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公开(公告)号：US10282591B2
公开(公告)日：2019-05-07
申请号：US14833573
申请日：2015-08-24
Applicant: QUALCOMM Incorporated
Inventor： Albrecht Johannes Lindner , Volodimir Slobodyanyuk , Stephen Michael Verrall , Kalin Mitkov Atanassov
Abstract: An electronic device is described. The electronic device includes a camera configured to capture an image of a scene. The electronic device also includes an image segmentation mapper configured to perform segmentation of the image based on image content to generate a plurality of image segments, each of the plurality of image segments associated with spatial coordinates indicative of a location of each segment in the scene. The electronic device further includes a memory configured to store the image and the spatial coordinates. The electronic device additionally includes a LIDAR (light+radar) unit, the LIDAR unit steerable to selectively obtain depth values corresponding to at least a subset of the spatial coordinates. The electronic device further includes a depth mapper configured to generate a depth map of the scene based on the depth values and the spatial coordinates.
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公开(公告)号：US20170061632A1
公开(公告)日：2017-03-02
申请号：US14833573
申请日：2015-08-24
Applicant: QUALCOMM Incorporated
Inventor： Albrecht Johannes Lindner , Volodimir Slobodyanyuk , Stephen Michael Verrall , Kalin Mitkov Atanassov
CPC classification number: G06K9/00208 , G01S7/4972 , G01S17/023 , G01S17/89 , G06K9/00744 , G06T7/50 , G06T2207/10024 , G06T2207/10028 , H04N13/261
Abstract: An electronic device is described. The electronic device includes a camera configured to capture an image of a scene. The electronic device also includes an image segmentation mapper configured to perform segmentation of the image based on image content to generate a plurality of image segments, each of the plurality of image segments associated with spatial coordinates indicative of a location of each segment in the scene. The electronic device further includes a memory configured to store the image and the spatial coordinates. The electronic device additionally includes a LIDAR (light+radar) unit, the LIDAR unit steerable to selectively obtain depth values corresponding to at least a subset of the spatial coordinates. The electronic device further includes a depth mapper configured to generate a depth map of the scene based on the depth values and the spatial coordinates.
Abstract translation: 描述了电子设备。 电子设备包括被配置为捕获场景的图像的照相机。 电子设备还包括图像分割映射器，其被配置为基于图像内容执行图像的分割以生成多个图像片段，所述多个图像片段中的每一个与指示场景中每个片段的位置的空间坐标相关联。 电子设备还包括被配置为存储图像和空间坐标的存储器。 电子设备还包括LIDAR（光+雷达）单元，LIDAR单元可选择地获得与空间坐标的至少一个子集对应的深度值。 电子设备还包括深度图绘制器，其被配置为基于深度值和空间坐标生成场景的深度图。
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公开(公告)号：US11042723B2
公开(公告)日：2021-06-22
申请号：US16359441
申请日：2019-03-20
Applicant: QUALCOMM Incorporated
Inventor： Albrecht Johannes Lindner , Volodimir Slobodyanyuk , Stephen Michael Verrall , Kalin Mitkov Atanassov
Abstract: A method and electronic device for selectively obtaining depth information at locations within a scene are described. Image content analysis is performed on a received image of the scene. Locations within the image to obtain depth information within the scene are determined based on the image analysis. The locations are provided to a LIDAR (light+radar) unit to selectively obtain depth information at the scene locations. The depth information is received from the LIDAR unit and a second image analysis is performed on a second image. The second image analysis is based on the image content of the second image and the received depth information. Updated locations based on the second image analysis may be provided to the LIDAR unit to obtain updated depth information.
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公开(公告)号：US10812731B2
公开(公告)日：2020-10-20
申请号：US16108882
申请日：2018-08-22
Applicant: QUALCOMM Incorporated
Inventor： Htet Naing , Kalin Atanassov , Stephen Michael Verrall
Abstract: Aspects of the present disclosure relate to active depth sensing. An example device may include a memory and a processor coupled to the memory. The processor may be configured to determine an amount of ambient light for a scene to be captured by a structured light receiver and adjust an exposure time for frame capture of a sensor of the structured light receiver based on the determined amount of ambient light. The exposure time of the sensor of the structured light receiver is inversely related to the determined amount of ambient light. The processor further may be configured to receive a plurality of captured frames from the structured light receiver based on the adjusted exposure time and generate an aggregated frame, including aggregating values across the plurality of captured frames.
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公开(公告)号：US20190339364A1
公开(公告)日：2019-11-07
申请号：US15968317
申请日：2018-05-01
Applicant: QUALCOMM Incorporated
Inventor： James Wilson Nash , Kalin Mitkov Atanassov , Stephen Michael Verrall
Abstract: Aspects of the present disclosure relate to systems and methods for time-of-flight ranging. An example time-of-flight system includes a transmitter including a plurality of light emitters for transmitting focused light, the plurality of light emitters including a first group of light emitters for transmitting focused light with a first field of transmission and a second group of light emitters for transmitting focused light with a second field of transmission. The first field of transmission at a depth from the transmitter is larger than the second field of transmission at the depth from the transmitter. The time-of-flight system also includes a receiver to receive reflections of the transmitted light.
