公开(公告)号：US09159133B2

公开(公告)日：2015-10-13

申请号：US14014174

申请日：2013-08-29

Applicant: QUALCOMM Incorporated

Inventor： Arvind Ramanandan ,  Christopher Brunner ,  Mahesh Ramachandran ,  Murali Ramaswamy Chari

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06T7/004 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30244

Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.

Abstract translation: 提出了用于估计移动设备中的重力和/或尺度的系统，装置和方法。 基于图像的姿势和基于惯性的姿势之间的差异正在用于更新重力和/或尺度的估计。 基于图像的姿势由两个姿态计算，并且在差异之前用缩放比例缩放。 基于惯性的姿态由加速度计测量计算，通过重力估计进行调整。

公开(公告)号：US20150092048A1

公开(公告)日：2015-04-02

申请号：US14497117

申请日：2014-09-25

Applicant: QUALCOMM Incorporated

Inventor： Christopher Brunner ,  Arvind Ramanandan ,  Mahesh Ramachandran ,  Abhishek Tyagi ,  Murali Ramaswamy Chari

IPC: G06K9/00 ,  G06T7/60

CPC classification number: G06T7/248 ,  G01C21/165 ,  G01C25/005 ,  G01S5/0263 ,  G01S5/0294 ,  G01S5/16 ,  G01S5/163 ,  G01S19/14 ,  G06K9/00671 ,  G06T7/579 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/30244 ,  H04M2250/12 ,  H04M2250/52 ,  H04W4/021 ,  H04W4/029 ,  H04W4/33

Abstract: A Visual Inertial Tracker (VIT), such as a Simultaneous Localization And Mapping (SLAM) system based on an Extended Kalman Filter (EKF) framework (EKF-SLAM) can provide drift correction in calculations of a pose (translation and orientation) of a mobile device by obtaining location information regarding a target, obtaining an image of the target, estimating, from the image of the target, measurements relating to a pose of the mobile device based on the image and location information, and correcting a pose determination of the mobile device using an EKF, based, at least in part, on the measurements relating to the pose of the mobile device.

Abstract translation: 视觉惯性跟踪器（VIT），例如基于扩展卡尔曼滤波器（EKF-SLAM）的同时定位和映射（SLAM）系统，可以在计算一个姿势（平移和定向）时提供漂移校正 通过获取关于目标的位置信息，获得目标图像，基于所述图像和位置信息，从所述目标图像估计与所述移动装置的姿势有关的测量值，以及校正所述移动装置的姿势确定 至少部分地基于与移动设备的姿态有关的测量的使用EKF的移动设备。

公开(公告)号：US20140168056A1

公开(公告)日：2014-06-19

申请号：US13838467

申请日：2013-03-15

Applicant: QUALCOMM INCORPORATED

Inventor： Ashwin Swaminathan ,  Mahesh Ramachandran

IPC: G06F3/01

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.

Abstract translation: 公开了使用眼睛注视跟踪实现增强现实应用的方法和装置。 根据本公开的示例性方法包括将图像显示给用户可见的场景的用户，接收指示用户的眼睛凝视的信息，基于眼睛凝视信息确定图像内的感兴趣区域，确定 基于感兴趣区域的图像片段，在图像片段上开始对象识别处理，并显示对象识别处理的结果。

公开(公告)号：US11079841B2

公开(公告)日：2021-08-03

申请号：US16591382

申请日：2019-10-02

Applicant: QUALCOMM Incorporated

Inventor： Ashwin Swaminathan ,  Mahesh Ramachandran

IPC: G06T19/00 ,  G09G5/00 ,  G06F3/01 ,  G06K9/00 ,  G06F3/147 ,  G06F3/0481 ,  G06K9/22 ,  G06K9/32

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.

公开(公告)号：US10444845B2

公开(公告)日：2019-10-15

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 ,  G01C21/16 ,  G01C25/00 ,  G06F3/0487 ,  G06F3/0346 ,  G06T7/80 ,  G06T7/73 ,  G06F3/03

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.

公开(公告)号：US09714955B2

公开(公告)日：2017-07-25

申请号：US13767838

申请日：2013-02-14

Applicant: QUALCOMM Incorporated

Inventor： Mahesh Ramachandran ,  Arvind Ramanandan ,  Christopher Brunner ,  Murali Ramaswamy Chari

IPC: G01P21/00 ,  G01C25/00

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.

