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公开(公告)号：US11335023B2
公开(公告)日：2022-05-17
申请号：US15929811
申请日：2020-05-22
申请人： Google LLC
发明人： Sameh Khamis , Christian Haene , Hossam Isack , Cem Keskin , Sofien Bouaziz , Shahram Izadi
摘要： According to an aspect, a method for pose estimation using a convolutional neural network includes extracting features from an image, downsampling the features to a lower resolution, arranging the features into sets of features, where each set of features corresponds to a separate keypoint of a pose of a subject, updating, by at least one convolutional block, each set of features based on features of one or more neighboring keypoints using a kinematic structure, and predicting the pose of the subject using the updated sets of features.
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公开(公告)号：US20210366146A1
公开(公告)日：2021-11-25
申请号：US15929811
申请日：2020-05-22
申请人： Google LLC
发明人： Sameh Khamis , Christian Haene , Hossam Isack , Cem Keskin , Sofien Bouaziz , Shahram Izadi
摘要： According to an aspect, a method for pose estimation using a convolutional neural network includes extracting features from an image, downsampling the features to a lower resolution, arranging the features into sets of features, where each set of features corresponds to a separate keypoint of a pose of a subject, updating, by at least one convolutional block, each set of features based on features of one or more neighboring keypoints using a kinematic structure, and predicting the pose of the subject using the updated sets of features.
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公开(公告)号：US11589031B2
公开(公告)日：2023-02-21
申请号：US16580802
申请日：2019-09-24
申请人： Google LLC
发明人： Sameh Khamis , Yinda Zhang , Christoph Rhemann , Julien Valentin , Adarsh Kowdle , Vladimir Tankovich , Michael Schoenberg , Shahram Izadi , Thomas Funkhouser , Sean Fanello
IPC分类号： H04N13/271 , G06T7/90 , G06T7/521 , H04N5/33 , H04N13/239
摘要： An electronic device estimates a depth map of an environment based on matching reduced-resolution stereo depth images captured by depth cameras to generate a coarse disparity (depth) map. The electronic device downsamples depth images captured by the depth cameras and matches sections of the reduced-resolution images to each other to generate a coarse depth map. The electronic device upsamples the coarse depth map to a higher resolution and refines the upsampled depth map to generate a high-resolution depth map to support location-based functionality.
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公开(公告)号：US11288857B2
公开(公告)日：2022-03-29
申请号：US16837612
申请日：2020-04-01
申请人： Google LLC
发明人： Moustafa Meshry , Ricardo Martin Brualla , Sameh Khamis , Daniel Goldman , Hugues Hoppe , Noah Snavely , Rohit Pandey
摘要： According to an aspect, a method for neural rerendering includes obtaining a three-dimensional (3D) model representing a scene of a physical space, where the 3D model is constructed from a collection of input images, rendering an image data buffer from the 3D model according to a viewpoint, where the image data buffer represents a reconstructed image from the 3D model, receiving, by a neural rerendering network, the image data buffer, receiving, by the neural rerendering network, an appearance code representing an appearance condition, and transforming, by the neural rerendering network, the image data buffer into a rerendered image with the viewpoint of the image data buffer and the appearance condition specified by the appearance code.
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公开(公告)号：US10937182B2
公开(公告)日：2021-03-02
申请号：US15994471
申请日：2018-05-31
申请人： Google LLC
发明人： Mingsong Dou , Sean Ryan Fanello , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Sameh Khamis , Philip L. Davidson , Shahram Izadi , Vladimir Tankovich
摘要： An electronic device estimates a pose of one or more subjects in an environment based on estimating a correspondence between a data volume containing a data mesh based on a current frame captured by a depth camera and a reference volume containing a plurality of fused prior data frames based on spectral embedding and performing bidirectional non-rigid matching between the reference volume and the current data frame to refine the correspondence so as to support location-based functionality. The electronic device predicts correspondences between the data volume and the reference volume based on spectral embedding. The correspondences provide constraints that accelerate the convergence between the data volume and the reference volume. By tracking changes between the current data mesh frame and the reference volume, the electronic device avoids tracking failures that can occur when relying solely on a previous data mesh frame.
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公开(公告)号：US20200320777A1
公开(公告)日：2020-10-08
申请号：US16837612
申请日：2020-04-01
申请人： Google LLC
发明人： Moustafa Meshry , Ricardo Martin Brualla , Sameh Khamis , Daniel Goldman , Hugues Hoppe , Noah Snavely , Rohit Pandey
摘要： According to an aspect, a method for neural rerendering includes obtaining a three-dimensional (3D) model representing a scene of a physical space, where the 3D model is constructed from a collection of input images, rendering an image data buffer from the 3D model according to a viewpoint, where the image data buffer represents a reconstructed image from the 3D model, receiving, by a neural rerendering network, the image data buffer, receiving, by the neural rerendering network, an appearance code representing an appearance condition, and transforming, by the neural rerendering network, the image data buffer into a rerendered image with the viewpoint of the image data buffer and the appearance condition specified by the appearance code.
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公开(公告)号：US11810313B2
公开(公告)日：2023-11-07
申请号：US17249095
申请日：2021-02-19
申请人： GOOGLE LLC
发明人： Vladimir Tankovich , Christian Haene , Sean Ryan Francesco Fanello , Yinda Zhang , Shahram Izadi , Sofien Bouaziz , Adarsh Prakash Murthy Kowdle , Sameh Khamis
CPC分类号： G06T7/593 , G06T3/0093 , G06T3/40 , G06T5/30 , H04N13/20 , G06T2207/20016 , G06T2207/20084 , H04N2013/0081
摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.
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公开(公告)号：US11145075B2
公开(公告)日：2021-10-12
申请号：US16767401
申请日：2019-10-04
申请人： Google LLC
发明人： Julien Valentin , Onur G. Guleryuz , Mira Leung , Maksym Dzitsiuk , Jose Pascoal , Mirko Schmidt , Christoph Rhemann , Neal Wadhwa , Eric Turner , Sameh Khamis , Adarsh Prakash Murthy Kowdle , Ambrus Csaszar , João Manuel Castro Afonso , Jonathan T. Barron , Michael Schoenberg , Ivan Dryanovski , Vivek Verma , Vladimir Tankovich , Shahram Izadi , Sean Ryan Francesco Fanello , Konstantine Nicholas John Tsotsos
摘要： A handheld user device includes a monocular camera to capture a feed of images of a local scene and a processor to select, from the feed, a keyframe and perform, for a first image from the feed, stereo matching using the first image, the keyframe, and a relative pose based on a pose associated with the first image and a pose associated with the keyframe to generate a sparse disparity map representing disparities between the first image and the keyframe. The processor further is to determine a dense depth map from the disparity map using a bilateral solver algorithm, and process a viewfinder image generated from a second image of the feed with occlusion rendering based on the depth map to incorporate one or more virtual objects into the viewfinder image to generate an AR viewfinder image. Further, the processor is to provide the AR viewfinder image for display.
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公开(公告)号：US20210264632A1
公开(公告)日：2021-08-26
申请号：US17249095
申请日：2021-02-19
申请人： GOOGLE LLC
发明人： Vladimir Tankovich , Christian Haene , Sean Rayn Francesco Fanello , Yinda Zhang , Shahram Izadi , Sofien Bouaziz , Adarsh Prakash Murthy Kowdle , Sameh Khamis
摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.
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