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公开(公告)号：US12236631B2
公开(公告)日：2025-02-25
申请号：US17484601
申请日：2021-09-24
Applicant: QUALCOMM Incorporated
Inventor： Pushkar Gorur Sheshagiri , Ajit Deepak Gupte , Chiranjib Choudhuri , Gerhard Reitmayr , Youngmin Park
Abstract: Systems and techniques are described herein for processing frames. The systems and techniques can be implemented by various types of systems, such as by an extended reality (XR) system or device. In some cases, a process can include obtaining feature information associated with a feature in a current frame, wherein the feature information is based on one or more previous frames; determining an estimated pose of the apparatus associated with the current frame; obtaining a distance associated with the feature in the current frame; and determining an estimated scale of the feature in the current frame based on the feature information associated with the feature, the estimated pose, and the distance associated with the feature.
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公开(公告)号：US09626803B2
公开(公告)日：2017-04-18
申请号：US14569549
申请日：2014-12-12
Applicant: QUALCOMM Incorporated
Inventor： Youngmin Park , Erick Mendez Mendez , Gerhard Reitmayr , Daniel Wagner , Serafin Diaz Spindola
CPC classification number: G06T19/006 , G06T7/13 , G06T7/38 , G06T2200/04 , G06T2207/10012 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , H04N13/15 , H04N13/167 , H04N2213/003
Abstract: Disclosed are a system, apparatus, and method for depth and color camera image synchronization. Depth and color camera input images are received or otherwise obtained unsynchronized and without associated creation timestamps. An image of one type is compared with an image of a different type to determine a match for synchronization. Matches may be determined according to edge detection or depth coordinate detection. When a match is determined a synchronized pair is formed for processing within an augmented reality output. Optionally the synchronized pair may be transformed to improve the match between the image pair.
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公开(公告)号：US09412034B1
公开(公告)日：2016-08-09
申请号：US14609371
申请日：2015-01-29
Applicant: QUALCOMM Incorporated
Inventor： Youngmin Park , Daniel Wagner
CPC classification number: G06K9/46 , G06K9/00624 , G06K2009/4666 , G06T7/246 , G06T7/50 , G06T7/60 , G06T2207/10028 , G06T2207/20021
Abstract: Disclosed are a system, apparatus, and method for performing occlusion handling for simultaneous localization and mapping. Occluded map points may be detected according to a depth-mask created according to an image keyframe. Dividing a scene into sections may optimize the depth-mask. Size of depth-mask points may be adjusted according to intensity. Visibility may be verified with an optimized subset of possible map points. Visibility may be propagated to nearby points in response to determining an initial visibility of a first point's surrounding image patch. Visibility may also be organized and optimized according to a grid.
Abstract translation: 公开了一种用于执行同时定位和映射的遮挡处理的系统，装置和方法。 可以根据根据图像关键帧创建的深度掩模来检测闭合的地图点。 将场景划分为多个部分可以优化深度掩码。 深度屏蔽点的大小可以根据强度进行调整。 可以通过可能的地图点的优化子集验证可见性。 响应于确定第一点的周围图像块的初始可视性，可见性可以传播到附近点。 还可以根据网格组织和优化可见性。
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公开(公告)号：US09152874B2
公开(公告)日：2015-10-06
申请号：US13801601
申请日：2013-03-13
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Youngmin Park , Qi Pan
CPC classification number: G06K9/3241 , G06T7/20 , G06T7/74 , G06T19/006 , G06T2207/10016 , G06T2207/20201
Abstract: Various methods, apparatuses and/or articles of manufacture are provided which may be implemented for use by an electronic device to track objects across two or more digital images. For example, an electronic device may generate a plurality of warped patches corresponding to a reference patch of a reference image, and combine two or more warped patches to form a blurred warped patch corresponding to the reference patch with a motion blur effect applied to a digital representation corresponding to a keypoint of an object to be tracked.
Abstract translation: 提供了各种方法，装置和/或制造品，其可以被实现为由电子设备用于跟踪跨越两个或更多个数字图像的物体。 例如，电子设备可以生成与参考图像的参考图像相对应的多个翘曲的斑块，并且组合两个或更多个扭曲的斑块以形成与参考斑块相对应的模糊的弯曲斑块，其中运动模糊效应被应用于数字 对应于要跟踪的对象的关键点的表示。
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公开(公告)号：US09870514B2
公开(公告)日：2018-01-16
申请号：US14791205
申请日：2015-07-02
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim , Youngmin Park
CPC classification number: G06K9/4604 , G06K9/52 , G06T7/543 , G06T7/55 , G06T7/73 , G06T19/006 , G06T19/20 , G06T2207/10016
Abstract: Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
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Patent Agency Ranking
公开(公告)号：US09684970B2
公开(公告)日：2017-06-20
申请号：US14633737
申请日：2015-02-27
Applicant: QUALCOMM Incorporated
Inventor： Erick Mendez Mendez , Kiyoung Kim , Youngmin Park
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.
