公开(公告)号：US20140368645A1

公开(公告)日：2014-12-18

申请号：US14278928

申请日：2014-05-15

Applicant: QUALCOMM Incorporated

Inventor： Dheeraj AHUJA ,  Kiyoung KIM ,  Yanghai TSIN ,  Seyed Hesameddin NAJAFI SHOUSHTARI

IPC: G06T7/00 ,  H04N7/18

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。

公开(公告)号：US20160253819A1

公开(公告)日：2016-09-01

申请号：US14633737

申请日：2015-02-27

Applicant: QUALCOMM Incorporated

Inventor： Erick MENDEZ MENDEZ ,  Kiyoung KIM ,  Youngmin PARK

IPC: G06T7/20 ,  G06T5/00

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.

Abstract translation: 公开了一种用于自适应地执行一个或多个运动模糊估计方法以估计与由增强现实应用产生的增强现实环境中的图像目标帧相关联的运动模糊的方法和装置。 在一个实施例中，实现的功能包括：应用第一运动模糊估计方法来估计运动模糊; 确定计算资源是否可用于第二运动模糊估计方法; 以及应用所述第二运动模糊估计方法来响应于对于所述第二运动模糊估计方法可用的计算资源的确定来估计运动模糊。

公开(公告)号：US20150269436A1

公开(公告)日：2015-09-24

申请号：US14657821

申请日：2015-03-13

Applicant: QUALCOMM Incorporated

Inventor： Kiyoung KIM ,  Gerhard REITMAYR

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00624 ,  G06T7/246 ,  G06T2207/30244

Abstract: Techniques are disclosed for tracking objects in computer vision (CV) applications, involving identifying line segments in an image and using iterative approach of computing and analyzing spatial and angular distribution of different sets of line segments to identify a set of line segments with relatively high spatial and/or angular distribution, which can reduce the likelihood of error in tracking. Some techniques may further employ a quality check of the selected line segments. An estimation of a device's pose (translation and orientation) may be calculated from tracked line segments.

Abstract translation: 公开了用于跟踪计算机视觉（CV）应用中的对象的技术，涉及识别图像中的线段，并且使用迭代方法来计算和分析不同组线段的空间和角度分布，以识别具有相对较高空间的线段 和/或角度分布，这可以降低跟踪误差的可能性。 一些技术可以进一步采用所选线段的质量检查。 可以从跟踪的线段计算设备姿态（平移和定向）的估计。