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公开(公告)号：US09390344B2
公开(公告)日：2016-07-12
申请号：US14645675
申请日：2015-03-12
Applicant: QUALCOMM Incorporated
Inventor： Christian Pirchheim , Clemens Arth , Dieter Schmalstieg
CPC classification number: G06K9/52 , G06K9/00624 , G06T3/00 , G06T7/20 , G06T7/70 , G06T17/00 , G06T2207/10016 , G06T2207/30244
Abstract: Techniques are presented for monocular visual simultaneous localization and mapping (SLAM) based on detecting a translational motion in the movement of the camera using at least one motion sensor, while the camera is performing panoramic SLAM, and initializing a three dimensional map for tracking of finite features. Motion sensors may include one or more sensors, including inertial (gyroscope, accelerometer), magnetic (compass), vision (camera) or any other sensors built into mobile devices.
Abstract translation: 针对单目视觉同步定位和映射（SLAM）提出了基于使用至少一个运动传感器检测相机运动中的平移运动的技术，而相机正在执行全景SLAM，以及初始化用于跟踪有限的三维图 特征。 运动传感器可以包括一个或多个传感器，包括惯性（陀螺仪，加速度计），磁（罗盘），视觉（摄像机）或内置于移动设备中的任何其他传感器。
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公开(公告)号：US20140323148A1
公开(公告)日：2014-10-30
申请号：US14139856
申请日：2013-12-23
Applicant: QUALCOMM Incorporated
Inventor： Dieter Schmalstieg , Clemens Arth , Johnathan Ventura , Christian Pirchheim , Gerhard Reitmayr
CPC classification number: H04W4/029 , G01C21/005 , G01V3/38
Abstract: Exemplary methods, apparatuses, and systems for performing wide area localization from simultaneous localization and mapping (SLAM) maps are disclosed. A mobile device can select a first keyframe based SLAM map of the local environment with one or more received images. A respective localization of the mobile device within the local environment can be determined, and the respective localization may be based on the keyframe based SLAM map. The mobile device can send the first keyframe to a server and receive a first global localization response representing a correction to a local map on the mobile device. The first global localization response can include rotation, translation, and scale information. A server can receive keyframes from a mobile device, and localize the keyframes within a server map by matching keyframe features received from the mobile device to server map features.
Abstract translation: 公开了用于从同时定位和映射（SLAM）映射执行广域定位的示例性方法，装置和系统。 移动设备可以使用一个或多个接收到的图像来选择本地环境的基于关键帧的第一基于SLAM映射。 可以确定移动设备在本地环境中的相应定位，并且相应的定位可以基于基于关键帧的SLAM映射。 移动设备可以将第一关键帧发送到服务器并且接收表示对移动设备上的本地地图的校正的第一全局定位响应。 第一个全球本地化响应可以包括旋转，翻译和缩放信息。 服务器可以从移动设备接收关键帧，并通过将从移动设备接收到的关键帧功能与服务器映射功能进行匹配来本地化服务器映射中的关键帧。
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公开(公告)号：US20190080467A1
公开(公告)日：2019-03-14
申请号：US15699221
申请日：2017-09-08
Applicant: QUALCOMM Incorporated
Inventor： Martin Hirzer , Peter Michael Roth , Clemens Arth , Vincent Lepetit
CPC classification number: G06T7/73 , G06T7/11 , G06T7/74 , G06T2207/20076 , G06T2207/20081 , G06T2207/20084 , G06T2207/30244
Abstract: A method determines a pose of an image capture device. The method includes accessing an image of a scene captured by the image capture device. A semantic segmentation of the image is performed, to generate a segmented image. An initial pose of the image capture device is generated using a three-dimensional (3D) tracker. A plurality of 3D renderings of the scene are generated, each of the plurality of 3D renderings corresponding to one of a plurality of poses chosen based on the initial pose. A pose is selected from the plurality of poses, such that the 3D rendering corresponding to the selected pose aligns with the segmented image.
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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
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.
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公开(公告)号：US10546387B2
公开(公告)日：2020-01-28
申请号：US15699221
申请日：2017-09-08
Applicant: QUALCOMM Incorporated
Inventor： Martin Hirzer , Peter Michael Roth , Clemens Arth , Vincent Lepetit
Abstract: A method determines a pose of an image capture device. The method includes accessing an image of a scene captured by the image capture device. A semantic segmentation of the image is performed, to generate a segmented image. An initial pose of the image capture device is generated using a three-dimensional (3D) tracker. A plurality of 3D renderings of the scene are generated, each of the plurality of 3D renderings corresponding to one of a plurality of poses chosen based on the initial pose. A pose is selected from the plurality of poses, such that the 3D rendering corresponding to the selected pose aligns with the segmented image.
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Patent Agency Ranking
公开(公告)号：US09996936B2
公开(公告)日：2018-06-12
申请号：US15161055
申请日：2016-05-20
Applicant: QUALCOMM Incorporated
Inventor： Clemens Arth , Paul Wohlhart , Vincent Lepetit
Abstract: A computer-implemented method, apparatus, computer readable medium and mobile device for determining a 6DOF pose from an input image. The process of determining 6DOF pose may include processing an input image to create one or more static representations of the input image, creating a dynamic representation of the input image from an estimated 6DOF pose and a 2.5D reference map, and measuring correlation between the dynamic representation and the one or more static representations of the input image. The estimated 6DOF may be iteratively adjusted according to the measured correlation error until a final adjusted dynamic representation meets an output threshold.
