Search Patents
  • Depth perceptive trinocular camera system
    Patent number: 9674504
    Abstract: A method for detecting decalibration of a depth camera system including a first, second, and third cameras having overlapping fields of view in a direction includes: detecting a feature in a first image captured by the first camera; detecting the feature in a second image captured by the second camera; detecting the feature in a third image captured by the third camera, the third camera being non-collinear with the first and second cameras; identifying a first conjugate epipolar line in the second image in accordance with a detected location of the feature in the first image and calibration parameters; identifying a second conjugate epipolar line in the second image in accordance with a detected location of the feature in the third image and the calibration parameters; and calculating a difference between a detected location of the feature in the second image and the first and second conjugate epipolar lines.
    Type: Grant
    Filed: May 5, 2016
    Date of Patent: June 6, 2017
    Assignee: Aquifi, Inc.
    Inventors: Pietro Salvagnini, Michele Stoppa, Abbas Rafii
  • Thin laser package for optical applications
    Patent number: 10122146
    Abstract: An optical projection system includes: a laser emitter configured to emit a beam along an emission axis; an optical element having an optical axis non-parallel to the emission axis, the optical element having a back focal length; and a folding optic configured to redirect the beam toward the optical axis, the beam following a folded optical path having: a first section along the emission axis from the laser emitter to the folding optic; and a second section along the optical axis from the folding optic to the optical element, the sum of the lengths of the first and second sections being equal to the back focal length, the length of the first section being a function of a divergence of the beam and the back focal length, and the folding optic having a height along the optical axis configured to redirect substantially the entire beam emitted by the laser emitter.
    Type: Grant
    Filed: April 5, 2017
    Date of Patent: November 6, 2018
    Assignee: Aquifi, Inc.
    Inventor: Aryan Hazeghi
  • Systems and methods for multi-channel imaging based on multiple exposure settings
    Patent number: 9516295
    Abstract: A multi-channel image capture system includes: a multi-channel image sensor including a plurality of first pixels configured to detect light in a first band and a plurality of second pixels configured to detect light in a second band different from the first band; an image signal processor coupled to the multi-channel image sensor, the image signal processor being configured to: store a first plurality of capture parameters and a second plurality of capture parameters; control the multi-channel image sensor to capture a first image frame according to the first plurality of capture parameters; control the multi-channel image sensor to capture a second image frame according to the second plurality of capture parameters; and transmit the first image frame and the second image frame to a host processor.
    Type: Grant
    Filed: June 30, 2015
    Date of Patent: December 6, 2016
    Assignee: Aquifi, Inc.
    Inventors: Carlo Dal Mutto, Abbas Rafii
  • Systems and methods for implementing head tracking based graphical user interfaces (GUI) that incorporate gesture reactive interface objects
    Patent number: 9507417
    Abstract: Embodiments in accordance with this invention disclose systems and methods for implementing head tracking based graphical user interfaces that incorporate gesture reactive interface objects. The disclosed embodiments perform a method in which a GUI includes interface objects is rendered and displayed. Image data of an interaction zone is captured. A targeting gestured targeting a targeted interface object is detected in the captured image data and a set of 3D head interaction gestures are enabled. Additional image data is captured. Motion of at least a portion of a human head is detected and one of the 3D head interactions is identified. The rendering of the interface is modified in response to the detection of one of the 3D head interactions and the modified interface is displayed.
    Type: Grant
    Filed: January 7, 2015
    Date of Patent: November 29, 2016
    Assignee: Aquifi, Inc.
    Inventors: Carlo Dal Mutto, Giulio Marin, Abbas Rafii, Tony Zuccarino
  • Systems and methods for initializing motion tracking of human hands
    Patent number: 9092665
    Abstract: Systems and methods for initializing motion tracking of human hands are disclosed. One embodiment includes a processor; a reference camera; and memory containing: a hand tracking application; and a plurality of edge feature templates that are rotated and scaled versions of a base template. The hand tracking application configures the processor to: determine whether any pixels in a frame of video are part of a human hand, where a part of a human hand is identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of one of the plurality of edge feature templates; track the motion of the part of the human hand visible in a sequence of frames of video; confirm that the tracked motion corresponds to an initialization gesture; and commence tracking the human hand as part of a gesture based interactive session.
    Type: Grant
    Filed: May 22, 2013
    Date of Patent: July 28, 2015
    Assignee: Aquifi, Inc
    Inventors: Michele Stoppa, Britta Hummel, Carlo Dal Mutto, Giuliano Pasqualotto
  • Systems and methods for shape-based object retrieval
    Patent number: 10691979
    Abstract: A method for classifying physical objects includes: controlling, by a processor, one or more depth cameras to capture depth images of a query object; controlling, by the processor, one or more color cameras to capture a color images of the query object; computing, by the processor, a three-dimensional (3D) model of the query object using the depth images; combining, by the processor, the color images with the 3D model; computing, by the processor, a descriptor from the 3D model and the color images, the descriptor including: a multi-dimensional shape descriptor space representation of a 3D shape of the query object; a multi-dimensional color descriptor space representation of a texture of the query object; and a one-dimensional size descriptor space representation of a size of query object; supplying, by the processor, the descriptor to a classifier to compute a classification of the query object; and outputting the classification of the query object.