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公开(公告)号：US20170004377A1
公开(公告)日：2017-01-05
申请号：US14791205
申请日：2015-07-02
Applicant: QUALCOMM Incorporated
Inventor： Kiyoung Kim , Youngmin Park
CPC classification number: G06K9/4604 , G06K9/52 , G06T7/543 , G06T7/55 , G06T7/73 , G06T19/006 , G06T19/20 , G06T2207/10016
Abstract: Disclosed are a device, apparatus, and method for performing line mapping. A three-dimensional (3D) map that includes at least a first and a second 3D line corresponding to an aspect of a real world environment may be obtained. One or more images of the aspect may also be obtained and hypotheses 3D lines may be determined. The hypothesis 3D lines may be verified with the one or more images and the 3D map may be updated. The determination and verification of the hypothesis 3D lines may include creating a plane in 3D space and using co-planarity or orthogonality assumptions.
Abstract translation: 公开了一种用于执行线映射的装置，装置和方法。 可以获得包括对应于真实世界环境的方面的至少第一和第二3D线的三维（3D）地图。 也可以获得该方面的一个或多个图像，并且可以确定3D线。 可以利用一个或多个图像验证假设3D线，并且可以更新3D地图。 假设3D线的确定和验证可以包括在3D空间中创建平面并使用共平面性或正交性假设。
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公开(公告)号：US20160224856A1
公开(公告)日：2016-08-04
申请号：US14609371
申请日：2015-01-29
Applicant: QUALCOMM Incorporated
Inventor： Youngmin Park , Daniel Wagner
CPC classification number: G06K9/46 , G06K9/00624 , G06K2009/4666 , G06T7/246 , G06T7/50 , G06T7/60 , G06T2207/10028 , G06T2207/20021
Abstract: Disclosed are a system, apparatus, and method for performing occlusion handling for simultaneous localization and mapping. Occluded map points may be detected according to a depth-mask created according to an image keyframe. Dividing a scene into sections may optimize the depth-mask. Size of depth-mask points may be adjusted according to intensity. Visibility may be verified with an optimized subset of possible map points. Visibility may be propagated to nearby points in response to determining an initial visibility of a first point's surrounding image patch. Visibility may also be organized and optimized according to a grid.
Abstract translation: 公开了一种用于执行同时定位和映射的遮挡处理的系统，装置和方法。 可以根据根据图像关键帧创建的深度掩模来检测闭合的地图点。 将场景划分为多个部分可以优化深度掩码。 深度屏蔽点的大小可以根据强度进行调整。 可以通过可能的地图点的优化子集验证可见性。 响应于确定第一点的周围图像块的初始可视性，可见性可以传播到附近点。 还可以根据网格组织和优化可见性。
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9.发明申请公开(公告)号：US20160171768A1
公开(公告)日：2016-06-16
申请号：US14569549
申请日：2014-12-12
Applicant: QUALCOMM Incorporated
Inventor： Youngmin Park , Erick Mendez Mendez , Gerhard Reitmayr , Daniel Wagner , Serafin Diaz Spindola
CPC classification number: G06T19/006 , G06T7/13 , G06T7/38 , G06T2200/04 , G06T2207/10012 , G06T2207/10016 , G06T2207/10024 , G06T2207/10028 , H04N13/15 , H04N13/167 , H04N2213/003
Abstract: Disclosed are a system, apparatus, and method for depth and color camera image synchronization. Depth and color camera input images are received or otherwise obtained unsynchronized and without associated creation timestamps. An image of one type is compared with an image of a different type to determine a match for synchronization. Matches may be determined according to edge detection or depth coordinate detection. When a match is determined a synchronized pair is formed for processing within an augmented reality output. Optionally the synchronized pair may be transformed to improve the match between the image pair.
Abstract translation: 公开了用于深度和彩色相机图像同步的系统，装置和方法。 深度和彩色相机输入图像被接收或以其他方式获得不同步并且没有关联的创建时间戳。 将一种类型的图像与不同类型的图像进行比较以确定用于同步的匹配。 可以根据边缘检测或深度坐标检测来确定匹配。 当确定匹配时，形成用于在增强现实输出中进行处理的同步对。 可选地，可以变换同步对以改善图像对之间的匹配。
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公开(公告)号：US20140270348A1
公开(公告)日：2014-09-18
申请号：US13801601
申请日：2013-03-13
Applicant: QUALCOMM INCORPORATED
Inventor： Daniel Wagner , Youngmin Park , Qi Pan
IPC: G06K9/32
CPC classification number: G06K9/3241 , G06T7/20 , G06T7/74 , G06T19/006 , G06T2207/10016 , G06T2207/20201
Abstract: Various methods, apparatuses and/or articles of manufacture are provided which may be implemented for use by an electronic device to track objects across two or more digital images. For example, an electronic device may generate a plurality of warped patches corresponding to a reference patch of a reference image, and combine two or more warped patches to form a blurred warped patch corresponding to the reference patch with a motion blur effect applied to a digital representation corresponding to a keypoint of an object to be tracked.
Abstract translation: 提供了各种方法，装置和/或制造品，其可以被实现为由电子设备用于跟踪跨越两个或更多个数字图像的物体。 例如，电子设备可以生成与参考图像的参考图像相对应的多个翘曲的斑块，并且组合两个或更多个扭曲的斑块以形成与参考斑块相对应的模糊的弯曲斑块，其中运动模糊效应被应用于数字 对应于要跟踪的对象的关键点的表示。
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