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公开(公告)号：US20160179830A1
公开(公告)日：2016-06-23
申请号：US14862050
申请日：2015-09-22
Applicant: QUALCOMM Incorporated
Inventor： Dieter Schmalstieg , Clemens Arth , Christian Pirchheim
IPC: G06F17/30
CPC classification number: G06F17/3087 , G06F17/30241 , G06F17/30268 , G06F17/30333 , G06F17/30592 , G06T17/05 , G06T19/20 , G06T2219/2004
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.
Abstract translation: 公开了一种用于多客户端同时定位和映射的系统，装置和方法。 跟踪和映射可以由多个客户端中的每一个本地且独立地执行。 在可配置的时间点地图数据可以发送到服务器进行缝合和融合。 响应于针对服务器已知的一个或多个映射的成功的拼接和融合，相对于服务器的映射的更新的位置和取向信息可以被发送回客户端。 客户端可以使用接收到的服务器位置数据来更新其本地地图数据。 客户端可以从服务器接收附加的地图数据，可用于扩展其地图。 客户端可以向服务器发送查询用于3D地图，并且查询可以包括元数据。
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公开(公告)号：US20150371440A1
公开(公告)日：2015-12-24
申请号：US14743990
申请日：2015-06-18
Applicant: QUALCOMM Incorporated
Inventor： Christian Pirchheim , Jonathan Ventura , Dieter Schmalstieg , Clemens Arth , Vincent Lepetit
CPC classification number: G06T17/05 , G06T7/33 , G06T7/73 , G06T2200/04 , G06T2207/30244
Abstract: A computer-implemented method, apparatus, computer readable medium and mobile device for initializing a 3-Dimensional (3D) map may include obtaining, from a camera, a single image of an urban outdoor scene and estimating an initial pose of the camera. An untextured model of a geographic region may be obtained. Line features from the single image may be extracted and the orientation may be determined with respect to the untextured model and using the extracted line features, the orientation of the camera in 3 Degrees of Freedom (3DOF). In response to determining the orientation of the camera, a translation in 3DOF with respect to the untextured model may be determined using the extracted line features. The 3D map may be initialized based on the determined orientation and translation.
Abstract translation: 用于初始化三维（3D）地图的计算机实现的方法，装置，计算机可读介质和移动装置可以包括从相机获取城市户外场景的单个图像并估计相机的初始姿态。 可以获得地理区域的非纹理模型。 可以提取来自单个图像的线特征，并且可以相对于未纹理模型确定取向，并且使用提取的线特征，相机在3自由度（3DOF）中的取向。 响应于确定相机的取向，可以使用提取的线特征来确定相对于未纹理模型的3DOF中的平移。 可以基于确定的取向和平移来初始化3D地图。
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公开(公告)号：US20150262029A1
公开(公告)日：2015-09-17
申请号：US14645675
申请日：2015-03-12
Applicant: QUALCOMM Incorporated
Inventor： Christian Pirchheim , Clemens Arth , Dieter Schmalstieg
CPC classification number: G06K9/52 , G06K9/00624 , G06T3/00 , G06T7/20 , G06T7/70 , G06T17/00 , G06T2207/10016 , G06T2207/30244
Abstract: Techniques are presented for monocular visual simultaneous localization and mapping (SLAM) based on detecting a translational motion in the movement of the camera using at least one motion sensor, while the camera is performing panoramic SLAM, and initializing a three dimensional map for tracking of finite features. Motion sensors may include one or more sensors, including inertial (gyroscope, accelerometer), magnetic (compass), vision (camera) or any other sensors built into mobile devices.
Abstract translation: 针对单目视觉同步定位和映射（SLAM）提出了基于使用至少一个运动传感器检测相机运动中的平移运动的技术，而相机正在执行全景SLAM，以及初始化用于跟踪有限的三维图 特征。 运动传感器可以包括一个或多个传感器，包括惯性（陀螺仪，加速度计），磁（罗盘），视觉（摄像机）或内置于移动设备中的任何其他传感器。
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公开(公告)号：US09031283B2
公开(公告)日：2015-05-12
申请号：US13719012
申请日：2012-12-18
Applicant: QUALCOMM Incorporated
Inventor： Clemens Arth , Alessandro Mulloni , Gerhard Reitmayr , Dieter Schmalstieg
CPC classification number: G06K9/00671 , G06T7/75 , G06T7/80 , G06T2207/10016 , G06T2207/30244 , H04N5/23238
Abstract: A mobile device uses vision and orientation sensor data jointly for six degree of freedom localization, e.g., in wide-area environments. An image or video stream is captured while receiving geographic orientation data and may be used to generate a panoramic cylindrical map of an environment. A bin of model features stored in a database is accessed based on the geographic orientation data. The model features are from a pre-generated reconstruction of the environment produced from extracted features from a plurality of images of the environment. The reconstruction is registered to a global orientation and the model features are stored in bins based on similar geographic orientations. Features from the panoramic cylindrical map are matched to model features in the bin to produce a set of corresponding features, which are used to determine a position and an orientation of the camera.
Abstract translation: 移动设备使用视觉和姿态传感器数据联合进行六自由度定位，例如在广域环境中。 捕获图像或视频流，同时接收地理取向数据，并且可以用于生成环境的全景圆柱图。 基于地理位置数据访问存储在数据库中的模型特征的一个bin。 模型特征来自从环境的多个图像的提取特征产生的环境的预先生成的重建。 重建被注册到全局方向，并且基于类似的地理位置将模型特征存储在箱中。 全景圆柱形地图的特征与仓中的模型特征相匹配，以产生一组相应的特征，用于确定相机的位置和方向。
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