    Type: Grant
    Filed: January 4, 2018
    Date of Patent: June 23, 2020
    Assignee: AQUIFI, INC.
    Inventors: Carlo Dal Mutto, Alvise Memo
  • Systems and methods for multi-camera placement
    Patent number: 10805535
    Abstract: A method for calibrating a camera group includes: controlling a first and second cameras to capture first and second images of a first scene, the first camera having a first field of view (FOV), the second camera having a second FOV overlapping the first FOV in a first overlap region; the first scene including a calibration target in the first overlap region; computing a first relative pose based on the first and second images; controlling the second camera and a third camera to capture third and fourth images of a second scene, the third camera having a third FOV overlapping the second FOV in a second overlap region, the second scene including a calibration target in the second overlap region; computing a second relative pose based on the third and fourth images; and computing a third relative pose based on the first and second relative poses.
    Type: Grant
    Filed: May 24, 2019
    Date of Patent: October 13, 2020
    Assignee: AQUIFI, INC.
    Inventors: Carlo Dal Mutto, Giulio Marin
  • Systems and methods for scanning three-dimensional objects
    Patent number: 10311648
    Abstract: A method for computing a three-dimensional (3D) model of an object includes: receiving, by a processor, a first chunk including a 3D model of a first portion of the object, the first chunk being generated from a plurality of depth images of the first portion of the object; receiving, by the processor, a second chunk including a 3D model of a second portion the object, the second chunk being generated from a plurality of depth images of the second portion of the object; computing, by the processor, a registration of the first chunk with the second chunk, the registration corresponding to a transformation aligning corresponding portions of the first and second chunks; aligning, by the processor, the first chunk with the second chunk in accordance with the registration; and outputting, by the processor, a 3D model corresponding to the first chunk merged with the second chunk.
    Type: Grant
    Filed: June 22, 2017
    Date of Patent: June 4, 2019
    Assignee: AQUIFI, INC.
    Inventors: Giridhar Murali, Keith Blackstone, Francesco Peruch, Carlo Dal Mutto
  • Systems and methods for real-time view-synthesis in a multi-camera setup
    Patent number: 9380263
    Abstract: A video transmitting system includes: a display configured to display an image in a first direction; cameras including: a first camera adjacent a first edge of the display; and a second camera adjacent a second edge of the display, at least a portion of the display being proximal a convex hull that includes the first camera and the second camera, the first camera and the second camera having substantially overlapping fields of view encompassing the first direction; and an image processor to: receive a position of a virtual camera relative to the cameras substantially within the convex hull and substantially on the display, the virtual camera having a field of view encompassing the first direction; receive raw images captured by the cameras at substantially the same time; and generate processed image data from the raw images for synthesizing a view in accordance with the position of the virtual camera.
    Type: Grant
    Filed: January 2, 2015
    Date of Patent: June 28, 2016
    Assignee: Aquifi, Inc.
    Inventors: Carlo Dal Mutto, Abbas Rafii
  • Systems and methods for gesture based interaction with viewpoint dependent user interfaces
    Patent number: 9619105
    Abstract: Systems and methods are disclosed for performing three-dimensional (3D) gesture based interaction with a user interface rendered from a 3D object model based upon the viewpoint of a user. Gesture based interactive systems in accordance with many embodiments of the invention utilize a spatial model of how user interface objects, such as icons and a cursor, spatially relate to one another. The user interface model can be constructed as a 3D object model. With a 3D object model, the operating system can use depth information to render a user interface display appropriate to the requirements of a specific display technology. In many embodiments, head tracking is used to determine a viewpoint from which to render a user interface display from a 3D object model maintained by the operating system and the user interface can be updated in response to the detection of 3D gestures.
    Type: Grant
    Filed: January 30, 2014
    Date of Patent: April 11, 2017
    Assignee: Aquifi, Inc.
    Inventor: Carlo Dal Mutto
  • Method and system enabling natural user interface gestures with an electronic system
    Patent number: 9600078
    Abstract: An electronic device coupleable to a display screen includes a camera system that acquires optical data of a user comfortably gesturing in a user-customizable interaction zone having a z0 plane, while controlling operation of the device. Subtle gestures include hand movements commenced in a dynamically resizable and relocatable interaction zone. Preferably (x,y,z) locations in the interaction zone are mapped to two-dimensional display screen locations. Detected user hand movements can signal the device that an interaction is occurring in gesture mode. Device response includes presenting GUI on the display screen, creating user feedback including haptic feedback. User three-dimensional interaction can manipulate displayed virtual objects, including releasing such objects. User hand gesture trajectory clues enable the device to anticipate probable user intent and to appropriately update display screen renderings.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: March 21, 2017
    Assignee: Aquifi, Inc.
