公开(公告)号：US20240078684A1

公开(公告)日：2024-03-07

申请号：US17929242

申请日：2022-09-01

Applicant: QUALCOMM Incorporated

Inventor： Louis Joseph KEROFSKY ,  Geert VAN DER AUWERA ,  Marta KARCZEWICZ ,  Kuan-Ting SHEN ,  Dangdang SHAO ,  Khalid TAHBOUB ,  Bing HAN

IPC: G06T7/246 ,  G06T5/00 ,  G06T7/73

CPC classification number: G06T7/248 ,  G06T5/006 ,  G06T7/74 ,  G06T2207/20068 ,  G06T2207/30244 ,  G06T2207/30252

Abstract: Certain aspects of the present disclosure provide techniques for global motion modeling. Embodiments include receiving a first image and a second image from a camera attached to a moving object. Embodiments include identifying a pixel in the first image. Embodiments include determining, based on one or more parameters associated with the camera, a vector representing a range of locations in which a real-world point corresponding to the pixel is likely to be found in the second image, wherein the parameters associated with the camera comprise: a first parameter related to a location of the camera relative to a ground surface; a second parameter related to motion of the moving object; and a third parameter related to an orientation of the camera relative to the ground surface. Embodiments include determining, using the vector, a location of the real-world point in the second image.