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公开(公告)号：US09811731B2
公开(公告)日：2017-11-07
申请号：US14505345
申请日：2014-10-02
Applicant: QUALCOMM Incorporated
Inventor： Wonwoo Lee , Qi Pan , Emilio Maggio , Romain Tallonneau
CPC classification number: G06K9/00624 , G06K9/00671 , G06K9/4604 , G06K9/6202
Abstract: A computer-implemented method of tracking a target object in an object recognition system includes acquiring a plurality of images with a camera and simultaneously tracking the target object and dynamically building online map data from the plurality of images. Tracking of the target object is based on the online map data and the offline map data. In one aspect, tracking the target object includes enabling only one of the online map data and offline map data for tracking based on whether tracking is successful. In another aspect, tracking the target object includes fusing the online map data with the offline map data to generate a fused online model.
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公开(公告)号：US20170091943A1
公开(公告)日：2017-03-30
申请号：US14866781
申请日：2015-09-25
Applicant: QUALCOMM Incorporated
Inventor： Qi Pan , Romain Tallonneau , Emilio Maggio , Stefan Walk
CPC classification number: G06K9/481 , G06K9/3233 , G06K9/34 , G06K9/46 , G06K9/4633 , G06K9/4671 , G06K9/6212 , G06K9/6277 , G06K2009/3291 , G06T7/10 , G06T7/11 , G06T7/136 , G06T7/70 , G06T7/74 , G06T2207/20076
Abstract: Disclosed are a system, apparatus, and method for detecting objects. Input image frames may be received and distinct regions created within each frame. Descriptors may be extracted from the regions according to their associated probability. Extracted descriptors may be matched to reference descriptors. Votes or confidence is cast for particular regions according to region properties. The region properties may be determined from center voting methods based on vector intersection to other vectors or intersections with a region. The probability of selecting particular regions can increase with each vote or increase in confidence for a region. In response to updating probabilities, additional regions may be selected and additional descriptors may be extracted. Additional voting iterations can update the probability of selecting a next region. An object pose may be estimated in response to meeting one or more thresholds.
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公开(公告)号：US09727800B2
公开(公告)日：2017-08-08
申请号：US14866781
申请日：2015-09-25
Applicant: QUALCOMM Incorporated
Inventor： Qi Pan , Romain Tallonneau , Emilio Maggio , Stefan Walk
CPC classification number: G06K9/481 , G06K9/3233 , G06K9/34 , G06K9/46 , G06K9/4633 , G06K9/4671 , G06K9/6212 , G06K9/6277 , G06K2009/3291 , G06T7/10 , G06T7/11 , G06T7/136 , G06T7/70 , G06T7/74 , G06T2207/20076
Abstract: Disclosed are a system, apparatus, and method for detecting objects. Input image frames may be received and distinct regions created within each frame. Descriptors may be extracted from the regions according to their associated probability. Extracted descriptors may be matched to reference descriptors. Votes or confidence is cast for particular regions according to region properties. The region properties may be determined from center voting methods based on vector intersection to other vectors or intersections with a region. The probability of selecting particular regions can increase with each vote or increase in confidence for a region. In response to updating probabilities, additional regions may be selected and additional descriptors may be extracted. Additional voting iterations can update the probability of selecting a next region. An object pose may be estimated in response to meeting one or more thresholds.
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公开(公告)号：US20150098616A1
公开(公告)日：2015-04-09
申请号：US14505431
申请日：2014-10-02
Applicant: QUALCOMM Incorporated
Inventor： Michael Gervautz , Romain Tallonneau , Qi Pan
CPC classification number: G06K9/00624 , G06K9/4604 , G06K9/4661 , G06K9/6202 , G06T7/579 , G06T7/70 , G06T7/74 , G06T2207/10152 , G06T2207/30244
Abstract: Exemplary methods, apparatuses, and systems for performing object detection on a mobile device are disclosed. A reference dataset comprising a set of reference keyframes for an object captured in a plurality of different lighting environments is obtained. An image of the object in a current lighting environment is captured. Reference keyframes are grouped into respective subsets according to one or more of: a reference keyframe camera position and orientation (pose), a reference keyframe lighting environment, or a combination thereof. Feature points of the image are compared with feature points of the reference keyframes in each of the respective subsets. A candidate subset of reference keyframes from the respective subsets is selected in response to the comparing feature points. A reference keyframe from the candidate subset of reference keyframes is selected for triangulation with the image of the object.
Abstract translation: 公开了用于在移动设备上执行对象检测的示例性方法，设备和系统。 获得包括在多个不同照明环境中捕获的对象的一组参考关键帧的参考数据集。 捕获当前照明环境中对象的图像。 参考关键帧根据以下中的一个或多个被分组成各个子集：参考关键帧摄像机位置和方向（姿势），参考关键帧照明环境或其组合。 将图像的特征点与每个相应子集中的参考关键帧的特征点进行比较。 响应于比较特征点选择来自相应子集的参考关键帧的候选子集。 选择来自参考关键帧的候选子集的参考关键帧用于与对象的图像进行三角测量。
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