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    CODE DOMAIN POWER CONTROL FOR STRUCTURED LIGHT
    12.
    发明申请
    CODE DOMAIN POWER CONTROL FOR STRUCTURED LIGHT 有权
    用于结构光的代码域功率控制

    公开(公告)号：US20170061634A1

    公开(公告)日：2017-03-02

    申请号：US15060028

    申请日：2016-03-03

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Albrecht Johannes Lindner

    IPC: G06T7/00 ,  G01B11/22 ,  G06K9/62 ,  G06K9/52 ,  G06K9/18 ,  G06K9/46

    CPC classification number: G06T7/50 ,  G01B11/22 ,  G01B11/2513 ,  G06K9/18 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6215 ,  G06K9/6267 ,  G06T7/521

    Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.

    Abstract translation: 公开了用于控制结构光激光系统的系统和方法。 一个方面是结构化光系统。 该系统包括被配置为存储深度图的存储器件。 该系统还包括图像投影装置，其包括被配置为投影码字的激光系统。 该系统还包括一个包括传感器的接收机设备，该接收机设备被配置为感测从对象反射的投影码字。 该系统还包括处理电路，其被配置为检索深度图的一部分并从深度图计算预期码字。 该系统还包括被配置为基于感测的码字和预期码字来控制激光系统的输出功率的反馈系统。

    SYSTEMS AND METHODS FOR DEPTH MAP SAMPLING
    13.
    发明申请
    SYSTEMS AND METHODS FOR DEPTH MAP SAMPLING 审中-公开
    深度地图采样的系统和方法

    公开(公告)号：US20170061632A1

    公开(公告)日：2017-03-02

    申请号：US14833573

    申请日：2015-08-24

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Volodimir Slobodyanyuk ,  Stephen Michael Verrall ,  Kalin Mitkov Atanassov

    IPC: G06T7/00 ,  G06K9/00 ,  H04N13/02

    CPC classification number: G06K9/00208 ,  G01S7/4972 ,  G01S17/023 ,  G01S17/89 ,  G06K9/00744 ,  G06T7/50 ,  G06T2207/10024 ,  G06T2207/10028 ,  H04N13/261

    Abstract: An electronic device is described. The electronic device includes a camera configured to capture an image of a scene. The electronic device also includes an image segmentation mapper configured to perform segmentation of the image based on image content to generate a plurality of image segments, each of the plurality of image segments associated with spatial coordinates indicative of a location of each segment in the scene. The electronic device further includes a memory configured to store the image and the spatial coordinates. The electronic device additionally includes a LIDAR (light+radar) unit, the LIDAR unit steerable to selectively obtain depth values corresponding to at least a subset of the spatial coordinates. The electronic device further includes a depth mapper configured to generate a depth map of the scene based on the depth values and the spatial coordinates.

    Abstract translation: 描述了电子设备。 电子设备包括被配置为捕获场景的图像的照相机。 电子设备还包括图像分割映射器，其被配置为基于图像内容执行图像的分割以生成多个图像片段，所述多个图像片段中的每一个与指示场景中每个片段的位置的空间坐标相关联。 电子设备还包括被配置为存储图像和空间坐标的存储器。 电子设备还包括LIDAR（光+雷达）单元，LIDAR单元可选择地获得与空间坐标的至少一个子集对应的深度值。 电子设备还包括深度图绘制器，其被配置为基于深度值和空间坐标生成场景的深度图。

    SYSTEMS AND METHODS FOR SELECTING AN IMAGE TRANSFORM
    14.
    发明申请
    SYSTEMS AND METHODS FOR SELECTING AN IMAGE TRANSFORM 审中-公开
    用于选择图像变换的系统和方法

    公开(公告)号：US20170024846A1

    公开(公告)日：2017-01-26

    申请号：US14991871

    申请日：2016-01-08

    Applicant: QUALCOMM Incorporated

    Inventor： James Nash ,  Kalin Mitkov Atanassov ,  Hasib Ahmed Siddiqui ,  Albrecht Johannes Lindner

