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31.发明公开公开(公告)号：US20240296576A1
公开(公告)日：2024-09-05
申请号：US18447709
申请日：2023-08-10
Applicant: QUALCOMM Incorporated
Inventor： Mohsen Ghafoorian , Georgi Dikov , Xuepeng Shi , Jihong Ju , Gerhard Reitmayr
IPC: G06T7/55
CPC classification number: G06T7/55 , G06T2207/20081 , G06T2207/20224
Abstract: This disclosure provides systems, methods, and devices for image signal processing that support artificial intelligence (AI)-based processing of image data for reconstructing 3D worlds. In a first aspect, a method of image processing includes receiving a plurality of image frames representing a scene; determining a first depth prediction for the scene based on the plurality of image frames; determining a reconstructed mesh from the plurality of image frames; determining a second depth prediction for the scene based on the reconstructed mesh; and determining a third depth prediction based on the first depth prediction and the second depth prediction. Other aspects and features are also claimed and described.
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公开(公告)号：US11769258B2
公开(公告)日：2023-09-26
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
CPC classification number: G06T7/248 , G06T7/292 , G06T7/74 , G06F3/012 , G06T2207/10012 , G06T2207/10032 , G06T2207/30244 , G06T2207/30252
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：US11756227B2
公开(公告)日：2023-09-12
申请号：US17307920
申请日：2021-05-04
Applicant: QUALCOMM Incorporated
Inventor： Srujan Babu Nandipati , Pushkar Gorur Sheshagiri , Chiranjib Choudhuri , Ajit Deepak Gupte , Gerhard Reitmayr
CPC classification number: G06T7/73 , G02B27/0172 , G06T7/20 , G06T7/33 , G02B2027/014 , G02B2027/0138
Abstract: Systems and techniques are provided for determining and applying corrected poses in digital content experiences. An example method can include receiving, from one or more sensors associated with an apparatus, inertial measurements and one or more frames of a scene; based on the one or more frames and the inertial measurements, determining, via a first filter, an angular and linear motion of the apparatus and a gravity vector indicating a direction of gravitational force interacting with the apparatus; when a motion of the apparatus is below a threshold, determining, via a second filter, an updated gravity vector indicating a direction of gravitational force interacting with the apparatus; determining, based on the updated gravity vector, parameters for aligning an axis of the scene with a gravity direction in a real-world spatial frame; and aligning, using the parameters, the axis of the scene with the gravity direction in the real-world spatial frame.
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公开(公告)号：US11727576B2
公开(公告)日：2023-08-15
申请号：US17127568
申请日：2020-12-18
Applicant: QUALCOMM Incorporated
Inventor： Abhijeet Bisain , Gerhard Reitmayr
IPC: G06T7/174
CPC classification number: G06T7/174 , G06T2207/20084
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：US11361508B2
公开(公告)日：2022-06-14
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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Patent Agency Ranking
公开(公告)号：US20200065994A1
公开(公告)日：2020-02-27
申请号：US16109972
申请日：2018-08-23
Applicant: QUALCOMM Incorporated
Inventor： Vladimir Slobodyanyuk , Bardia Behabadi , Gerhard Reitmayr
Abstract: Methods, systems, and devices for calibrating a camera device are described. The camera device may capture a first set of images of a physical environment and a second set of images of the physical environment having at least one illuminated reference point. The camera device may use a multi-dimensional target for calibration that may be formed by a quantity of illuminated reference points. That is, the illuminated reference points may be part of the multi-dimensional target. The camera device may determine a location of at least one illuminated reference point in an image of the second set based on an image of the first set and the image of the second set, and determine an association between the location of the at least one illuminated reference point in the image of the second set to a physical location of the illuminated reference point in the physical environment. As a result, the camera device may be calibrated.
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公开(公告)号：US10552983B1
公开(公告)日：2020-02-04
申请号：US16109972
申请日：2018-08-23
Applicant: QUALCOMM Incorporated
Inventor： Vladimir Slobodyanyuk , Bardia Behabadi , Gerhard Reitmayr
Abstract: Methods, systems, and devices for calibrating a camera device are described. The camera device may capture a first set of images of a physical environment and a second set of images of the physical environment having at least one illuminated reference point. The camera device may use a multi-dimensional target for calibration that may be formed by a quantity of illuminated reference points. That is, the illuminated reference points may be part of the multi-dimensional target. The camera device may determine a location of at least one illuminated reference point in an image of the second set based on an image of the first set and the image of the second set, and determine an association between the location of the at least one illuminated reference point in the image of the second set to a physical location of the illuminated reference point in the physical environment. As a result, the camera device may be calibrated.
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公开(公告)号：US10093021B2
公开(公告)日：2018-10-09
申请号：US15192719
申请日：2016-06-24
Applicant: QUALCOMM Incorporated
Inventor： Aliakbar Aghamohammadi , Serafin Diaz Spindola , Bardia Fallah Behabadi , Christopher Lott , Shayegan Omidshafiei , Kiran Somasundaram , Sarah Paige Gibson , Casimir Matthew Wierzynski , Saurav Agarwal , Gerhard Reitmayr
Abstract: A method substantially simultaneously plans a path and maps an environment by a robot. The method determines a mean of an occupancy level for a location in a map. The method also includes determining a probability distribution function (PDF) of the occupancy level. The method further includes calculating a cost function based on the PDF. Finally, the method includes simultaneously planning the path and mapping the environment based on the cost function.
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公开(公告)号：US09667873B2
公开(公告)日：2017-05-30
申请号：US14268784
申请日：2014-05-02
Applicant: QUALCOMM Incorporated
Inventor： Alessandro Mulloni , Gerhard Reitmayr , Mahesh Ramachandran , Daniel Wagner
CPC classification number: H04N5/23296 , G01C25/005 , G06T7/73 , G06T7/80 , G06T2207/20092 , H04N5/23203
Abstract: Embodiments disclosed pertain to systems, method s and apparatus for the initialization of Computer Vision (CV) applications on user devices (UDs) comprising a camera and a display. In some embodiments, an optimal camera trajectory for initialization of a Computer Vision (CV) application may be determined based on an initial camera pose and an estimated pivot distance. For example, the initial camera pose may be estimated based on a first image captured by the camera. Further, the display may be updated in real-time with an indication of a desired movement direction for the camera. In some embodiments, the indication of desired movement direction may be based, in part, on a current camera pose and the optimal trajectory, where the current camera pose may be estimated based on a current image captured by the camera.
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公开(公告)号：US09626803B2
公开(公告)日：2017-04-18
申请号：US14569549
申请日：2014-12-12
Applicant: QUALCOMM Incorporated
Inventor： Youngmin Park , Erick Mendez Mendez , Gerhard Reitmayr , Daniel Wagner , Serafin Diaz Spindola
CPC classification number: G06T19/006 , G06T7/13 , G06T7/38 , G06T2200/04 , G06T2207/10012 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , H04N13/15 , H04N13/167 , H04N2213/003
Abstract: Disclosed are a system, apparatus, and method for depth and color camera image synchronization. Depth and color camera input images are received or otherwise obtained unsynchronized and without associated creation timestamps. An image of one type is compared with an image of a different type to determine a match for synchronization. Matches may be determined according to edge detection or depth coordinate detection. When a match is determined a synchronized pair is formed for processing within an augmented reality output. Optionally the synchronized pair may be transformed to improve the match between the image pair.
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