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公开(公告)号：US10650546B2
公开(公告)日：2020-05-12
申请号：US16046715
申请日：2018-07-26
Applicant: Apple Inc.
Inventor： Daniel Kurz , Selim Benhimane
IPC: G06T7/73 , G06K9/32 , G06T7/33 , G06T7/246 , G06K9/00 , G06K9/72 , G06K9/46 , G06K9/62 , G06T7/30 , G06T7/70
Abstract: A method of providing a descriptor for at least one feature of an image comprises the steps of providing an image captured by a capturing device and extracting at least one feature from the image, and assigning a descriptor to the at least one feature, the descriptor depending on at least one parameter which is indicative of an orientation, wherein the at least one parameter is determined from the orientation of the capturing device measured by a tracking system. The invention also relates to a method of matching features of two or more images.
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Patent Agency Ranking
2.发明申请公开(公告)号：US20180357786A1
公开(公告)日：2018-12-13
申请号：US16046715
申请日：2018-07-26
Applicant: Apple Inc.
Inventor： Daniel Kurz , Selim Benhimane
IPC: G06T7/73 , G06K9/00 , G06K9/32 , G06K9/62 , G06T7/70 , G06T7/33 , G06T7/30 , G06K9/46 , G06T7/246
CPC classification number: G06T7/73 , G06K9/00624 , G06K9/3216 , G06K9/46 , G06K9/6202 , G06T7/246 , G06T7/30 , G06T7/33 , G06T7/70 , G06T2207/10012 , G06T2207/30232 , G06T2207/30244
Abstract: A method of providing a descriptor for at least one feature of an image comprises the steps of providing an image captured by a capturing device and extracting at least one feature from the image, and assigning a descriptor to the at least one feature, the descriptor depending on at least one parameter which is indicative of an orientation, wherein the at least one parameter is determined from the orientation of the capturing device measured by a tracking system. The invention also relates to a method of matching features of two or more images.
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公开(公告)号：US20170236033A1
公开(公告)日：2017-08-17
申请号：US15444404
申请日：2017-02-28
Applicant: Apple Inc.
Inventor： Selim Benhimane , Daniel Kurz , Thomas Olszamowski
IPC: G06K9/62
CPC classification number: G06K9/623 , G06K9/46 , G06K9/4671 , G06K9/6255 , G06K9/6262
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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公开(公告)号：US10062169B2
公开(公告)日：2018-08-28
申请号：US14567668
申请日：2014-12-11
Applicant: Apple Inc.
Inventor： Daniel Kurz , Selim Benhimane
IPC: G06K9/00 , G06T7/00 , G06K9/32 , G06K9/46 , G06K9/62 , G06T7/30 , G06T7/33 , G06T7/70 , G06T7/73 , G06T7/246
CPC classification number: G06T7/73 , G06K9/00201 , G06K9/00624 , G06K9/00671 , G06K9/3216 , G06K9/46 , G06K9/6202 , G06K9/72 , G06T7/246 , G06T7/30 , G06T7/33 , G06T7/70 , G06T7/75 , G06T2207/10012 , G06T2207/30232 , G06T2207/30244
Abstract: A method of providing a descriptor for at least one feature of an image comprises the steps of providing an image captured by a capturing device and extracting at least one feature from the image, and assigning a descriptor to the at least one feature, the descriptor depending on at least one parameter which is indicative of an orientation, wherein the at least one parameter is determined from the orientation of the capturing device measured by a tracking system. The invention also relates to a method of matching features of two or more images.
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公开(公告)号：US09875424B2
公开(公告)日：2018-01-23
申请号：US14992696
申请日：2016-01-11
Applicant: Apple Inc.
Inventor： Selim Benhimane , Daniel Ulbricht
CPC classification number: G06K9/6211 , G06T7/337 , G06T7/70 , G06T7/74 , G06T2207/30244
Abstract: A method for determining correspondences between a first and a second image, comprising the steps providing a first image and a second image of the real environment, defining a warping function between the first and second image, determining the parameters of the warping function between the first image and the second image by means of an image registration method, determining a third image by applying the warping function with the determined parameters to the first image, determining a matching result by matching the third image and the second image, and determining correspondences between the first and the second image using the matching result and the warping function with the determined parameters. The method may be used in a keyframe based method for determining the pose of a camera based on the determined correspondences.
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公开(公告)号：US09830715B2
公开(公告)日：2017-11-28
申请号：US14961557
申请日：2015-12-07
Applicant: Apple Inc.
Inventor： Selim Benhimane , Sebastian Lieberknecht
CPC classification number: G06T7/70 , G06T7/251 , G06T7/579 , G06T7/75 , G06T2207/30244
Abstract: The specification relates to determining either or both of the pose of a camera with respect to a real object or a three dimensional structure of the real object. In some of the described embodiments, a captured image including the real object is analyzed with respect to a reference image that also includes the real object. A parameter set is estimated by using a homography between the reference image and the captured image. An update to the parameter set is made by using an iterative minimization process that includes comparing a first set of pixels in the reference image with a computed set of pixels in the captured image, where the computed set of pixels used for comparison varies in different iterations of the iterative minimization process.
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