公开(公告)号：US20140267397A1

公开(公告)日：2014-09-18

申请号：US13802834

申请日：2013-03-14

Applicant: QUALCOMM INCORPORATED

Inventor： Daniel Wagner ,  Qi Pan

IPC: G06T7/00 ,  G06T19/00

Abstract: Disclosed are a system, apparatus, and method for in-situ creation of planar natural feature targets. In one embodiment, a planar target is initialized from a single first reference image one or more subsequent images are processed. In one embodiment, the planar target is tracked in six degrees of freedom upon the processing of the one or more subsequent images and a second reference image is selected from the processed one or more subsequent images. In one embodiment, upon selecting the second reference image the planar target is refined to a more accurate planar target.

Abstract translation: 公开了用于原位创建平面自然特征目标的系统，装置和方法。 在一个实施例中，从单个第一参考图像初始化平面目标，一个或多个后续图像被处理。 在一个实施例中，在处理一个或多个后续图像时，以六个自由度跟踪平面目标，并且从处理的一个或多个后续图像中选择第二参考图像。 在一个实施例中，在选择第二参考图像时，将平面目标细化到更准确的平面目标。

公开(公告)号：US20140126768A1

公开(公告)日：2014-05-08

申请号：US13789577

申请日：2013-03-07

Applicant: QUALCOMM INCORPORATED

Inventor： Mahesh Ramachandran ,  Daniel Wagner ,  Murali Ramaswamy Chari

IPC: G06K9/00

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。

公开(公告)号：US09495389B2

公开(公告)日：2016-11-15

申请号：US13843607

申请日：2013-03-15

Applicant: QUALCOMM Incorporated

Inventor： Qi Pan ,  Daniel Wagner ,  Zsolt Szalavari

IPC: G06F17/30 ,  G06F7/00

CPC classification number: G06F17/30277 ,  G06F17/3087

Abstract: Method, mobile device, computer program product and apparatus for performing a search are disclosed. The method of performing a search comprises receiving one or more images of an environment in view of a mobile device, generating a simultaneous localization and mapping of the environment using the one or more images, wherein the simultaneous localization and mapping of the environment comprises a plurality of map points representing a plurality of surfaces in a three dimensional coordinate system of the environment, sending a set of the plurality of map points as a search query to a server, receiving a query response from the server, and identifying an object in the environment based at least in part on the query response.

Abstract translation: 公开了用于执行搜索的方法，移动装置，计算机程序产品和装置。 执行搜索的方法包括：从移动设备的角度来接收环境的一个或多个图像，使用所述一个或多个图像生成环境的同时定位和映射，其中所述环境的同时定位和映射包括多个 表示环境的三维坐标系中的多个表面的地图点，将多个映射点的集合作为搜索查询发送到服务器，从服务器接收查询响应，以及识别环境中的对象 至少部分地基于查询响应。

公开(公告)号：US20160224856A1

公开(公告)日：2016-08-04

申请号：US14609371

申请日：2015-01-29

Applicant: QUALCOMM Incorporated

Inventor： Youngmin Park ,  Daniel Wagner

IPC: G06K9/46 ,  G06T7/00 ,  G06T7/60 ,  G06K9/00

CPC classification number: G06K9/46 ,  G06K9/00624 ,  G06K2009/4666 ,  G06T7/246 ,  G06T7/50 ,  G06T7/60 ,  G06T2207/10028 ,  G06T2207/20021

Abstract: Disclosed are a system, apparatus, and method for performing occlusion handling for simultaneous localization and mapping. Occluded map points may be detected according to a depth-mask created according to an image keyframe. Dividing a scene into sections may optimize the depth-mask. Size of depth-mask points may be adjusted according to intensity. Visibility may be verified with an optimized subset of possible map points. Visibility may be propagated to nearby points in response to determining an initial visibility of a first point's surrounding image patch. Visibility may also be organized and optimized according to a grid.

Abstract translation: 公开了一种用于执行同时定位和映射的遮挡处理的系统，装置和方法。 可以根据根据图像关键帧创建的深度掩模来检测闭合的地图点。 将场景划分为多个部分可以优化深度掩码。 深度屏蔽点的大小可以根据强度进行调整。 可以通过可能的地图点的优化子集验证可见性。 响应于确定第一点的周围图像块的初始可视性，可见性可以传播到附近点。 还可以根据网格组织和优化可见性。

公开(公告)号：US20160171768A1

公开(公告)日：2016-06-16

申请号：US14569549

申请日：2014-12-12

Applicant: QUALCOMM Incorporated

Inventor： Youngmin Park ,  Erick Mendez Mendez ,  Gerhard Reitmayr ,  Daniel Wagner ,  Serafin Diaz Spindola

IPC: G06T19/00 ,  G06T7/00 ,  H04N13/00

CPC classification number: G06T19/006 ,  G06T7/13 ,  G06T7/38 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  H04N13/15 ,  H04N13/167 ,  H04N2213/003

Abstract: Disclosed are a system, apparatus, and method for depth and color camera image synchronization. Depth and color camera input images are received or otherwise obtained unsynchronized and without associated creation timestamps. An image of one type is compared with an image of a different type to determine a match for synchronization. Matches may be determined according to edge detection or depth coordinate detection. When a match is determined a synchronized pair is formed for processing within an augmented reality output. Optionally the synchronized pair may be transformed to improve the match between the image pair.

