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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
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。
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公开(公告)号：US10733798B2
公开(公告)日：2020-08-04
申请号：US13802834
申请日：2013-03-14
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Qi Pan
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.
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公开(公告)号：US09563824B2
公开(公告)日：2017-02-07
申请号：US14739635
申请日：2015-06-15
Applicant: QUALCOMM Incorporated
Inventor： Emilio Maggio , Qi Pan , Gerhard Reitmayr
CPC classification number: G06K9/6277 , G06K9/34 , G06K9/4652 , G06K9/6278 , G06K9/66 , G06T7/90 , H04N1/6086
Abstract: Methods, systems, computer-readable media, and apparatuses for assigning a color class of a defined finite set of colors to at least one sub-region within a test image are presented. A plurality of sub-regions are identified within a test image. A first sub-region color value is determined for a selected first sub-region of the test image. Using the first sub-region color value and a plurality of zero-order probability distributions, a first color class of the defined finite set of colors is determined as a hypothesis color for the first sub-region. A second sub-region color value is determined for a selected second sub-region of the test image. Using the second sub-region color value and a conditional probability distribution conditioned on the hypothesis color for the first sub-region, a second color class of the defined set of colors is determined. The second color class is assigned to the second sub-region.
Abstract translation: 呈现用于将定义的有限颜色集合的颜色分类分配给测试图像内的至少一个子区域的方法，系统，计算机可读介质和装置。 在测试图像内识别多个子区域。 针对测试图像的所选择的第一子区域确定第一子区域颜色值。 使用第一子区域颜色值和多个零阶概率分布，将所定义的有限颜色集合的第一颜色类别确定为第一子区域的假设颜色。 对于测试图像的所选择的第二子区域确定第二子区域颜色值。 使用第二子区域颜色值和对第一子区域的假设颜色进行调节的条件概率分布，确定所定义的一组颜色的第二颜色类别。 第二个颜色类被分配给第二个子区域。
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公开(公告)号：US09547669B2
公开(公告)日：2017-01-17
申请号：US14711406
申请日：2015-05-13
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Qi Pan
CPC classification number: G06F17/30286 , G06T17/00
Abstract: Disclosed is a server that can perform a visual search using at least one rectified image. A method implemented at a server includes storing a plurality of images with the server, receiving at least one rectified image having at least one potential object of interest from a computing device for a visual search, and extracting descriptors representing features of the at least one rectified image. The extracted descriptors of the at least one rectified image are designed to be invariant to rotation, scale, and lighting without needing to be invariant to perspective or affine distortion.
Abstract translation: 公开了一种可以使用至少一个整流图像执行视觉搜索的服务器。 在服务器上实现的方法包括：与服务器一起存储多个图像;从计算设备接收至少一个具有至少一个潜在感兴趣对象的整流图像用于视觉搜索，以及提取表示所述至少一个经校正的特征的描述符 图片。 所提取的至少一个整流图像的描述符被设计为对旋转，缩放和照明是不变的，而不需要对透视或仿射变形不变。
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公开(公告)号：US09152874B2
公开(公告)日：2015-10-06
申请号：US13801601
申请日：2013-03-13
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Youngmin Park , Qi Pan
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。
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Patent Agency Ranking
公开(公告)号：US20140108466A1
公开(公告)日：2014-04-17
申请号：US13793629
申请日：2013-03-11
Applicant: QUALCOMM INCORPORATED
Inventor： Daniel Wagner , Slawomir K. Grzechnik , Qi Pan
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。
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公开(公告)号：US09811731B2
公开(公告)日：2017-11-07
申请号：US14505345
申请日：2014-10-02
Applicant: QUALCOMM Incorporated
Inventor： Wonwoo Lee , Qi Pan , Emilio Maggio , Romain Tallonneau
CPC classification number: G06K9/00624 , G06K9/00671 , G06K9/4604 , G06K9/6202
Abstract: A computer-implemented method of tracking a target object in an object recognition system includes acquiring a plurality of images with a camera and simultaneously tracking the target object and dynamically building online map data from the plurality of images. Tracking of the target object is based on the online map data and the offline map data. In one aspect, tracking the target object includes enabling only one of the online map data and offline map data for tracking based on whether tracking is successful. In another aspect, tracking the target object includes fusing the online map data with the offline map data to generate a fused online model.
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公开(公告)号：US09524434B2
公开(公告)日：2016-12-20
申请号：US14494947
申请日：2014-09-24
Applicant: QUALCOMM Incorporated
Inventor： Andrew Philip Gee , Qi Pan , Michael Gervautz
CPC classification number: G06K9/00624 , G06K9/00671 , G06T19/006
Abstract: A computer-implemented method of tracking a target object in an object recognition system includes acquiring a plurality of images with a camera. The method further includes simultaneously tracking the target object and dynamically building environment map data from the plurality of images. The tracking of the target object includes attempting to estimate a target pose of the target object with respect to the camera based on at least one of the plurality of images and based on target map data. Next, the method determines whether the tracking of the target object with respect to the camera is successful. If not, then the method includes inferring the target pose with respect to the camera based on the dynamically built environment map data. In one aspect the method includes fusing the inferred target pose with the actual target pose even if tracking is successful to improve robustness.
Abstract translation: 在物体识别系统中跟踪目标对象的计算机实现的方法包括用相机获取多个图像。 该方法还包括同时跟踪目标对象并从多个图像动态构建环境地图数据。 目标对象的跟踪包括基于多个图像中的至少一个并且基于目标地图数据来尝试估计目标物体相对于照相机的目标姿态。 接下来，该方法确定目标对象相对于照相机的跟踪是否成功。 如果不是，则该方法包括基于动态构建的环境地图数据推测相对于摄像机的目标姿态。 在一个方面，该方法包括将所推断的目标姿态与实际目标姿态进行融合，即使跟踪成功以提高鲁棒性。
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公开(公告)号：US20160364632A1
公开(公告)日：2016-12-15
申请号：US14739635
申请日：2015-06-15
Applicant: QUALCOMM Incorporated
Inventor： Emilio Maggio , Qi Pan , Gerhard Reitmayr
CPC classification number: G06K9/6277 , G06K9/34 , G06K9/4652 , G06K9/6278 , G06K9/66 , G06T7/90 , H04N1/6086
Abstract: Methods, systems, computer-readable media, and apparatuses for assigning a color class of a defined finite set of colors to at least one sub-region within a test image are presented. A plurality of sub-regions are identified within a test image. A first sub-region color value is determined for a selected first sub-region of the test image. Using the first sub-region color value and a plurality of zero-order probability distributions, a first color class of the defined finite set of colors is determined as a hypothesis color for the first sub-region. A second sub-region color value is determined for a selected second sub-region of the test image. Using the second sub-region color value and a conditional probability distribution conditioned on the hypothesis color for the first sub-region, a second color class of the defined set of colors is determined. The second color class is assigned to the second sub-region.
Abstract translation: 呈现用于将定义的有限颜色集合的颜色分类分配给测试图像内的至少一个子区域的方法，系统，计算机可读介质和装置。 在测试图像内识别多个子区域。 针对测试图像的所选择的第一子区域确定第一子区域颜色值。 使用第一子区域颜色值和多个零阶概率分布，将所定义的有限颜色集合的第一颜色类别确定为第一子区域的假设颜色。 对于测试图像的所选择的第二子区域确定第二子区域颜色值。 使用第二子区域颜色值和对第一子区域的假设颜色进行调节的条件概率分布，确定所定义的一组颜色的第二颜色类别。 第二个颜色类被分配给第二个子区域。
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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
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。
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