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    Alternating light distributions for active depth sensing
    2.
    发明授权
    Alternating light distributions for active depth sensing 有权

    公开(公告)号：US11580654B2

    公开(公告)日：2023-02-14

    申请号：US16893081

    申请日：2020-06-04

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Ioannis Nousias ,  Mark Ian Roy Muir ,  Sami Khawam

    IPC: G06T7/521 ,  G06V20/13 ,  G06V20/64

    Abstract: Aspects of the present disclosure relate to systems and methods for active depth sensing. An example apparatus configured to perform active depth sensing includes a projector. The projector is configured to emit a first distribution of light during a first time and emit a second distribution of light different from the first distribution of light during a second time. A set of final depth values of one or more objects in a scene is based on one or more reflections of the first distribution of light and one or more reflections of the second distribution of light. The projector may include a laser array, and the apparatus may be configured to switch between a first plurality of lasers of the laser array to emit light during the first time and a second plurality of laser to emit light during the second time.

    CODED LIGHT PATTERN HAVING HERMITIAN SYMMETRY
    4.
    发明申请
    CODED LIGHT PATTERN HAVING HERMITIAN SYMMETRY 有权
    具有对比度的编码光图

    公开(公告)号：US20150371434A1

    公开(公告)日：2015-12-24

    申请号：US14536402

    申请日：2014-11-07

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

    IPC: G06T15/50 ,  G02B5/18 ,  G02B27/42

    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 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。

    STRUCTURED LIGHT THREE-DIMENSIONAL (3D) DEPTH MAP BASED ON CONTENT FILTERING
    5.
    发明申请
    STRUCTURED LIGHT THREE-DIMENSIONAL (3D) DEPTH MAP BASED ON CONTENT FILTERING 有权
    基于内容过滤的结构光三维（3D）深度图

    公开(公告)号：US20150371393A1

    公开(公告)日：2015-12-24

    申请号：US14743980

    申请日：2015-06-18

    Applicant: QUALCOMM Incorporated

    Inventor： Vikas Ramachandra ,  Kalin Mitkov Atanassov ,  James Wilson Nash

    IPC: G06T7/00 ,  G06T5/10 ,  G06T5/00

    CPC classification number: G06T7/514 ,  G06K9/00375 ,  G06K9/2036 ,  G06T5/002 ,  G06T5/10 ,  G06T2207/10012 ,  G06T2207/10028 ,  H04N13/271

    Abstract: A structured light three-dimensional (3D) depth map based on content filtering is disclosed. In a particular embodiment, a method includes receiving, at a receiver device, image data that corresponds to a structured light image. The method further includes processing the image data to decode depth information based on a pattern of projected coded light. The depth information corresponds to a depth map. The method also includes performing one or more filtering operations on the image data. An output of the one or more filtering operations includes filtered image data. The method further includes performing a comparison of the depth information to the filtered image data and modifying the depth information based on the comparison to generate a modified depth map.

    Abstract translation: 公开了一种基于内容过滤的结构化三维（3D）深度图。 在特定实施例中，一种方法包括在接收机设备处接收对应于结构化光图像的图像数据。 该方法还包括处理图像数据以基于投射的编码光的图案来解码深度信息。 深度信息对应于深度图。 该方法还包括对图像数据执行一个或多个过滤操作。 一个或多个过滤操作的输出包括滤波图像数据。 该方法还包括执行深度信息与滤波图像数据的比较，并且基于比较修改深度信息以生成修改的深度图。

    CODED LIGHT PATTERN HAVING HERMITIAN SYMMETRY
    6.
    发明申请
    CODED LIGHT PATTERN HAVING HERMITIAN SYMMETRY 有权
    具有对比度的编码光图

    公开(公告)号：US20150371127A1

    公开(公告)日：2015-12-24

    申请号：US14491521

    申请日：2014-09-19

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

    IPC: G06K19/06

    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。

    Transmission of Affine-Invariant Spatial Mask for Active Depth Sensing
    7.
    发明申请
    Transmission of Affine-Invariant Spatial Mask for Active Depth Sensing 有权
    用于有源深度感测的仿射不变空间掩模传输

    公开(公告)号：US20130314696A1

    公开(公告)日：2013-11-28

    申请号：US13785797

    申请日：2013-03-05

    Applicant: QUALCOMM INCORPORATED

    Inventor： Kalin Mitkov Atanassov ,  James Wilson Nash ,  Vikas Ramachandra ,  Sergiu Radu Goma

    IPC: G01B11/25

    CPC classification number: G01B11/254 ,  G01B11/2513 ,  G01B11/2545 ,  G06T5/001 ,  G06T7/521 ,  H04B1/12

    Abstract: A method operational on a transmitter device is provided for projecting a composite code mask. A composite code mask on a tangible medium is obtained, where the composite code mask includes a code layer combined with a carrier layer. The code layer may include uniquely identifiable spatially-coded codewords defined by a plurality of symbols. The carrier layer may be independently ascertainable and distinct from the code layer and includes a plurality of reference objects that are robust to distortion upon projection. At least one of the code layer and carrier layer may be pre-shaped by a synthetic point spread function prior to projection. At least a portion of the composite code mask is projected, by the transmitter device, onto a target object to help a receiver ascertain depth information for the target object with a single projection of the composite code mask.

    Abstract translation: 提供在发射机设备上操作的方法用于投影复合码掩码。 获得有形介质上的复合码掩码，其中复合码掩码包括与载体层组合的码层。 代码层可以包括由多个符号定义的唯一可识别的空间编码码字。 载体层可以独立地确定并且不同于代码层，并且包括多个参考对象，其对于投影时的失真是鲁棒的。 代码层和载体层中的至少一个可以在投影之前通过合成点扩散函数预先成形。 复合代码掩码的至少一部分由发射机设备投射到目标对象上，以帮助接收机通过复合码掩码的单个投影来确定目标对象的深度信息。

    Zero order light removal in active sensing systems
    8.
    发明授权
    Zero order light removal in active sensing systems 有权

    公开(公告)号：US10922829B2

    公开(公告)日：2021-02-16

    申请号：US16408198

    申请日：2019-05-09

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Shandon Campbell

    IPC: G06T7/521 ,  G06T7/70 ,  G06T5/20

    Abstract: A device for image processing includes an optical receiver configured to receive a reflection of a coded pattern from an object to generate an image, and processing circuitry. The processing circuitry is configured to determine an estimated position of zero order light in the image, determine a spatial region of the coded pattern that corresponds to a position of the zero order light in the coded pattern, map the spatial region to the estimated position of the zero order light in the image to generate a corrected image, and generate a depth map for the coded pattern based on the corrected image.

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