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公开(公告)号：US20220122326A1
公开(公告)日：2022-04-21
申请号：US17071977
申请日：2020-10-15
Applicant: QUALCOMM Incorporated
Inventor： Gerhard REITMAYR , Antonio Leonardo RODRIGUEZ LOPEZ
Abstract: Techniques and systems are provided for detecting object surfaces in extended reality environments. In some examples, a system obtains image data associated with a portion of a scene within a field of view (FOV) of a device. The portion of the scene includes at least one object. The system determines, based on the image data, a depth map of the portion of the scene. The system also determines, using the depth map, one or more planes within the portion of the scene. The system then generates, using the one or more planes, at least one planar region with boundaries corresponding to boundaries of a surface of the at least one object. The system also generates a three-dimensional representation of the portion of the scene using the at least one planar region and updates a three-dimensional representation of the scene using the three-dimensional representation of the portion of the scene.
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公开(公告)号：US20220058871A1
公开(公告)日：2022-02-24
申请号：US16998975
申请日：2020-08-20
Applicant: QUALCOMM Incorporated
Inventor： Ke-Li CHENG , Kuang-Man HUANG , Michel Adib SARKIS , Gerhard REITMAYR , Ning BI
Abstract: Techniques are provided for generating three-dimensional models of objects from one or more images or frames. For example, at least one frame of an object in a scene can be obtained. A portion of the object is positioned on a plane in the at least one frame. The plane can be detected in the at least one frame and, based on the detected plane, the object can be segmented from the plane in the at least one frame. A three-dimensional (3D) model of the object can be generated based on segmenting the object from the plane. A refined mesh can be generated for a portion of the 3D model corresponding to the portion of the object positioned on the plane.
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公开(公告)号：US20170160747A1
公开(公告)日：2017-06-08
申请号：US15192874
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar AGHAMOHAMMADI , Saurav AGARWAL , Shayegan OMIDSHAFIEI , Christopher LOTT , Kiran SOMASUNDARAM , Bardia Fallah BEHABADI , Sarah Paige GIBSON , Casimir Matthew WIERZYNSKI , Gerhard REITMAYR , Serafin DIAZ
CPC classification number: G05D1/0251 , G06T7/579 , G06T7/593 , G06T2207/10021 , G06T2207/20076 , H04N13/204
Abstract: A method of calculating a most likely map based on batch data includes gathering a corpus of sensor measurements indexed by a location of a sensor throughout an environment to be mapped. The method also includes determining, after gathering the corpus of sensor measurements, a most likely occupancy level of each voxel of multiple voxels of the environment in accordance with the corpus of sensor measurements and a stochastic sensor model. The method further includes calculating the most likely map based on the determined most likely occupancy level.
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公开(公告)号：US20150269436A1
公开(公告)日：2015-09-24
申请号：US14657821
申请日：2015-03-13
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung KIM , Gerhard REITMAYR
CPC classification number: G06K9/00624 , G06T7/246 , G06T2207/30244
Abstract: Techniques are disclosed for tracking objects in computer vision (CV) applications, involving identifying line segments in an image and using iterative approach of computing and analyzing spatial and angular distribution of different sets of line segments to identify a set of line segments with relatively high spatial and/or angular distribution, which can reduce the likelihood of error in tracking. Some techniques may further employ a quality check of the selected line segments. An estimation of a device's pose (translation and orientation) may be calculated from tracked line segments.
Abstract translation: 公开了用于跟踪计算机视觉（CV）应用中的对象的技术，涉及识别图像中的线段，并且使用迭代方法来计算和分析不同组线段的空间和角度分布，以识别具有相对较高空间的线段 和/或角度分布，这可以降低跟踪误差的可能性。 一些技术可以进一步采用所选线段的质量检查。 可以从跟踪的线段计算设备姿态（平移和定向）的估计。
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公开(公告)号：US20240005607A1
公开(公告)日：2024-01-04
申请号：US18353592
申请日：2023-07-17
Applicant: QUALCOMM Incorporated
Inventor： Ke-Li CHENG , Kuang-Man HUANG , Michel Adib SARKIS , Gerhard REITMAYR , Ning BI
CPC classification number: G06T17/205 , G06T7/12 , G06T19/006 , G06T2210/56
Abstract: Techniques are provided for generating three-dimensional models of objects from one or more images or frames. For example, at least one frame of an object in a scene can be obtained. A portion of the object is positioned on a plane in the at least one frame. The plane can be detected in the at least one frame and, based on the detected plane, the object can be segmented from the plane in the at least one frame. A three-dimensional (3D) model of the object can be generated based on segmenting the object from the plane. A refined mesh can be generated for a portion of the 3D model corresponding to the portion of the object positioned on the plane.
