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公开(公告)号：US09747516B2
公开(公告)日：2017-08-29
申请号：US14846674
申请日：2015-09-04
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Kiyoung Kim
CPC classification number: G06K9/4671 , G06K9/52 , G06K9/6211 , G06K9/6215 , G06K2009/3291 , G06K2009/4666 , G06T3/0093 , G06T7/20 , G06T2207/20048
Abstract: Disclosed embodiments facilitate keypoint selection in part by assigning a similarity score to each candidate keypoint being considered for selection. The similarity score may be based on the maximum measured similarity of an image patch associated with a keypoint in relation to an image patch in a local image section in a region around the image patch. A subset of the candidate keypoints with the lowest similarity scores may be selected and used to detect and/or track objects in subsequent images and/or to determine camera pose.
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公开(公告)号：US20140270360A1
公开(公告)日：2014-09-18
申请号：US13843603
申请日：2013-03-15
Applicant: QUALCOMM INCORPORATED
Inventor： Kiyoung Kim
IPC: G06T7/00
CPC classification number: G06T7/2033 , G06T7/246 , G06T2207/20021 , G06T2207/30244
Abstract: Embodiments include selecting edgels for edge based tracking by dividing a reference image frame (RF) into N×M bins of pixels and projecting a subset of the edgels per bin into a current image frame (CF) using an estimated pose to identify valid bins of the RF as bins having their projected one edgel found within the borders of the CF. Then, K edgels of RF with different orientations from each valid bins may be selected. Then, the selected RF edgels of bins may be reduced by removing bins randomly, or first removing bins from the center of the RF of the image (then next removing the next further outward bins), until a desirable edgel number is obtained. Edge-based tracking can then be performed using the desirable edgel number, to track edges in current frame that are found in prior frame.
Abstract translation: 实施例包括通过将参考图像帧（RF）划分成N×M个像素块并且使用估计姿态将每个块的边缘的子集投影到当前图像帧（CF）中来选择用于基于边缘的跟踪的边缘，以识别 RF作为垃圾箱在CF的边界内发现其预计的一个边角。 然后，可以选择来自每个有效箱的具有不同取向的RF的K边缘。 然后，可以通过随机地移除垃圾箱或者首先从图像的RF的中心去除垃圾箱（然后移除下一个进一步的另外的垃圾箱）来减少所选择的垃圾桶的边缘，直到获得理想的胶粘剂数量。 然后可以使用期望的边缘数字来执行基于边缘的跟踪，以跟踪在先前帧中发现的当前帧中的边缘。
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公开(公告)号：US09870514B2
公开(公告)日：2018-01-16
申请号：US14791205
申请日：2015-07-02
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim , Youngmin Park
CPC classification number: G06K9/4604 , G06K9/52 , G06T7/543 , G06T7/55 , G06T7/73 , G06T19/006 , G06T19/20 , G06T2207/10016
Abstract: Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
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公开(公告)号：US20140270346A1
公开(公告)日：2014-09-18
申请号：US13797742
申请日：2013-03-12
Applicant: QUALCOMM INCORPORATED
Inventor： Yanghai Tsin , Kiyoung Kim
IPC: G06T7/00
CPC classification number: G06T7/0042 , G06T7/251 , G06T2207/30244
Abstract: A method of real-time tracking of an object includes capturing a first and a second image of the object. The object is detected in the first image and movement of the object is tracked between the images. Tracking of the object includes obtaining an initial pose of the camera; projecting an image of a model object onto the second image; determining a gradient profile of the second image from an edge point of the model object along a first direction that is normal to the edge of the model object; computing a radius on the gradient profile; determining a rank order of the peaks of the gradient profile along the radius; comparing the rank order with a predetermined rank order to generate a feature candidate point; and reducing a distance along the first direction between the feature candidate point and the edge point on the edge of the model object.
