公开(公告)号：US20240378827A1

公开(公告)日：2024-11-14

申请号：US18765506

申请日：2024-07-08

Applicant: Apple Inc.

Inventor： Thorsten Gernoth ,  Chen Huang ,  Onur C. Hamsici ,  Shuo Feng ,  Hao Tang ,  Tobias Rick

IPC: G06T19/00 ,  G06F3/04815 ,  G06F9/451 ,  G06T7/20 ,  G06V20/10 ,  G06V20/64

Abstract: Various implementations disclosed herein include devices, systems, and methods that track a position of a device within an object-based coordinate system. An example process may include, at a device and prior to movement of an object, acquiring first images of the object, identifying three-dimensional (3D) keypoints on surfaces of the object, and tracking positions of the device in an object-based coordinate system during acquisition of the first images. The process may further include, subsequent to a movement of the object, acquiring second images of the object, identifying the 3D keypoints on surfaces of the object, and tracking positions of the device in the object-based coordinate system during acquisition of the second images based on identifying the 3D keypoints. The process may further include generating a 3D model of the object based on the first and second images and the tracked positions of the device during acquisition of the images.

公开(公告)号：US12002227B1

公开(公告)日：2024-06-04

申请号：US17376313

申请日：2021-07-15

Applicant: Apple Inc.

Inventor： Donghoon Lee ,  Thorsten Gernoth ,  Onur C. Hamsici ,  Shuo Feng

IPC: G06T7/33 ,  G06N3/08 ,  G06T15/20

CPC classification number: G06T7/344 ,  G06N3/08 ,  G06T15/205 ,  G06T2207/20081 ,  G06T2207/20084

Abstract: Devices, systems, and methods are disclosed for partial point cloud registration. In some implementations, a method includes obtaining a first set of three-dimensional (3D) points corresponding to an object in a physical environment, the first set of 3D points having locations in a first coordinate system, obtaining a second set of 3D points corresponding to the object in the physical environment, the second set of 3D points having locations in a second coordinate system, predicting, via a machine learning model, locations of the first set of 3D points in the second coordinate system, and determining transform parameters relating the first set of 3D points and the second set of 3D points based on the predicted location of the first set of 3D points in the second coordinate system.

公开(公告)号：US20240062488A1

公开(公告)日：2024-02-22

申请号：US18385943

申请日：2023-11-01

Applicant: Apple Inc.

Inventor： Thorsten Gernoth ,  Chen Huang ,  Onur C. Hamsici ,  Shuo Feng ,  Hao Tang ,  Tobias Rick

IPC: G06T19/00 ,  G06T7/20 ,  G06F9/451 ,  G06F3/04815 ,  G06V20/10 ,  G06V20/64

CPC classification number: G06T19/006 ,  G06T7/20 ,  G06F9/453 ,  G06F3/04815 ,  G06V20/10 ,  G06V20/64

Abstract: Various implementations disclosed herein include devices, systems, and methods that generates a three-dimensional (3D) model of an object based on images and tracked positions of a device during acquisition of the images. For example, an example process may include acquiring sensor data during movement of the device in a physical environment including an object, the sensor data including images of a physical environment acquired via a camera on the device, identifying the object in at least some of the images, tracking positions of the device during acquisition of the images based on identifying the object in the at least some of the images, the positions identifying positioning of the device with respect to a coordinate system defined based on a position and orientation of the object, and generating a 3D model of the object based on the images and positions of the device during acquisition of the images.

公开(公告)号：US20210279967A1

公开(公告)日：2021-09-09

申请号：US17179487

申请日：2021-02-19

Applicant: Apple Inc.

Inventor： Thorsten Gernoth ,  Chen Huang ,  Onur C. Hamsici ,  Shuo Feng ,  Hao Tang ,  Tobias Rick

IPC: G06T19/00 ,  G06T7/20 ,  G06K9/00 ,  G06F3/0481 ,  G06F9/451

Abstract: Various implementations disclosed herein include devices, systems, and methods that generates a three-dimensional (3D) model of an object based on images and tracked positions of a device during acquisition of the images. For example, an example process may include acquiring sensor data during movement of the device in a physical environment including an object, the sensor data including images of a physical environment acquired via a camera on the device, identifying the object in at least some of the images, tracking positions of the device during acquisition of the images based on identifying the object in the at least some of the images, the positions identifying positioning of the device with respect to a coordinate system defined based on a position and orientation of the object, and generating a 3D model of the object based on the images and positions of the device during acquisition of the images.