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公开(公告)号：US09996150B2
公开(公告)日：2018-06-12
申请号：US13838467
申请日：2013-03-15
Applicant: QUALCOMM Incorporated
Inventor： Ashwin Swaminathan , Mahesh Ramachandran
CPC classification number: G06F3/013 , G06F3/0481 , G06F3/147 , G06K9/00604 , G06K9/00671 , G06K9/228 , G06K9/3233 , G09G2340/12
Abstract: Methods and apparatus relating to enabling augmented reality applications using eye gaze tracking are disclosed. An exemplary method according to the disclosure includes displaying an image to a user of a scene viewable by the user, receiving information indicative of an eye gaze of the user, determining an area of interest within the image based on the eye gaze information, determining an image segment based on the area of interest, initiating an object recognition process on the image segment, and displaying results of the object recognition process.
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公开(公告)号：US09953618B2
公开(公告)日：2018-04-24
申请号：US13834207
申请日：2013-03-15
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Ashwin Swaminathan
CPC classification number: G09G5/377 , G06T7/55 , G06T2200/04 , G06T2200/08 , G06T2207/10016 , G06T2207/30244
Abstract: Systems and methods for performing localization and mapping with a mobile device are disclosed. In one embodiment, a method for performing localization and mapping with a mobile device includes identifying geometric constraints associated with a current area at which the mobile device is located, obtaining at least one image of the current area captured by at least a first camera of the mobile device, obtaining data associated with the current area via at least one of a second camera of the mobile device or a sensor of the mobile device, and performing localization and mapping for the current area by applying the geometric constraints and the data associated with the current area to the at least one image.
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3.发明授权Strategies for triggering depth sensors and transmitting RGBD images in a cloud-based object recognition system 有权在基于云的对象识别系统中触发深度传感器和传输RGBD图像的策略公开(公告)号：US09407809B2
公开(公告)日：2016-08-02
申请号：US14461000
申请日：2014-08-15
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Bojan Vrcelj , Raghuraman Krishnamoorthi
CPC classification number: H04N5/23206 , G06K9/00362 , G06K9/2054 , G06T7/50 , G06T2207/10028 , G06T2207/30 , H04N5/23219 , H04N5/23241 , H04N13/254 , H04N13/271
Abstract: Systems, apparatus and methods for triggering a depth sensor and/or limiting bandwidth and/or maintaining privacy are presented. By limiting use of a depth sensor to times when an optical image alone is insufficient, mobile device power is saved. Furthermore, by reducing a size of an optical image to only the portion of the image needed to detect an object, bandwidth is saved and privacy is maintained by not communicating unneeded or undesired information.
Abstract translation: 提出了用于触发深度传感器和/或限制带宽和/或维护隐私的系统，装置和方法。 通过将深度传感器限制在单独的光学图像不足的时间，可以节省移动设备的功率。 此外，通过将光学图像的尺寸减小到仅检测对象所需的图像的部分，通过不传送不需要的或不期望的信息来节省带宽并保持隐私。
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公开(公告)号：US20150094089A1
公开(公告)日：2015-04-02
申请号：US14497219
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Hui Chao , Murali Ramaswamy Chari , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi
CPC classification number: G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
Abstract: Embodiments disclosed obtain a plurality of measurement sets from a plurality of sensors in conjunction with the capture of a sequence of exterior and interior images of a structure while traversing locations in and around the structure. Each measurement set may be associated with at least one image. An external structural envelope of the structure is determined from exterior images of the structure and the corresponding outdoor trajectory of a UE. The position and orientation of the structure and the structural envelope is determined in absolute coordinates. Further, an indoor map of the structure in absolute coordinates may be obtained based on interior images of the structure, a structural envelope in absolute coordinates, and measurements associated with the indoor trajectory of the UE during traversal of the indoor area to capture the interior images.