Abstract translation: 公开了用于深度和彩色相机图像同步的系统，装置和方法。 深度和彩色相机输入图像被接收或以其他方式获得不同步并且没有关联的创建时间戳。 将一种类型的图像与不同类型的图像进行比较以确定用于同步的匹配。 可以根据边缘检测或深度坐标检测来确定匹配。 当确定匹配时，形成用于在增强现实输出中进行处理的同步对。 可选地，可以变换同步对以改善图像对之间的匹配。

公开(公告)号：US20160073080A1

公开(公告)日：2016-03-10

申请号：US14845203

申请日：2015-09-03

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Alessandro Mulloni

IPC: H04N13/00 ,  H04N13/02

CPC classification number: H04N13/128 ,  G06T5/006 ,  G06T5/50 ,  G06T7/55 ,  G06T2207/10024 ,  G06T2207/10028 ,  H04N13/111 ,  H04N13/239 ,  H04N13/257

Abstract: Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.

Abstract translation: 公开了一种用于深度摄像机图像重新映射的系统，装置和方法。 可以接收来自深度相机的深度相机图像，并且可以确定深度相机的物理位置。可以相对于诸如彩色相机的物理位置的其他物理位置来确定深度相机的物理位置。 可以根据与另一物理位置相关联的处理顺序来变换深度相机图像。

公开(公告)号：US20150294499A1

公开(公告)日：2015-10-15

申请号：US14730146

申请日：2015-06-03

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Alessandro Mulloni ,  Gerhard Reitmayr ,  Daniel Knoblauch

IPC: G06T17/00 ,  H04N13/02

CPC classification number: G06T17/00 ,  G06T2200/08 ,  H04N13/204 ,  H04N13/254 ,  H04N13/271

Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.

Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。

公开(公告)号：US09058683B2

公开(公告)日：2015-06-16

申请号：US13772640

申请日：2013-02-21

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Qi Pan

IPC: G06K9/00 ,  G06T17/00 ,  G06F17/30

CPC classification number: G06F17/30286 ,  G06T17/00

Abstract: Disclosed is a computing device that can perform automatic image rectification for a visual search. A method implemented at a computing device includes receiving one or more images from an image capture device, storing the one or more images with the computing device, building a three dimensional (3D) geometric model for one or more potential objects of interest within an environment based on at least one image of the one or more images, and automatically creating at least one rectified image having at least one potential object of interest for a visual search.

Abstract translation: 公开了一种可以执行视觉搜索的自动图像校正的计算装置。 在计算设备处实现的方法包括从图像捕获设备接收一个或多个图像，用计算设备存储一个或多个图像，在环境中为一个或多个感兴趣的潜在对象建立三维（3D）几何模型 基于所述一个或多个图像的至少一个图像，并且自动创建具有至少一个潜在的目标物体的至少一个整流图像用于视觉搜索。

公开(公告)号：US09020982B2

公开(公告)日：2015-04-28

申请号：US13793629

申请日：2013-03-11

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Slawomir K. Grzechnik ,  Qi Pan

IPC: G06F17/30 ,  G06K9/32 ,  G06K9/46

CPC classification number: G06K9/3241 ,  G06F17/30244 ,  G06K9/4671

Abstract: Systems, apparatus and methods to create a database by a device (such as a server) and to use the database by a mobile device for detecting a planar target are presented. The database allows recognition of a planar target by a mobile device from steeper angles with minimum impact on runtime. The database is created from at least one warped view of the planar target. For example, a database may contain keypoints and descriptors from a non-warped view and also from one or more warped views. The database may be pruned by removing keypoints and corresponding descriptors of one image (e.g., a warped image) overlapping with similar or identical keypoints and descriptors of another image (e.g., a non-warped image).

Abstract translation: 呈现了由设备（例如服务器）创建数据库并通过移动设备使用数据库来检测平面目标的系统，设备和方法。 数据库允许移动设备从较陡的角度识别平面目标，对运行时间的影响最小。 数据库是从平面目标的至少一个翘曲视图创建的。 例如，数据库可以包含来自非翘曲视图以及来自一个或多个翘曲视图的关键点和描述符。 可以通过去除与另一图像（例如，非翘曲图像）的类似或相同关键点和描述符重叠的一个图像（例如，翘曲图像）的关键点和对应描述符来修剪数据库。

公开(公告)号：US20140270348A1

公开(公告)日：2014-09-18

申请号：US13801601

申请日：2013-03-13

Applicant: QUALCOMM INCORPORATED

Inventor： Daniel Wagner ,  Youngmin Park ,  Qi Pan

IPC: G06K9/32

CPC classification number: G06K9/3241 ,  G06T7/20 ,  G06T7/74 ,  G06T19/006 ,  G06T2207/10016 ,  G06T2207/20201

Abstract: Various methods, apparatuses and/or articles of manufacture are provided which may be implemented for use by an electronic device to track objects across two or more digital images. For example, an electronic device may generate a plurality of warped patches corresponding to a reference patch of a reference image, and combine two or more warped patches to form a blurred warped patch corresponding to the reference patch with a motion blur effect applied to a digital representation corresponding to a keypoint of an object to be tracked.

Abstract translation: 提供了各种方法，装置和/或制造品，其可以被实现为由电子设备用于跟踪跨越两个或更多个数字图像的物体。 例如，电子设备可以生成与参考图像的参考图像相对应的多个翘曲的斑块，并且组合两个或更多个扭曲的斑块以形成与参考斑块相对应的模糊的弯曲斑块，其中运动模糊效应被应用于数字 对应于要跟踪的对象的关键点的表示。