) which is provided with marks suitable to be automatically photogrammetrically evaluated and on which the body to be scanned has been placed, when the sensing end comes into contact with different points of the surface to be scanned of the body. The sensing device further has a photogrammetric evaluation program for a computing unit (18), the computing unit being configured such that image signals generated by the camera can be routed to the computing unit and the evaluation program can calculate the 3D coordinates of the surface to be scanned from the sequence of recorded and transmitted image sections using the marks (22) suitable to be automatically photogrammetrically evaluated. A method of detecting a three-dimensional spatial shape of a body, in particular the spatial shape of an interior of a hollow body, the method including the following steps: fastening the body to be digitized on a surface (12) which, at known positions, is provided with marks (22) suitable to be automatically photogrammetrically evaluated, and providing the sensing device. Further steps are the scanning of a point on the spatial shape to be detected by means of the sensing end (32) of the sensing arrangement (28), recording at least one section of the photogrammetrically marked surface by the camera (30) while the sensing end scans the point, a plurality of marks suitable to be photogrammetrically evaluated being detected, and repeating the steps of scanning and recording for a multitude of different points of the spatial shape to be detected. The recorded images are evaluated by an evaluation program.

A method for determining 3D coordinates of points on a surface of the object by providing a remote probe having a probe tip and a non-contact 3D measuring device having a projector and camera coupled to a processor, projecting a pattern onto the surface to determine a first set of 3D coordinates of points on the surface, determining susceptibility of the object to multipath interference by projecting and reflecting rays from the measured 3D coordinates of the points, projecting a first light to direct positioning of the remote probe by the user, the first light determined at least in part by the susceptibility to multipath interference, touching the probe tip to the surface at the indicated region, illuminating at least three spots of light on the remote probe, capturing an image of the at least three spots with the camera, and determining 3D coordinates of the probe tip.

An assembly that includes a projector and camera is used with a processor to determine three-dimensional (3D) coordinates of an object surface. The processor fits collected 3D coordinates to a mathematical representation provided for a shape of a surface feature. The processor fits the measured 3D coordinates to the shape and, if the goodness of fit is not acceptable, selects and performs at least one of: changing a pose of the assembly, changing an illumination level of the light source, changing a pattern of the transmitted With the changes in place, another scan is made to obtain 3D coordinates.

The present invention is in-situ visual measurement system calibrating equipment and process. The calibrating equipment is 3D coordinate measuring system and stereo target, and the stereo target set inside the work range of the 3D coordinate measuring system consists of base plate as well as sensor calibrating target and system measured target, which are standard balls, set on two sides of the base plate. The 3D coordinate measuring system may be an industrial theodolite measurement system or a laser tracking instrument. The calibrating process includes calibrating the stereo target in the coordinate measuring system, acquiring the image of the sensor calibrating target, obtaining the conversion relation between the system measured target and the sensor calibrating target via coordination conversion, and other steps. The present invention can realize the in-situ measurement element calibration and overall system calibration.

A device for measuring the mass center of an object consists of weighing sensors, a measuring table, a tribrach, supporting legs and a computer. Three height adjustable supporting legs are arranged below three feet of the tribrach, three weighting sensors are arranged on the three feet, the three weighting sensors are accurately positioned, and the position points are respectively A, B and C which take an equiangular triangle distribution; the measuring table is arranged on the three weighting sensors, and needs leveling during measurement, the table is marked with marking scales, and rectangular coordinates are established; and three protective supporting studs are also arranged between the tribrach and the measuring table. The three points of A, B and C bear different forces when an object to be measured is put on a horizontal table, the 2D coordinates of the mass center of the measured object are obtained by moment balance calculation, and the 3D coordinate of the mass center can be obtained only by measuring the 2D coordinates of the mass center after the measured object is turned by 90 degrees. The mass center can be obtained quickly and reliably by adopting the computer to acquire and process data.