Abstract translation: 对对象的实时跟踪的方法包括捕获对象的第一和第二图像。 在第一图像中检测到物体，并且在图像之间追踪对象的移动。 对象的跟踪包括获得相机的初始姿态; 将模型对象的图像投影到第二图像上; 沿着与模型对象的边缘正交的第一方向从模型对象的边缘点确定第二图像的渐变分布; 计算梯度轮廓上的半径; 确定沿半径的梯度轮廓的峰值的等级次序; 将秩顺序与预定秩次进行比较以生成特征候选点; 并且减少特征候选点与模型对象边缘上的边缘点之间沿第一方向的距离。
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公开(公告)号：US09684970B2
公开(公告)日：2017-06-20
申请号：US14633737
申请日：2015-02-27
Applicant: QUALCOMM Incorporated
Inventor： Erick Mendez Mendez , Kiyoung Kim , Youngmin Park
CPC classification number: G06T7/20 , G06K9/48 , G06T5/003 , G06T13/80 , G06T19/006 , G06T2207/20016 , G06T2215/16
Abstract: Disclosed is a method and apparatus for adaptively executing one or more motion blur estimation methods to estimate a motion blur associated with an image target frame in an Augmented Reality environment produced by an Augmented Reality application. In one embodiment, the functions implemented include: applying a first motion blur estimation method to estimate the motion blur; determining whether computational resources are available for a second motion blur estimation method; and applying the second motion blur estimation method to estimate the motion blur in response to a determination that computational resources are available for the second motion blur estimation method.
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Patent Agency Ranking
公开(公告)号：US09129398B2
公开(公告)日：2015-09-08
申请号：US13843603
申请日：2013-03-15
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim
CPC classification number: G06T7/2033 , G06T7/246 , G06T2207/20021 , G06T2207/30244
Abstract: Embodiments include selecting edgels for edge based tracking by dividing a reference image frame (RF) into N×M bins of pixels and projecting a subset of the edgels per bin into a current image frame (CF) using an estimated pose to identify valid bins of the RF as bins having their projected one edgel found within the borders of the CF. Then, K edgels of RF with different orientations from each valid bins may be selected. Then, the selected RF edgels of bins may be reduced by removing bins randomly, or first removing bins from the center of the RF of the image (then next removing the next further outward bins), until a desirable edgel number is obtained. Edge-based tracking can then be performed using the desirable edgel number, to track edges in current frame that are found in prior frame.
Abstract translation: 实施例包括通过将参考图像帧（RF）划分成N×M个像素块并且使用估计姿态将每个块的边缘的子集投影到当前图像帧（CF）中来选择用于基于边缘的跟踪的边缘，以识别 RF作为垃圾箱在CF的边界内发现其预计的一个边角。 然后，可以选择来自每个有效箱的具有不同取向的RF的K边缘。 然后，可以通过随机地移除垃圾箱或者首先从图像的RF的中心去除垃圾箱（然后移除下一个进一步的另外的垃圾箱）来减少所选择的垃圾桶的边缘，直到获得理想的胶凝剂数量。 然后可以使用期望的边缘数字来执行基于边缘的跟踪，以跟踪在先前帧中发现的当前帧中的边缘。
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公开(公告)号：US20150199572A1
公开(公告)日：2015-07-16
申请号：US14157110
申请日：2014-01-16
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim , Yanghai Tsin
CPC classification number: G06K9/00624 , G06K9/4604 , G06K9/48 , G06T7/194 , G06T7/207 , G06T7/246 , G06T7/251 , G06T7/292 , G06T2207/10021 , G06T2207/10028 , G06T2207/20016 , G06T2207/20061 , G06T2207/20076 , G06T2207/30244
Abstract: Embodiments disclosed pertain to object tracking based, in part, on occluding contours associated with the tracked object. In some embodiments, a 6 Degrees of Freedom (6-DoF) initial camera pose relative to a tracked object in a first image may be obtained. A 6-DoF updated camera pose relative to the tracked object for a second image subsequent to the first image may then be obtained based, at least, on the initial camera pose and one or more features associated with the tracked object and an occluding contour associated with the tracked object in the second image. The occluding contour associated with the tracked object in the second image may be derived from a closed form function.