Abstract translation: 所公开的实施例结合捕获结构的外部和内部图像序列，同时跨过结构内部和周围的位置，从多个传感器获得多个测量集合。 每个测量集可以与至少一个图像相关联。 从结构的外部图像和UE的对应的室外轨迹确定该结构的外部结构包络。 以绝对坐标确定结构的位置和方向以及结构包络。 此外，可以基于结构的内部图像，绝对坐标的结构包络以及在室内区域的遍历期间与UE的室内轨迹相关联的测量来获取绝对坐标中的结构的室内地图，以捕获内部图像 。
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5.发明申请DISPLAY OF SEPARATE COMPUTER VISION BASED POSE AND INERTIAL SENSOR BASED POSE 审中-公开基于独立计算机视觉的显示和基于传统的基于传感器的POSE公开(公告)号：US20140176418A1
公开(公告)日：2014-06-26
申请号：US13725175
申请日：2012-12-21
Applicant: QUALCOMM INCORPORATED
Inventor： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Serafin Diaz Spindola , Murali Ramaswamy Chari
IPC: G06F3/01
Abstract: A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.
Abstract translation: 移动设备使用由摄像机拍摄的图像来确定基于视觉的姿势，并且使用来自诸如加速度计和陀螺仪的惯性传感器的数据来确定基于传感器的姿态。 基于视觉的姿势和基于传感器的姿势在可视化应用程序中单独使用，可视化应用程序显示不同姿态的单独图形。 例如，可视化应用程序可用于校准惯性传感器，其中可视化应用程序基于基于视觉的姿态显示图形和基于基于传感器的姿态的图形，并且提示用户将特定方向移动移动设备 具有显示的图形以加速惯性传感器校准的收敛。 或者，可视化应用可以是基于运动的游戏或摄影应用，其使用基于视觉的姿势和基于传感器的姿势来显示单独的图形。
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Patent Agency Ranking
6.发明申请METHOD FOR ALIGNING A MOBILE DEVICE SURFACE WITH THE COORDINATE SYSTEM OF A SENSOR 有权用传感器坐标系统对移动设备表面进行对准的方法公开(公告)号：US20140129170A1
公开(公告)日：2014-05-08
申请号：US13767838
申请日：2013-02-14
Applicant: QUALCOMM INCORPORATED
IPC: G01P21/00
CPC classification number: G01P21/00 , G01C25/00 , G01C25/005
Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.
Abstract translation: 当移动设备以相对于平面法线的不同取向保持静止时，通过对加速度矢量进行多次测量来校准移动设备中的加速度计。 计算一个圆圈，该圆圈适合加速度计坐标系中测量加速度向量的各个尖端。 使用圆的半径和测量的加速度矢量的长度来计算用于使加速度计坐标系与移动设备表面对准的旋转角度。 当移动设备相对于旋转轴以不同的速率旋转时，通过对旋转轴进行多次测量来校准移动设备中的陀螺仪。 计算符合测量值的线。 陀螺仪坐标系的线和轴之间的角度用于将陀螺仪坐标系与移动设备表面对齐。
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公开(公告)号：US10474233B2
公开(公告)日：2019-11-12
申请号：US15969430
申请日：2018-05-02
Applicant: QUALCOMM Incorporated
Inventor： Ashwin Swaminathan , Mahesh Ramachandran
Abstract: Methods and apparatus relating to enabling augmented reality applications using eye gaze tracking are disclosed. An exemplary method according to the disclosure includes displaying an image to a user of a scene viewable by the user, receiving information indicative of an eye gaze of the user, determining an area of interest within the image based on the eye gaze information, determining an image segment based on the area of interest, initiating an object recognition process on the image segment, and displaying results of the object recognition process.
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公开(公告)号：US09405972B2
公开(公告)日：2016-08-02
申请号：US14497235
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi , Murali Ramaswamy Chari
IPC: G01S1/00 , G06K9/00 , G06T7/60 , H04W4/02 , H04W4/04 , G01C21/00 , G01S19/13 , G06T7/20 , G01C21/20 , G06T7/00 , G01C21/16 , G01C25/00 , G01S5/02 , G01S5/16
CPC classification number: G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
Abstract: Embodiments disclosed pertain to the use of user equipment (UE) for the generation of a 3D exterior envelope of a structure based on captured images and a measurement set associated with each captured image. In some embodiments, a sequence of exterior images of a structure is captured and a corresponding measurement set comprising Inertial Measurement Unit (IMU) measurements, wireless measurements (including Global Navigation Satellite (GNSS) measurements) and/or other non-wireless sensor measurements may be obtained concurrently. A closed-loop trajectory of the UE in global coordinates may be determined and a 3D structural envelope of the structure may be obtained based on the closed loop trajectory and feature points in a subset of images selected from the sequence of exterior images of the structure.