A method uses a two-dimensional (2D) camera in two different positions to provide first and second 2D images having three common cardinal points. It further uses a three-dimensional (3D) measuring device to measure two 3D coordinates. The first and second 2D images and the two 3D coordinates are combined to obtain a scaled 3D image.

The invention discloses a steel plant finished product storage and distribution automatic control method. A warehouse automatic control system comprises a bridge crane control system, a laser scanning imaging system and a warehouse operation process control system; the warehouse operation process control system obtains tasks from a transportation management system, and carries out optimization calculation and safety inspection according to warehouse stack situations and bridge crane states, and automatically generates related storage or delivery operation instructions, and sends the related control instructions to the corresponding bridge crane control system, and bridge cranes, carrying out full-process unmanned driving, performs storage or delivery operation; and the laser scanning imaging system can perform laser scanning on vehicles and cargo loaded on the vehicles, and performs processing and image calculation on scanning data and then obtains the 3D coordinates of the vehicles or the cargo loaded on the vehicles, and transmits the 3D coordinates to the process control system. With the steel plant finished product storage and distribution automatic control method adopted, in storage and delivery processes, monitoring personnel can monitor on-site operating process in real time through a monitoring terminal and a human-computer interaction interface, and emergency intervention can be made in special circumstances.

A method comprising determining coordinates of a first point rigidly attached to a rigid body floating on the sea surface in a desired coordinate reference frame; measuring orientation parameters of the rigid floating body to determine 3D offset in the coordinate reference frame of the first point to any point on or rigidly attached to the body; applying a 3D coordinate shift from the first point to a second point rigidly attached to the body, thus determining coordinates of the second point in the desired reference frame; determining a distance from the second point to one or more devices that are components of a seismic acquisition spread, by comparing transmission times of a signal to recording times of transmitted signals and multiplying by a signal propagation rate; and determining relative positions of components of the spread to each other and to devices rigidly attached to the rigid body.

An indoor surveying apparatus comprises a light source, a color imaging system, a memory storing calibration coefficients, and a computing device for determining coordinates of 3D intersection points of the emitted light with objects using calibration coefficients and images captured by the imaging system. A method of using the surveying apparatus comprises the steps of capturing first image of a scene illuminated by the light source, capturing second image of the scene without the illumination by the light source, comparing the two images to identify locations of the 3D intersection points in the first image, using the set of calibration coefficients and the locations of the 3D intersection points in the first image to compute 3D coordinates of the intersection points, whereby surveying information collected by the apparatus comprises the coordinates of 3D intersection points and the color photographic images captured from known poses relative to the 3D intersection points.

A method and system for registering ultrasound images and physiological models to x-ray fluoroscopy images is disclosed. A fluoroscopic image and an ultrasound image, such as a Transesophageal Echocardiography (TEE) image, are received. A 2D location of an ultrasound probe is detected in the fluoroscopic image. A 3D pose of the ultrasound probe is estimated based on the detected 2D location of the ultrasound probe in the fluoroscopic image. The ultrasound image is mapped to a 3D coordinate system of a fluoroscopic image acquisition device used to acquire the fluoroscopic image based on the estimated 3D pose of the ultrasound probe. The ultrasound image can then be projected into the fluoroscopic image using a projection matrix associated with the fluoroscopic image. A patient specific physiological model can be detected in the ultrasound image and projected into the fluoroscopic image.

A method for determining three-dimensional coordinates of an object point on a surface of an object, the method including steps of: providing a source, a projector, and a camera; in each of two instances: spatially modulating source light; sending a modulator pattern of light through the projector lens to form light spots; filtering the spots with a pinhole plate; propagating light from the light spots onto the object to produce a fringe pattern; imaging the object point with a camera lens onto an array point of the photosensitive array to obtain first and second electrical data values from the photosensitive array; and determining the three-dimensional coordinates of the first object point based at least in part on the first electrical data value, the second electrical data value, and a baseline length.