公开(公告)号：US10776997B2

公开(公告)日：2020-09-15

申请号：US15685770

申请日：2017-08-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/80 ,  G06F9/50 ,  G06T15/00 ,  G06T15/20 ,  G06T15/40 ,  G06T11/00 ,  G06T15/04 ,  G06T15/60

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to determine graphics primitives of a computer graphics scene that are visible from a camera viewpoint, generate a primitive atlas that includes data representing the graphics primitives that are visible from the camera viewpoint, and shade the visible graphics primitives in the primitive atlas to produce a shaded primitive atlas. The second GPU is configured to render an image using the shaded primitive atlas.

公开(公告)号：US20200184712A1

公开(公告)日：2020-06-11

申请号：US16640705

申请日：2018-07-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/40 ,  G06T17/20 ,  G06T15/80 ,  G06T15/04 ,  G06T15/00 ,  G06T1/60 ,  A63F13/50 ,  G06T15/10

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to perform a first portion of an image rendering process to generate intermediate graphics data and send the intermediate graphics data to the second computing device. The second GPU is configured to perform a second portion of the image rendering process to render an image from the intermediate graphics data. The first computing device may be a video game console, and the second computing device may be a virtual reality (VR) headset that warps the rendered image to produce a stereoscopic image pair.

公开(公告)号：US20190066370A1

公开(公告)日：2019-02-28

申请号：US15685770

申请日：2017-08-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/80 ,  G06F9/50 ,  G06T15/20 ,  G06T15/00 ,  G06T15/40

CPC classification number: G06T15/80 ,  G06F9/5066 ,  G06T11/001 ,  G06T15/005 ,  G06T15/04 ,  G06T15/20 ,  G06T15/40 ,  G06T15/60

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to determine graphics primitives of a computer graphics scene that are visible from a camera viewpoint, generate a primitive atlas that includes data representing the graphics primitives that are visible from the camera viewpoint, and shade the visible graphics primitives in the primitive atlas to produce a shaded primitive atlas. The second GPU is configured to render an image using the shaded primitive atlas.

公开(公告)号：US10185775B2

公开(公告)日：2019-01-22

申请号：US14862050

申请日：2015-09-22

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Clemens Arth ,  Christian Pirchheim

IPC: G06F7/00 ,  G06F17/30 ,  G06T17/05 ,  G06T19/20

Abstract: Disclosed are a system, apparatus, and method for multiple client simultaneous localization and mapping. Tracking and mapping may be performed locally and independently by each of a plurality of clients. At configurable points in time map data may be sent to a server for stitching and fusion. In response to successful stitching and fusion to one or more maps known to the server, updated position and orientation information relative to the server's maps may be sent back to the clients. Clients may update their local map data with the received server location data. Clients may receive additional map data from the server, which can be used for extending their maps. Clients may send queries to the server for 3D maps, and the queries may include metadata.

公开(公告)号：US09911235B2

公开(公告)日：2018-03-06

申请号：US14858777

申请日：2015-09-18

Applicant: QUALCOMM Incorporated

Inventor： Hartmut Seichter ,  Dieter Schmalstieg

IPC: G06T19/00 ,  G06F1/16 ,  G06F3/01 ,  G06F3/03 ,  G06F3/038 ,  H04N5/225

CPC classification number: G06T19/006 ,  G06F1/1686 ,  G06F3/011 ,  G06F3/012 ,  G06F3/013 ,  G06F3/017 ,  G06F3/0304 ,  G06F3/038 ,  G06F3/04812 ,  H04N5/225

Abstract: A method for spatial interaction in Augmented Reality (AR) includes displaying an AR scene that includes an image of a real-world scene, a virtual target object, and a virtual cursor. A position of the virtual cursor is provided according to a first coordinate system within the AR scene. A user device tracks a pose of the user device relative to a user hand according to a second coordinate system. The second coordinate system is mapped to the first coordinate system to control movements of the virtual cursor. In a first mapping mode, virtual cursor movement is controlled to change a distance between the virtual cursor and the virtual target object. In a second mapping mode, virtual cursor movement is controlled to manipulate the virtual target object. User input is detected to control which of the first mapping mode or the second mapping mode is used.

