Robert J Carroll

US Patent:

7813538, Oct 12, 2010

Filed:

May 17, 2007

Appl. No.:

11/749959

Inventors:

Robert E. Carroll - Seattle WA, US
Eric J. Seibel - Seattle WA, US
Steven M. Seitz - Seattle WA, US

Assignee:

University of Washington - Seattle WA

International Classification:

G06K 9/00
A61B 5/05

US Classification:

382128, 382321, 600425

Abstract:

In connection with imaging an inner surface of a body lumen, a mosaiced image is created from discrete images or a video produced with a small camera, as the camera is moved through the lumen. In one embodiment, a tethered capsule with a scanning optical fiber provides the images, although other types of endoscopic cameras can instead be used. A surface model of the lumen and camera pose estimates for each image or frame are required for this task. Camera pose parameters, which define camera alignment, are determined for six degrees-of-freedom. The size of each frame projected as a strip on the surface model depends on the longitudinal movement of the camera. The projected frames are concatenated, and the cylinder is unrolled to produce the mosaic image. Further processing, such as applying surface domain blending, improves the quality of the mosaic image.

US Patent:

8525871, Sep 3, 2013

Filed:

Nov 13, 2008

Appl. No.:

12/270142

Inventors:

Aseem Agarwala - Seattle WA, US
Robert Carroll - Berkeley CA, US

Assignee:

Adobe Systems Incorporated - San Jose CA

International Classification:

H04N 7/00

US Classification:

348 36

Abstract:

This specification describes technologies relating to digital images. In general, one aspect of the subject matter described in this specification can be embodied in methods that include the actions of receiving a source wide-angle image; identifying one or more locally salient features of the source wide-angle image; calculating a mapping from the source wide-angle image to a two-dimensional mapped wide-angle image according to constraints using the identified one or more spatially variable salient features; and rendering the mapped wide-angle image using the calculated mapping such that the mapped wide-angle image reduces distortion of the locally salient features relative to the distortion of the source wide angle image.

US Patent:

20160028972, Jan 28, 2016

Filed:

Jul 23, 2015

Appl. No.:

14/807387

Inventors:

- Mountain View CA, US
Steven Maxwell Seitz - Seattle WA, US
Maneesh Agrawala - Oakland CA, US
Robert Evan Carroll - Berkeley CA, US

International Classification:

H04N 5/341
G06T 7/00
G06T 3/40
G06T 15/06
H04N 5/347
H04N 13/02

Abstract:

Methods, systems, and articles of manufacture for generating a panoramic image of a long scene, are disclosed. These include, fitting a plurality of planes to 3D points associated with input images of portions of the long scene, where one or more respective planes are fitted to each of a ground surface, a dominant surface, and at least one of one or more foreground objects and one or more background objects in the long scene, and where distances from the 3D points to the fitted planes are substantially minimized. These also include, selecting, for respective one or more pixels in the panoramic image of the long scene, one of the input images and one of the fitted planes such that a distance is substantially minimized from the selected one of the fitted planes to a surface corresponding to the respective one or more pixels and occlusion of the respective one or more pixels is reduced in the selected one of the input images; and stitching the panoramic image of the long scene by projecting, for the respective one or more pixels in the panoramic image of the long scene, the selected one of the input images using the selected one of the fitted planes into the virtual camera.

US Patent:

20150156415, Jun 4, 2015

Filed:

Jul 6, 2012

Appl. No.:

13/543543

Inventors:

David GALLUP - Lynnwood WA, US
Steven Maxwell SEITZ - Seattle WA, US
Maneesh AGRAWALA - Oakland CA, US
Robert Evan CARROLL - Berkeley CA, US

Assignee:

Google Inc. - Mountain View CA

International Classification:

G06T 15/00
H04N 5/232
H04N 13/02

Abstract:

Methods, systems, and articles of manufacture for generating a panoramic image of a long scene are disclosed. These include, fitting planes to 3D points associated with input images of portions of the long scene, where respective planes are fitted to a ground surface, a dominant surface, and at least one of foreground objects and background objects, and where distances from the 3D points to the fitted planes are minimized. These also include, selecting, for respective pixels in the panoramic image, an input image and a fitted plane such that a distance is minimized from the selected the fitted plane to a surface corresponding to the pixels and occlusion of the pixels is reduced in the selected input image, and stitching by projecting the selected input image using the selected fitted plane into the virtual camera.