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公开(公告)号：US10192145B2
公开(公告)日：2019-01-29
申请号：US15444404
申请日：2017-02-28
Applicant: Apple Inc.
Inventor： Mohamed Selim Ben Himane , Daniel Kurz , Thomas Olszamowski
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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公开(公告)号：US10762386B2
公开(公告)日：2020-09-01
申请号：US16530694
申请日：2019-08-02
Applicant: Apple Inc.
Inventor： Daniel Ulbricht , Thomas Olszamowski
Abstract: The invention is related to a method of determining a similarity transformation between first coordinates and second coordinates of 3D features, comprising providing a first plurality of 3D features having first coordinates in a first coordinate system which is associated with a first geometrical model of a first real object, wherein the first plurality of 3D features describes physical 3D features of the first real object, providing a second coordinate system, providing image information associated with a plurality of images captured by at least one camera, for each respective 3D feature of at least part of the first plurality of 3D features, wherein the respective 3D feature is captured by at least two of the plurality of images, determining camera poses of the at least one camera in the second coordinate system while the at least two of the plurality of images are captured, determining for the respective 3D feature a second coordinate in the second coordinate system according to the at least two of the plurality of images and the camera poses, and the method further comprising determining a similarity transformation between the first coordinates and the second coordinates of the at least part of the first plurality of 3D features, wherein the similarity transformation includes at least one translation, at least one rotation, at least one scale and/or their combinations in 3D space.
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公开(公告)号：US20190362179A1
公开(公告)日：2019-11-28
申请号：US16531678
申请日：2019-08-05
Applicant: Apple Inc.
Inventor： Mohamed Selim Ben Himane , Daniel Kurz , Thomas Olszamowski
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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公开(公告)号：US20190156143A1
公开(公告)日：2019-05-23
申请号：US16259367
申请日：2019-01-28
Applicant: Apple Inc.
Inventor： Mohamed Selim Ben Himane , Daniel Kurz , Thomas Olszamowski
CPC classification number: G06K9/623 , G06K9/46 , G06K9/4671 , G06K9/6255 , G06K9/6262
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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5.发明申请公开(公告)号：US20190354799A1
公开(公告)日：2019-11-21
申请号：US16530694
申请日：2019-08-02
Applicant: Apple Inc.
Inventor： Daniel Ulbricht , Thomas Olszamowski
Abstract: The invention is related to a method of determining a similarity transformation between first coordinates and second coordinates of 3D features, comprising providing a first plurality of 3D features having first coordinates in a first coordinate system which is associated with a first geometrical model of a first real object, wherein the first plurality of 3D features describes physical 3D features of the first real object, providing a second coordinate system, providing image information associated with a plurality of images captured by at least one camera, for each respective 3D feature of at least part of the first plurality of 3D features, wherein the respective 3D feature is captured by at least two of the plurality of images, determining camera poses of the at least one camera in the second coordinate system while the at least two of the plurality of images are captured, determining for the respective 3D feature a second coordinate in the second coordinate system according to the at least two of the plurality of images and the camera poses, and the method further comprising determining a similarity transformation between the first coordinates and the second coordinates of the at least part of the first plurality of 3D features, wherein the similarity transformation includes at least one translation, at least one rotation, at least one scale and/or their combinations in 3D space.
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Patent Agency Ranking
公开(公告)号：US10402684B2
公开(公告)日：2019-09-03
申请号：US16259367
申请日：2019-01-28
Applicant: Apple Inc.
Inventor： Mohamed Selim Ben Himane , Daniel Kurz , Thomas Olszamowski
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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公开(公告)号：US11308347B2
公开(公告)日：2022-04-19
申请号：US17002137
申请日：2020-08-25
Applicant: Apple Inc.
Inventor： Daniel Ulbricht , Thomas Olszamowski
Abstract: The invention is related to a method of determining a similarity transformation between first coordinates and second coordinates of 3D features, comprising providing a first plurality of 3D features having first coordinates in a first coordinate system which is associated with a first geometrical model of a first real object, wherein the first plurality of 3D features describes physical 3D features of the first real object, providing a second coordinate system, providing image information associated with a plurality of images captured by at least one camera, for each respective 3D feature of at least part of the first plurality of 3D features, wherein the respective 3D feature is captured by at least two of the plurality of images, determining camera poses of the at least one camera in the second coordinate system while the at least two of the plurality of images are captured, determining for the respective 3D feature a second coordinate in the second coordinate system according to the at least two of the plurality of images and the camera poses, and the method further comprising determining a similarity transformation between the first coordinates and the second coordinates of the at least part of the first plurality of 3D features, wherein the similarity transformation includes at least one translation, at least one rotation, at least one scale and/or their combinations in 3D space.
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公开(公告)号：US10528847B2
公开(公告)日：2020-01-07
申请号：US16531678
申请日：2019-08-05
Applicant: Apple Inc.
Inventor： Mohamed Selim Ben Himane , Daniel Kurz , Thomas Olszamowski
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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公开(公告)号：US10373018B2
公开(公告)日：2019-08-06
申请号：US15028364
申请日：2013-10-08
Applicant: Apple Inc.
Inventor： Daniel Ulbricht , Thomas Olszamowski
Abstract: The invention is related to a method of determining a similarity transformation between first coordinates and second coordinates of 3D features, comprising providing a first plurality of 3D features having first coordinates in a first coordinate system which is associated with a first geometrical model of a first real object, wherein the first plurality of 3D features describes physical 3D features of the first real object, providing a second coordinate system, providing image information associated with a plurality of images captured by at least one camera, for each respective 3D feature of at least part of the first plurality of 3D features, wherein the respective 3D feature is captured by at least two of the plurality of images, determining camera poses of the at least one camera in the second coordinate system while the at least two of the plurality of images are captured, determining for the respective 3D feature a second coordinate in the second coordinate system according to the at least two of the plurality of images and the camera poses, and the method further comprising determining a similarity transformation between the first coordinates and the second coordinates of the at least part of the first plurality of 3D features, wherein the similarity transformation includes at least one translation, at least one rotation, at least one scale and/or their combinations in 3D space.
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公开(公告)号：US20170236033A1
公开(公告)日：2017-08-17
申请号：US15444404
申请日：2017-02-28
Applicant: Apple Inc.
Inventor： Selim Benhimane , Daniel Kurz , Thomas Olszamowski
IPC: G06K9/62
CPC classification number: G06K9/623 , G06K9/46 , G06K9/4671 , G06K9/6255 , G06K9/6262
Abstract: A method of providing a set of feature descriptors configured to be used in matching an object in an image of a camera is provided. The method includes: a) providing at least two images of a first object; b) extracting in at least two of the images at least one feature from the respective image, c) providing at least one descriptor for an extracted feature, and storing the descriptors; d) matching descriptors in the first set of descriptors; e) computing a score parameter based on the result of the matching process; f) selecting at least one descriptor based on its score parameter; g) adding the selected descriptor(s) to a second set of descriptors; and h) updating the score parameter of descriptors in the first set based on a selection process and to the result of the matching process.
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