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Patent Agency Ranking
公开(公告)号：US10192311B2
公开(公告)日：2019-01-29
申请号：US15230211
申请日：2016-08-05
Applicant: QUALCOMM Incorporated
Inventor： Yunke Pan , Stephen Michael Verrall
Abstract: A structured light active sensing systems may be configured to transmit and received codewords to generate a depth map by analyzing disparities between the locations of the transmitted and received codewords. To determine the locations of received codewords, an image of the projected codewords is identified, from which one or more codeword boundaries are detected. The codeword boundaries may be detected based upon a particular codeword bit of each codeword. Each detected codeword boundary may be constrained from overlapping with other detected codeword boundaries, such that no pixel of the received image is associated with more than one codeword boundary.
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公开(公告)号：US09558436B2
公开(公告)日：2017-01-31
申请号：US14491521
申请日：2014-09-19
Applicant: QUALCOMM Incorporated
Inventor： James Wilson Nash , Kalin Mitkov Atanassov , Stephen Michael Verrall
CPC classification number: G06K19/06037 , G02B5/1857 , G02B27/4205 , G02B27/4266 , G06K9/2036 , G06T15/506
Abstract: A method includes identifying one or more codewords of a bit sequence that fail to satisfy at least one codeword constraint. The method also includes removing the one or more codewords from the bit sequence to generate a punctured bit sequence. The method further includes determining whether the punctured bit sequence is symmetric. The method includes, in response to determining that the punctured bit sequence is symmetric, generating a hermitian symmetric codebook primitive based at least in part on the punctured bit sequence, where the hermitian symmetric codebook primitive is useable to form a diffractive optical element (DOE) of a structured light depth sensing system.
Abstract translation: 一种方法包括识别不满足至少一个码字约束的比特序列的一个或多个码字。 该方法还包括从比特序列中移除一个或多个码字以产生一个穿孔比特序列。 该方法还包括确定穿孔比特序列是否是对称的。 该方法包括响应于确定穿孔比特序列是对称的，至少部分地基于穿孔比特序列生成隐形对称码本原语，其中，密码对称码本原语可用于形成衍射光学元件（DOE） 的结构光深度感测系统。
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公开(公告)号：US11915502B2
公开(公告)日：2024-02-27
申请号：US17327309
申请日：2021-05-21
Applicant: QUALCOMM Incorporated
Inventor： Albrecht Johannes Lindner , Volodimir Slobodyanyuk , Stephen Michael Verrall , Kalin Mitkov Atanassov
CPC classification number: G06V20/647 , G01S7/4972 , G01S17/86 , G01S17/89 , G06T7/50 , G06V20/46 , H04N13/261 , G06T2207/10024 , G06T2207/10028
Abstract: An electronic imaging device and method for image capture are described. The imaging device includes a camera configured to obtain image information of a scene and that may be focused on a region of interest in the scene. The imaging device also includes a LIDAR unit configured to obtain depth information of at least a portion of the scene at specified scan locations of the scene. The imaging device is configured to detect an object in the scene and provides specified scan locations to the LIDAR unit. The camera is configured to capture an image with an adjusted focus based on depth information, obtained by the LIDAR unit, associated with the detected object.
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公开(公告)号：US20190323827A1
公开(公告)日：2019-10-24
申请号：US15958651
申请日：2018-04-20
Applicant: QUALCOMM Incorporated
Abstract: Aspects of the present disclosure relate to systems and methods for structured light depth systems. An example active depth system may include a receiver to receive reflections of transmitted light and a transmitter including one or more light sources to transmit light in a spatial distribution. The spatial distribution of transmitted light may include a first region of a first plurality of light points and a second region of a second plurality of light points. A first density of the first plurality of light points is greater than a second density of the second plurality of light points when a first distance between a center of the spatial distribution and a center of the first region is less than a second distance between the center of the spatial distribution and the center of the second region.
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公开(公告)号：US10341633B2
公开(公告)日：2019-07-02
申请号：US14948195
申请日：2015-11-20
Applicant: QUALCOMM Incorporated
Abstract: An electronic device for generating a corrected depth map is described. The electronic device includes a processor. The processor is configured to obtain a first depth map. The first depth map includes first depth information of a first portion of a scene sampled by the depth sensor at a first sampling. The processor is also configured to obtain a second depth map. The second depth map includes second depth information of a second portion of the scene sampled by the depth sensor at a second sampling. The processor is additionally configured to obtain displacement information indicative of a displacement of the depth sensor between the first sampling and the second sampling. The processor is also configured to generate a corrected depth map by correcting erroneous depth information based on the first depth information, the second depth information, and the displacement information.
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