公开(公告)号：US09336440B2

公开(公告)日：2016-05-10

申请号：US14552183

申请日：2014-11-24

Applicant: QUALCOMM Incorporated

Inventor： Mahesh Ramachandran ,  Shankar Sadasivam ,  Ashwin Swaminathan

IPC: G06K9/00 ,  G06F3/01 ,  H04N5/232 ,  H04N13/02 ,  G06T7/20

CPC classification number: G06K9/00624 ,  G06F3/012 ,  G06T7/277 ,  G06T2200/04 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20076 ,  H04N5/23248 ,  H04N13/25 ,  H04N13/271

Abstract: Systems, apparatus and methods in a mobile device to enable and disable a depth sensor for tracking pose of the mobile device are presented. A mobile device relaying on a camera without a depth sensor may provide inadequate pose estimates, for example, in low light situations. A mobile device with a depth sensor uses substantial power when the depth sensor is enabled. Embodiments described herein enable a depth sensor only when images are expected to be inadequate, for example, accelerating or moving too fast, when inertial sensor measurements are too noisy, light levels are too low or high, an image is too blurry, or a rate of images is too slow. By only using a depth sensor when images are expected to be inadequate, battery power in the mobile device may be conserved and pose estimations may still be maintained.

Abstract translation: 提出了移动设备中的启用和禁用用于跟踪移动设备姿态的深度传感器的系统，设备和方法。 在没有深度传感器的相机上中继的移动设备可以提供不足的姿势估计，例如在低光情况下。 当深度传感器启用时，具有深度传感器的移动设备使用大量功率。 本文所描述的实施例仅在预期图像不足时才能使用深度传感器，例如，当惯性传感器测量太嘈杂时，加速或移动太快，光水平太低或过高，图像太模糊或速率 的图像太慢了。 通过在图像预期不足时仅使用深度传感器，移动设备中的电池电量可能被保存并且仍然可以维持姿态估计。

公开(公告)号：US20140279790A1

公开(公告)日：2014-09-18

申请号：US13842928

申请日：2013-03-15

Applicant: QUALCOMM INCORPORATED

Inventor： Mahesh Ramachandran ,  Ashwin Swaminathan ,  Shankar Sadasivam

IPC: G06N5/04

CPC classification number: G06N7/005 ,  G01C21/36 ,  G06K9/00664 ,  G06K9/00993

Abstract: Exemplary methods, apparatuses, and systems infer a context of a user or device. A computer vision parameter is configured according to the inferred context. Performing a computer vision task, in accordance with the configured computer vision parameter. The computer vision task may by at least one of: a visual mapping of an environment of the device, a visual localization of the device or an object within the environment of the device, or a visual tracking of the device within the environment of the device.

Abstract translation: 示例性的方法，装置和系统推断用户或设备的上下文。 根据推断的上下文配置计算机视觉参数。 根据配置的计算机视觉参数执行计算机视觉任务。 计算机视觉任务可以通过以下至少一个来进行：设备的环境的视觉映射，设备的视觉定位或设备的环境内的对象，或者设备的环境内的设备的视觉跟踪 。

公开(公告)号：US20140129176A1

公开(公告)日：2014-05-08

申请号：US13767784

申请日：2013-02-14

Applicant: QUALCOMM INCORPORATED

Inventor： Arvind Ramanandan ,  Mahesh Ramachandran ,  Christopher Brunner ,  Murali Ramaswamy Chari

IPC: G01P13/02

CPC classification number: G01P13/02 ,  G01C21/10 ,  G01C25/005 ,  G06F1/1694 ,  G06F3/0346

Abstract: An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile device's coordinate system is retrieved from a memory in the mobile device, where the mobile device's coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.

Abstract translation: 位于移动设备内的加速度计用于估计世界坐标系中目标平面上的重力矢量。 加速度计进行多次测量，当移动设备在目标平面上保持静止并且移动设备的表面面对并且与目标平面的平面部分接触时，进行每次测量。 计算平均值。 在移动设备中的存储器中检索加速度计坐标系和移动设备的坐标系之间的旋转变换，其中移动设备的坐标系与移动设备的表面对齐。 将旋转变换应用于平均测量值，以获得由目标平面定义的世界坐标系中的估计重力矢量。

公开(公告)号：US20140119598A1

公开(公告)日：2014-05-01

申请号：US13830664

申请日：2013-03-14

Applicant: QUALCOMM Incorporated

Inventor： Mahesh Ramachandran ,  Abhishek Tyagi ,  Serafin Diaz Spindola

IPC: G06T11/60 ,  G06K9/38 ,  G06K9/32

CPC classification number: G06T11/60 ,  G06K9/3241 ,  G06K9/38 ,  G06T7/579

Abstract: Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking are disclosed. In one embodiment, a method of merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and merging the multiple keyframes to generate a global map of the scene.

Abstract translation: 公开了用于合并用于基于计算机视觉的跟踪的多个地图的方法，装置和计算机程序产品。 在一个实施例中，合并用于基于计算机视觉的跟踪的多个地图的方法包括从至少一个移动设备接收场地中的场景的多个地图，识别场景的多个地图中的多个关键帧，并且合并多个 关键帧生成场景的全局映射。