公开(公告)号：US20150262380A1

公开(公告)日：2015-09-17

申请号：US14658108

申请日：2015-03-13

Applicant: QUALCOMM INCORPORATED

Inventor： Philipp Grasmug ,  Dieter Schmalstieg ,  Stefan Hauswiesner ,  Denis Kalkofen

IPC: G06T7/20 ,  G06T19/00

CPC classification number: G06T19/006 ,  G06T3/40 ,  G06T7/20 ,  G06T7/207 ,  G06T7/292 ,  G06T2207/10016 ,  G06T2207/20004 ,  G06T2207/20016 ,  G06T2207/30244

Abstract: A method, device, and apparatus for determining optical flow from a plurality of images is described and includes receiving a first image frame from a first plurality of images, where the first plurality of images have a first resolution and a first frame rate. A second image frame may be received from a second plurality of images, where the second plurality of images have a second resolution less than the first resolution and a second frame rate greater than the first frame rate. A first optical flow may be computed from the first image frame to the second image frame. Additionally, the based at least in part on the first optical flow from the first image frame to the second image frame, a third image frame may be output as part of an output stream. The output stream may have a frame rate greater than or equal to the first frame rate, where the third image frame has a resolution greater than or equal to the second resolution.

Abstract translation: 描述了用于从多个图像确定光流的方法，装置和装置，并且包括从第一多个图像接收第一图像帧，其中第一多个图像具有第一分辨率和第一帧速率。 可以从第二多个图像接收第二图像帧，其中第二多个图像具有小于第一分辨率的第二分辨率和大于第一帧速率的第二帧速率。 可以从第一图像帧到第二图像帧计算第一光流。 另外，至少部分地基于从第一图像帧到第二图像帧的第一光流，第三图像帧可以作为输出流的一部分被输出。 输出流可以具有大于或等于第一帧速率的帧速率，其中第三图像帧具有大于或等于第二分辨率的分辨率。

公开(公告)号：US20140320593A1

公开(公告)日：2014-10-30

申请号：US14151776

申请日：2014-01-09

Applicant: QUALCOMM Incorporated

Inventor： Christian Pirchheim ,  Dieter Schmalstieg ,  Gerhard Reitmayr

IPC: H04N13/02 ,  H04N5/232

CPC classification number: H04N13/289 ,  G06T7/579 ,  H04N5/23238

Abstract: Disclosed are a system, apparatus, and method for monocular visual simultaneous localization and mapping that handles general 6DOF and panorama camera movements. A 3D map of an environment containing features with finite or infinite depth observed in regular or panorama keyframes is received. The camera is tracked in 6DOF from finite, infinite, or mixed feature sets. Upon detection of a panorama camera movement towards unmapped scene regions, a reference panorama keyframe with infinite features is created and inserted into the 3D map. When panoramic camera movement extends toward unmapped scene regions, the reference keyframe is extended with further dependent panorama keyframes. Panorama keyframes are robustly localized in 6DOF with respect to finite 3D map features. Localized panorama keyframes contain 2D observations of infinite map features that are matched with 2D observations in other localized keyframes. 2D-2D correspondences are triangulated, resulting in new finite 3D map features.

Abstract translation: 公开了用于单目视觉同时定位和映射的系统，装置和方法，其处理一般的6DOF和全景照相机移动。 接收包含在常规或全景关键帧中观察到的具有有限或无限深度的特征的环境的3D地图。 相机以6DOF从有限，无限或混合特征集进行跟踪。 一旦检测到全景照相机向未映射的场景区域移动，就会创建具有无限特征的参考全景关键帧并将其插入到3D地图中。 当全景相机移动延伸到未映射的场景区域时，参考关键帧将被扩展，并具有进一步的相关全景关键帧。 相对于有限的3D地图特征，全景关键帧在6DOF中稳健地定位。 本地化全景关键帧包含与其他局部关键帧中的2D观测相匹配的无限地图特征的2D观察。 2D-2D对应被三角测量，导致新的有限3D地图特征。