Abstract translation: 所公开的实施例涉及使用用户设备（UE），用于基于所捕获的图像和与每个捕捉的图像相关联的测量集合来生成结构的3D外部包络。 在一些实施例中，捕获结构的外部图像的序列，并且包括惯性测量单元（IMU）测量，无线测量（包括全球导航卫星（GNSS）测量））和/或其他非无线传感器测量的对应测量集可以 同时获得。 可以确定UE在全局坐标中的闭环轨迹，并且可以基于从结构的外部图像的序列中选择的图像子集中的闭环轨迹和特征点来获得结构的3D结构包络。
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公开(公告)号：US09400930B2
公开(公告)日：2016-07-26
申请号：US14497219
申请日：2014-09-25
Applicant: QUALCOMM Incorporated
Inventor： Mark Leo Moeglein , Christopher Brunner , Hui Chao , Murali Ramaswamy Chari , Arvind Ramanandan , Mahesh Ramachandran , Abhishek Tyagi
IPC: H04W4/02 , H04W4/04 , G06K9/00 , G06T7/60 , G01C21/00 , G01S19/13 , G06T7/20 , G01C21/20 , G06T7/00 , G01C21/16 , G01C25/00 , G01S5/02 , G01S5/16
CPC classification number: G06T7/248 , G01C21/00 , G01C21/165 , G01C21/20 , G01C21/206 , G01C25/005 , G01S5/0263 , G01S5/0294 , G01S5/16 , G01S5/163 , G01S19/13 , G01S19/14 , G06K9/00671 , G06T7/579 , G06T7/60 , G06T7/80 , G06T2207/10004 , G06T2207/10016 , G06T2207/10032 , G06T2207/30212 , G06T2207/30241 , G06T2207/30244 , G06T2207/30252 , H04M2250/12 , H04M2250/52 , H04W4/029 , H04W4/043 , H04W4/33
Abstract: Embodiments disclosed obtain a plurality of measurement sets from a plurality of sensors in conjunction with the capture of a sequence of exterior and interior images of a structure while traversing locations in and around the structure. Each measurement set may be associated with at least one image. An external structural envelope of the structure is determined from exterior images of the structure and the corresponding outdoor trajectory of a UE. The position and orientation of the structure and the structural envelope is determined in absolute coordinates. Further, an indoor map of the structure in absolute coordinates may be obtained based on interior images of the structure, a structural envelope in absolute coordinates, and measurements associated with the indoor trajectory of the UE during traversal of the indoor area to capture the interior images.
Abstract translation: 所公开的实施例结合捕获结构的外部和内部图像序列，同时跨过结构内部和周围的位置，从多个传感器获得多个测量集合。 每个测量集可以与至少一个图像相关联。 从结构的外部图像和UE的对应的室外轨迹确定该结构的外部结构包络。 以绝对坐标确定结构的位置和方向以及结构包络。 此外，可以基于结构的内部图像，绝对坐标的结构包络以及在室内区域的遍历期间与UE的室内轨迹相关联的测量来获取绝对坐标中的结构的室内地图，以捕获内部图像 。
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10.发明授权Method for initializing and solving the local geometry or surface normals of surfels using images in a parallelizable architecture 有权使用可并行化架构中的图像初始化和求解冲浪的局部几何或表面法线的方法公开(公告)号：US09256788B2
公开(公告)日：2016-02-09
申请号：US13789577
申请日：2013-03-07
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Daniel Wagner , Murali Ramaswamy Chari
CPC classification number: G06K9/00711 , G06K9/00201 , G06K9/00214 , G06T7/248 , G06T17/20 , G06T2207/10016
Abstract: A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.
Abstract translation: 这里描述了一种解决在视频流中观察到的场景中的对象的表面法线的系统和方法。 系统和方法可以包括对视频流进行采样以生成一组关键帧; 为每个关键帧中的一组地图点生成假设表面法线; 将第一关键帧中的相应地图点的修补片从具有从每个假设表面法线计算的翘曲矩阵的第二关键帧的视点; 在两个关键帧之间的每个假说表面正常之间评分翘曲误差; 并且丢弃在第一和第二关键帧之间具有高翘曲误差的假设表面法线。
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