Abstract translation: 所公开的实施例部分地基于与跟踪对象相关联的遮挡轮廓的对象跟踪。 在一些实施例中，可以获得相对于第一图像中的被跟踪物体的6自由度（6-DoF）初始摄像机姿态。 可以至少基于初始摄像机姿态和与跟踪对象相关联的一个或多个特征以及与被跟踪的对象相关联的一个或多个特征，获得针对第一图像之后的第二图像相对于跟踪对象的6-DoF更新的摄像机姿态 跟踪对象在第二个图像。 与第二图像中的跟踪对象相关联的闭塞轮廓可以从闭合形式函数导出。
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公开(公告)号：US20160335519A1
公开(公告)日：2016-11-17
申请号：US14846674
申请日：2015-09-04
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Kiyoung Kim
CPC classification number: G06K9/4671 , G06K9/52 , G06K9/6211 , G06K9/6215 , G06K2009/3291 , G06K2009/4666 , G06T3/0093 , G06T7/20 , G06T2207/20048
Abstract: Disclosed embodiments facilitate keypoint selection in part by assigning a similarity score to each candidate keypoint being considered for selection. The similarity score may be based on the maximum measured similarity of an image patch associated with a keypoint in relation to an image patch in a local image section in a region around the image patch. A subset of the candidate keypoints with the lowest similarity scores may be selected and used to detect and/or track objects in subsequent images and/or to determine camera pose.
Abstract translation: 公开的实施例部分地通过将考虑用于选择的每个候选关键点分配相似性分数来促进关键点选择。 相似度得分可以基于与图像贴片周围区域中的局部图像部分中的关键点相关联的图像贴片的图像贴片的最大测量相似度。 可以选择具有最低相似性得分的候选关键点的子集，并用于检测和/或跟踪后续图像中的对象和/或确定相机姿态。
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公开(公告)号：US20170004377A1
公开(公告)日：2017-01-05
申请号：US14791205
申请日：2015-07-02
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim , Youngmin Park
CPC classification number: G06K9/4604 , G06K9/52 , G06T7/543 , G06T7/55 , G06T7/73 , G06T19/006 , G06T19/20 , G06T2207/10016
Abstract: Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
Abstract translation: 公开了一种用于执行线映射的装置，装置和方法。 可以获得包括对应于真实世界环境的方面的至少第一和第二3D线的三维（3D）地图。 也可以获得该方面的一个或多个图像，并且可以确定3D线。 可以利用一个或多个图像验证假设3D线，并且可以更新3D地图。 假设3D线的确定和验证可以包括在3D空间中创建平面并使用共平面性或正交性假设。
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公开(公告)号：US09406137B2
公开(公告)日：2016-08-02
申请号：US14278928
申请日：2014-05-15
Applicant: QUALCOMM Incorporated
Inventor： Dheeraj Ahuja , Kiyoung Kim , Yanghai Tsin , Seyed Hesameddin Najafi Shoushtari
CPC classification number: G06T7/0044 , G06T7/246 , G06T7/75 , G06T2207/20021 , G06T2207/30244 , H04N7/183
Abstract: Disclosed embodiments pertain to apparatus, systems, and methods for robust feature based tracking. In some embodiments, a score may be computed for a camera captured current image comprising a target object. The score may be based on one or more metrics determined from a comparison of features in the current image and a prior image captured by the camera. The comparison may be based on an estimated camera pose for the current image. In some embodiments, one of a point based, an edge based, or a combined point and edge based feature correspondence method may be selected based on a comparison of the score with a point threshold and/or a line threshold, the point and line thresholds being obtained from a model of the target. The camera pose may be refined by establishing feature correspondences using the selected method between the current image and a model image.
Abstract translation: 公开的实施例涉及用于基于鲁棒特征的跟踪的装置，系统和方法。 在一些实施例中，可以针对包括目标对象的摄像机拍摄的当前图像计算得分。 得分可以基于从当前图像中的特征与由相机捕获的先前图像的比较确定的一个或多个度量。 比较可以基于当前图像的估计的摄像机姿态。 在一些实施例中，可以基于得分与点阈值和/或线阈值的比较来选择基于点，基于边缘的或基于组合的基于点和边缘的特征对应方法中的一个，点和线阈值 从目标的模型中获得。 可以通过使用当前图像和模型图像之间的所选方法建立特征对应来改进相机姿态。
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