    Inventor: Abbas Rafii
  • Systems and methods for tracking human hands using parts based template matching within bounded regions
    Patent number: 8830312
    Abstract: Systems and methods for tracking human hands using parts based template matching within bounded regions are described. One embodiment of the invention includes a processor; an image capture system configured to capture multiple images of a scene; and memory containing a plurality of templates that are rotated and scaled versions of a finger template. A hand tracking application configures the processor to: obtain a reference frame of video data and an alternate frame of video data from the image capture system; identify corresponding pixels within the reference and alternate frames of video data; identify at least one bounded region within the reference frame of video data containing pixels having corresponding pixels in the alternate frame of video data satisfying a predetermined criterion; and detect at least one candidate finger within the at least one bounded region in the reference frame of video data.
    Type: Grant
    Filed: July 15, 2013
    Date of Patent: September 9, 2014
    Assignee: Aquifi, Inc.
    Inventors: Britta Hummel, Giridhar Murali
  • System and method for three-dimensional scanning and for capturing a bidirectional reflectance distribution function
    Patent number: 10055882
    Abstract: A method for generating a three-dimensional (3D) model of an object includes: capturing images of the object from a plurality of viewpoints, the images including color images; generating a 3D model of the object from the images, the 3D model including a plurality of planar patches; for each patch of the planar patches: mapping image regions of the images to the patch, each image region including at least one color vector; and computing, for each patch, at least one minimal color vector among the color vectors of the image regions mapped to the patch; generating a diffuse component of a bidirectional reflectance distribution function (BRDF) for each patch of planar patches of the 3D model in accordance with the at least one minimal color vector computed for each patch; and outputting the 3D model with the BRDF for each patch.
    Type: Grant
    Filed: August 15, 2017
    Date of Patent: August 21, 2018
    Assignee: Aquifi, Inc.
    Inventors: Giulio Marin, Abbas Rafii, Carlo Dal Mutto, Kinh Tieu, Giridhar Murali, Alvise Memo
  • Systems and methods for tracking human hands using parts based template matching
    Patent number: 9098739
    Abstract: Systems and methods for tracking human hands using parts based template matching are described. One embodiment of the invention includes a processor, a reference camera and memory containing: a hand tracking application; and a finger template including an edge features template. In addition, the hand tracking application configures the processor to: detect at least one candidate finger in a frame of video data received from the reference camera, where each candidate finger is a grouping of pixels identified by searching the frame of video data for a grouping of pixels that have image gradient orientations that match the edge features of the finger template accounting for rotation and scaling differences; and verify the correct detection of a candidate finger by confirming that the colors of the pixels within the grouping of pixels identified as a candidate finger satisfy a skin color criterion.
    Type: Grant
    Filed: May 21, 2013
    Date of Patent: August 4, 2015
    Assignee: Aquifi, Inc.
    Inventors: Carlo Dal Mutto, Britta Hummel, Michele Stoppa, Giuliano Pasqualotto, Teresa Mao, Giridhar Murali
  • Method and system enabling natural user interface gestures with an electronic system
    Patent number: 8854433
    Abstract: An electronic device coupleable to a display screen includes a camera system that acquires optical data of a user comfortably gesturing in a user-customizable interaction zone having a z0 plane, while controlling operation of the device. Subtle gestures include hand movements commenced in a dynamically resizable and relocatable interaction zone. Preferably (x,y,z) locations in the interaction zone are mapped to two-dimensional display screen locations. Detected user hand movements can signal the device that an interaction is occurring in gesture mode. Device response includes presenting GUI on the display screen, creating user feedback including haptic feedback. User three-dimensional interaction can manipulate displayed virtual objects, including releasing such objects. User hand gesture trajectory clues enable the device to anticipate probable user intent and to appropriately update display screen renderings.
    Type: Grant
    Filed: February 1, 2013
    Date of Patent: October 7, 2014
    Assignee: Aquifi, Inc.
    Inventor: Abbas Rafii
  • Method and system to create three-dimensional mapping in a two-dimensional game
    Patent number: 8840466
    Abstract: Natural three-dimensional (xw, yw, zw, tw) gesture player interaction with a two-dimensional game application rendered on a two or three dimensional display includes mapping acquired (xw, yw, zw, tw) gesture data to virtual game-world (xv, yv, zv, tv) coordinates or vice versa, and scaling if needed. The game application is caused to render at least one image on the display responsive to the mapped and scaled (xw, yw, zw) data, where the display and game interaction is rendered from the player's perception viewpoint. The (xw, yw, zw) data preferably is acquired using spaced-apart two-dimensional cameras coupled to software to reduce the acquired images to a relatively small number of landmark points, from which player gestures may be recognized. The invention may be implemented in a handheld device such as a smart phone or tablet, which device may include a gyroscope and/or accelerometer.