    IPC: G06T1/20 ,  G06F3/0488 ,  G06F3/0484

    CPC classification number: G06T1/20 ,  G06F3/04842 ,  G06F3/0488 ,  G06T3/0068 ,  G06T7/30 ,  H04N5/145 ,  H04N5/232 ,  H04N5/23238 ,  H04N5/23296

    Abstract: An electronic device for selecting a transform is described. The electronic device includes at least one image sensor, a memory, and a processor coupled to the memory and to the at least one image sensor. The processor is configured to obtain at least two images from the at least one image sensor. The processor is also configured to characterize structural content of each of the at least two images to produce a characterization for each image that is relevant to transform performance. The processor is further configured to select at least one transform from a set of transforms based on the characterization. The processor is additionally configured to apply the at least one transform to at least one of the images to substantially align the at least two images.

    Abstract translation: 描述用于选择变换的电子设备。 电子设备包括至少一个图像传感器，存储器和耦合到存储器和至少一个图像传感器的处理器。 处理器被配置为从至少一个图像传感器获得至少两个图像。 处理器还被配置为表征所述至少两个图像中的每一个的结构内容，以产生与变换性能相关的每个图像的表征。 处理器还被配置为基于表征从一组变换中选择至少一个变换。 处理器另外被配置为将至少一个变换应用于至少一个图像以基本上对准至少两个图像。

    Pose estimation using multiple cameras
    16.
    发明授权
    Pose estimation using multiple cameras 有权

    公开(公告)号：US10565726B2

    公开(公告)日：2020-02-18

    申请号：US15640821

    申请日：2017-07-03

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  James Wilson Nash ,  Hasib Siddiqui

    IPC: G06T7/73

    Abstract: A device includes a first camera and a processor configured to detect one or more first keypoints within a first image captured by the first camera at a first time, detect one or more second keypoints within a second image captured by a second camera at the first time, and detect the one or more first keypoints within a third image captured by the first camera at a second time. The processor is configured to determine a pose estimation based on coordinates of the one or more first keypoints of the first image relative to a common coordinate system, coordinates of the one or more second keypoints of the second image relative to the common coordinate system, and coordinates of the one or more first keypoints of the third image relative to the common coordinate system. The first coordinate system is different than the common coordinate system.

    LIGHT DISTRIBUTION FOR ACTIVE DEPTH SYSTEMS
    17.
    发明申请
    LIGHT DISTRIBUTION FOR ACTIVE DEPTH SYSTEMS 审中-公开

    公开(公告)号：US20190323827A1

    公开(公告)日：2019-10-24

    申请号：US15958651

    申请日：2018-04-20

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

    IPC: G01B11/22 ,  G01B11/25

    Abstract: Aspects of the present disclosure relate to systems and methods for structured light depth systems. An example active depth system may include a receiver to receive reflections of transmitted light and a transmitter including one or more light sources to transmit light in a spatial distribution. The spatial distribution of transmitted light may include a first region of a first plurality of light points and a second region of a second plurality of light points. A first density of the first plurality of light points is greater than a second density of the second plurality of light points when a first distance between a center of the spatial distribution and a center of the first region is less than a second distance between the center of the spatial distribution and the center of the second region.

    Systems and methods for correcting erroneous depth information
    18.
    发明授权
    Systems and methods for correcting erroneous depth information 有权

    公开(公告)号：US10341633B2

    公开(公告)日：2019-07-02

    申请号：US14948195

    申请日：2015-11-20

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

    IPC: G06T5/00 ,  G06T5/50 ,  G06T7/00 ,  G06T7/30 ,  G06T7/593 ,  H04N13/00 ,  H04N5/232 ,  H04N13/128

    Abstract: An electronic device for generating a corrected depth map is described. The electronic device includes a processor. The processor is configured to obtain a first depth map. The first depth map includes first depth information of a first portion of a scene sampled by the depth sensor at a first sampling. The processor is also configured to obtain a second depth map. The second depth map includes second depth information of a second portion of the scene sampled by the depth sensor at a second sampling. The processor is additionally configured to obtain displacement information indicative of a displacement of the depth sensor between the first sampling and the second sampling. The processor is also configured to generate a corrected depth map by correcting erroneous depth information based on the first depth information, the second depth information, and the displacement information.

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