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Patent Agency Ranking
公开(公告)号：US20230274778A1
公开(公告)日：2023-08-31
申请号：US18313930
申请日：2023-05-08
Applicant: QUALCOMM Incorporated
Inventor： Wesley James HOLLAND , Mehrad TAVAKOLI , Injoon HONG , Huang HUANG , Simon Peter William BOOTH , Gerhard REITMAYR
IPC: G11C11/419 , G06F1/3287 , G06F3/01 , G06F3/14 , G06T5/00 , G06T19/00 , G11C11/412 , H10B10/00
CPC classification number: G11C11/419 , G06F1/3287 , G06F3/013 , G06F3/14 , G06T5/006 , G06T19/006 , G11C11/412 , H10B10/12
Abstract: Systems, methods, and computer-readable media are provided for providing pose estimation in extended reality systems. An example method can include tracking, in a lower-power processing mode using a set of lower-power circuit elements on an integrated circuit, a position and orientation of a computing device during a lower-power processing period, the set of lower-power circuit elements including a static random-access memory (SRAM); suspending, based on a triggering event, the tracking in the lower-power processing mode; initiating a higher-power processing mode for tracking the position and orientation of the computing device during a higher-power processing period; and tracking, in the higher-power processing mode using a set of higher-power circuit elements on the integrated circuit and a dynamic random-access memory (DRAM), the position and orientation of the computing device during the higher-power processing period.
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公开(公告)号：US20220277489A1
公开(公告)日：2022-09-01
申请号：US17189105
申请日：2021-03-01
Applicant: QUALCOMM Incorporated
Inventor： Ashar ALI , Gokce DANE , Upal MAHBUB , Samuel SUNARJO , Gerhard REITMAYR
Abstract: Systems and techniques are provided for modeling three-dimensional (3D) meshes using images. An example method can include receiving, via a neural network system, an image of a target and metadata associated with the image and/or a device that captured the image; determining, based on the image and metadata, first 3D mesh parameters of a first 3D mesh of the target, the first 3D mesh parameters and first 3D mesh corresponding to a first reference frame associated with the image and/or the device; and determining, based on the first 3D mesh parameters, second 3D mesh parameters for a second 3D mesh of the target, the second 3D mesh parameters and second 3D mesh corresponding to a second reference frame, the second reference frame including a 3D coordinate system of a real-world scene where the target is located.
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公开(公告)号：US20220245832A1
公开(公告)日：2022-08-04
申请号：US17166957
申请日：2021-02-03
Applicant: QUALCOMM Incorporated
Inventor： Ajit Deepak GUPTE , Gerhard REITMAYR , Abhijeet BISAIN , Pushkar GORUR SHESHAGIRI , Chayan SHARMA , Ajit Venkat RAO
Abstract: Systems and techniques are described herein for processing images. The systems and techniques can be implemented by various types of systems, such as by an extended reality (XR) system or device. In some cases, a first processor receives an image of an environment captured by an image sensor, identifies features depicted in the image, and generates descriptors for the features. The first processor sends the descriptors to a second processor, which may be more powerful than the first processor. The second processor receives the descriptors. The second processor associates the plurality of features with a map of the environment based on at least a subset of the plurality of descriptors. For example, the second processor can track at least a subset of the features based on at least a subset of the descriptors and based on feature information from one or more additional images of the environment.
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公开(公告)号：US20220198677A1
公开(公告)日：2022-06-23
申请号：US17127568
申请日：2020-12-18
Applicant: QUALCOMM Incorporated
Inventor： Abhijeet BISAIN , Gerhard REITMAYR
IPC: G06T7/174
Abstract: Examples are described for processing images to mask dynamic objects out of images to improve feature tracking between images. A device receives an image of an environment captured by an image sensor. The image depicts at least a static portion of the environment and a dynamic object in the environment. The device identifies a portion of the image that includes a depiction of the dynamic object. For example, the device can detect a bounding box around the dynamic object, or can detect which pixels in the image correspond to the dynamic object. The device generates a masked image at least by masking the portion of the image. The device identifies features in the masked image, and uses the features from the masked image for feature tracking from other images of the environment, masked or otherwise. The device can use this feature tracking for mapping, localization, and/or relocation.
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公开(公告)号：US20210125664A1
公开(公告)日：2021-04-29
申请号：US16667754
申请日：2019-10-29
Applicant: QUALCOMM Incorporated
Inventor： Wesley James HOLLAND , Mehrad TAVAKOLI , Injoon HONG , Huang HUANG , Simon Peter William BOOTH , Gerhard REITMAYR
IPC: G11C11/419 , G11C11/412 , H01L27/11 , G06T5/00 , G06T19/00 , G06F3/14 , G06F3/01 , G06F1/3287
Abstract: Systems, methods, and computer-readable media are provided for providing pose estimation in extended reality systems. An example method can include tracking, in a lower-power processing mode using a set of lower-power circuit elements on an integrated circuit, a position and orientation of a computing device during a lower-power processing period, the set of lower-power circuit elements including a static random-access memory (SRAM); suspending, based on a triggering event, the tracking in the lower-power processing mode; initiating a higher-power processing mode for tracking the position and orientation of the computing device during a higher-power processing period; and tracking, in the higher-power processing mode using a set of higher-power circuit elements on the integrated circuit and a dynamic random-access memory (DRAM), the position and orientation of the computing device during the higher-power processing period.
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