    Type: Grant
    Filed: April 20, 2012
    Date of Patent: September 23, 2014
    Assignee: Aquifi, Inc.
    Inventors: Nazim Kareemi, Abbas Rafii
  • Method and system to create three-dimensional mapping in a two-dimensional game
    Patent number: 9504920
    Abstract: Natural three-dimensional (xw, yw, zw, tw) gesture player interaction with a two-dimensional game application rendered on a two or three dimensional display includes mapping acquired (xw, yw, zw, tw) gesture data to virtual game-world (xv, yv, zv, tv) coordinates or vice versa, and scaling if needed. The game application is caused to render at least one image on the display responsive to the mapped and scaled (xw, yw, zw) data, where the display and game interaction is rendered from the player's perception viewpoint. The (xw, yw, zw) data preferably is acquired using spaced-apart two-dimensional cameras coupled to software to reduce the acquired images to a relatively small number of landmark points, from which player gestures may be recognized. The invention may be implemented in a handheld device such as a smart phone or tablet, which device may include a gyroscope and/or accelerometer.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: November 29, 2016
    Assignee: Aquifi, Inc.
    Inventors: Nazim Kareemi, Abbas Rafii
  • Method and system enabling natural user interface gestures with user wearable glasses
    Patent number: 9310891
    Abstract: User wearable eye glasses include a pair of two-dimensional cameras that optically acquire information for user gestures made with an unadorned user object in an interaction zone responsive to viewing displayed imagery, with which the user can interact. Glasses systems intelligently signal process and map acquired optical information to rapidly ascertain a sparse (x,y,z) set of locations adequate to identify user gestures. The displayed imagery can be created by glasses systems and presented with a virtual on-glasses display, or can be created and/or viewed off-glasses. In some embodiments the user can see local views directly, but augmented with imagery showing internet provided tags identifying and/or providing information as to viewed objects. On-glasses systems can communicate wirelessly with cloud servers and with off-glasses systems that the user can carry in a pocket or purse.
    Type: Grant
    Filed: September 3, 2014
    Date of Patent: April 12, 2016
    Assignee: Aquifi, Inc.
    Inventors: Abbas Rafii, Tony Zuccarino
  • Systems and methods for remapping three-dimensional gestures onto a finite-size two-dimensional surface
    Patent number: 9619042
    Abstract: A method for operating a real-time gesture based interactive system includes: obtaining a sequence of frames of data from an acquisition system; comparing successive frames of the data for portions that change between frames; determining whether any of the portions that changed are part of an interaction medium detected in the sequence of frames of data; defining a 3D interaction zone relative to an initial position of the part of the interaction medium detected in the sequence of frames of data; tracking a movement of the interaction medium to generate a plurality of 3D positions of the interaction medium; detecting movement of the interaction medium from inside to outside the 3D interaction zone at a boundary 3D position; shifting the 3D interaction zone relative to the boundary 3D position; computing a plurality of computed positions based on the 3D positions; and supplying the computed positions to control an application.
    Type: Grant
    Filed: September 30, 2016
    Date of Patent: April 11, 2017
    Assignee: Aquifi, Inc.
    Inventors: Carlo Dal Mutto, Giuliano Pasqualotto, Giridhar Murali, Michele Stoppa, Amir hossein Khalili, Ahmed Tashrif Kamal, Britta Hummel
  • Systems and methods for initializing motion tracking of human hands using template matching within bounded regions determined using a depth map
    Patent number: 9129155
    Abstract: Systems and methods for initializing motion tracking of human hands within bounded regions are disclosed. One embodiment includes: a processor; reference and alternate view cameras; and memory containing a plurality of templates that are rotated and scaled versions of a base template. In addition, a hand tracking application configures the processor to: obtain reference and alternate view frames of video data; generate a depth map; identify at least one bounded region within the reference frame of video data containing pixels having distances from the reference camera that are within a specific range of distances; determine whether any of the pixels within the at least one bounded region are part of a human hand; track the motion of the part of the human hand in a sequence of frames of video data obtained from the reference camera; and confirm that the tracked motion corresponds to a predetermined initialization gesture.
    Type: Grant
    Filed: June 11, 2013
    Date of Patent: September 8, 2015
    Assignee: Aquifi, Inc.
    Inventors: Michele Stoppa, Britta Hummel, Carlo Dal Mutto, Giuliano Pasqualotto
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