公开(公告)号：US20140363048A1

公开(公告)日：2014-12-11

申请号：US14302056

申请日：2014-06-11

Applicant: QUALCOMM Incorporated

Inventor： Bojan Vrcelj ,  Daniel Knoblauch ,  Raghuraman Krishnamoorthi ,  Serafin Diaz Spindola

IPC: G06K9/78 ,  G06K9/62

CPC classification number: G06K9/78 ,  G06K9/6228 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/20081

Abstract: Systems, methods, and devices are described for capturing compact representations of three-dimensional objects suitable for offline object detection, and storing the compact representations as object representation in a database. One embodiment may include capturing frames of a scene, identifying points of interest from different key frames of the scene, using the points of interest to create associated three-dimensional key points, and storing key points associated with the object as an object representation in an object detection database.

Abstract translation: 描述了用于捕获适合于离线对象检测的三维对象的紧凑表示以及将紧凑表示作为对象表示存储在数据库中的系统，方法和设备。 一个实施例可以包括捕获场景的帧，使用感兴趣点来识别来自场景的不同关键帧的兴趣点，以创建相关联的三维关键点，以及将与对象相关联的关键点存储为对象表示。 对象检测数据库。

公开(公告)号：US09905039B2

公开(公告)日：2018-02-27

申请号：US14625465

申请日：2015-02-18

Applicant: QUALCOMM Incorporated

Inventor： Daniel Knoblauch ,  Alessandro Mulloni ,  Daniel Wagner

IPC: G06K9/36 ,  G06T15/04 ,  G06T5/00 ,  G06T17/10 ,  G06T17/20 ,  G06T11/00

CPC classification number: G06T15/04 ,  G06T5/003 ,  G06T11/001 ,  G06T17/10 ,  G06T17/205 ,  G06T2200/04 ,  G06T2200/28 ,  G06T2210/61

Abstract: One disclosed example method for view independent color equalized 3D scene texturing includes capturing a plurality of keyframes of an object; accessing a 3D representation of the object comprising a surface mesh model for the object, the surface mesh model comprising a plurality of polygons; for each polygon, assigning one of the plurality of keyframes to the polygon based on one or more image quality characteristics associated with a portion of the keyframe corresponding to the polygon; reducing a number of assigned keyframes by changing associations between assigned keyframes; and for each polygon of the surface mesh model having an assigned keyframe: equalizing a texture color of at least a portion of the polygon based at least in part on one or more image quality characteristics of the plurality of keyframes associated with the polygon; and assigning the equalized texture color to the 3D representation of the object.

公开(公告)号：US09443350B2

公开(公告)日：2016-09-13

申请号：US14730146

申请日：2015-06-03

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Alessandro Mulloni ,  Gerhard Reitmayr ,  Daniel Knoblauch

IPC: H04N13/02 ,  G06T17/00

CPC classification number: G06T17/00 ,  G06T2200/08 ,  H04N13/204 ,  H04N13/254 ,  H04N13/271

Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.

公开(公告)号：US09501725B2

公开(公告)日：2016-11-22

申请号：US14302056

申请日：2014-06-11

Applicant: QUALCOMM Incorporated

Inventor： Bojan Vrcelj ,  Daniel Knoblauch ,  Raghuraman Krishnamoorthi ,  Serafin Diaz Spindola

IPC: G06T7/00 ,  G06K9/78 ,  G06K9/62

CPC classification number: G06K9/78 ,  G06K9/6228 ,  G06T7/75 ,  G06T2207/10028 ,  G06T2207/20081

Abstract: Systems, methods, and devices are described for capturing compact representations of three-dimensional objects suitable for offline object detection, and storing the compact representations as object representation in a database. One embodiment may include capturing frames of a scene, identifying points of interest from different key frames of the scene, using the points of interest to create associated three-dimensional key points, and storing key points associated with the object as an object representation in an object detection database.

Abstract translation: 描述了用于捕获适合于离线对象检测的三维对象的紧凑表示以及将紧凑表示作为对象表示存储在数据库中的系统，方法和设备。 一个实施例可以包括捕获场景的帧，使用感兴趣点来识别来自场景的不同关键帧的兴趣点，以创建相关联的三维关键点，以及将与对象相关联的关键点存储为对象表示。 对象检测数据库。

公开(公告)号：US20150294499A1

公开(公告)日：2015-10-15

申请号：US14730146

申请日：2015-06-03

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Alessandro Mulloni ,  Gerhard Reitmayr ,  Daniel Knoblauch

IPC: G06T17/00 ,  H04N13/02

CPC classification number: G06T17/00 ,  G06T2200/08 ,  H04N13/204 ,  H04N13/254 ,  H04N13/271

Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.

Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。