公开(公告)号：US20140016821A1

公开(公告)日：2014-01-16

申请号：US13719012

申请日：2012-12-18

Applicant: QUALCOMM INCORPORATED

Inventor： Clemens Arth ,  Alessandro Mulloni ,  Gerhard Reitmayr ,  Dieter Schmalstieg

IPC: G06K9/00

CPC classification number: G06K9/00671 ,  G06T7/75 ,  G06T7/80 ,  G06T2207/10016 ,  G06T2207/30244 ,  H04N5/23238

Abstract: A mobile device uses vision and orientation sensor data jointly for six degree of freedom localization, e.g., in wide-area environments. An image or video stream is captured while receiving geographic orientation data and may be used to generate a panoramic cylindrical map of an environment. A bin of model features stored in a database is accessed based on the geographic orientation data. The model features are from a pre-generated reconstruction of the environment produced from extracted features from a plurality of images of the environment. The reconstruction is registered to a global orientation and the model features are stored in bins based on similar geographic orientations. Features from the panoramic cylindrical map are matched to model features in the bin to produce a set of corresponding features, which are used to determine a position and an orientation of the camera.

Abstract translation: 移动设备使用视觉和姿态传感器数据联合进行六自由度定位，例如在广域环境中。 捕获图像或视频流，同时接收地理取向数据，并且可以用于生成环境的全景圆柱图。 基于地理位置数据访问存储在数据库中的模型特征的一个bin。 模型特征来自从环境的多个图像的提取特征产生的环境的预先生成的重建。 重建被注册到全局方向，并且基于类似的地理位置将模型特征存储在箱中。 全景圆柱形地图的特征与仓中的模型特征相匹配，以产生一组相应的特征，用于确定相机的位置和方向。

公开(公告)号：US20140321771A1

公开(公告)日：2014-10-30

申请号：US14256812

申请日：2014-04-18

Applicant: QUALCOMM Incorporated

Inventor： Georg REINISCH ,  Clemens Arth

IPC: G06T11/60

CPC classification number: G06T11/60 ,  G06T3/4038

Abstract: A real-time panoramic mapping process is presented for generating a panoramic image from a plurality of image frames that are being captured by one or more cameras of a device. The proposed mapping process may be used to clear-out an unwanted portion from the panoramic image and replace it with correct information from other images of the same scene. Moreover, brightness seams may be blended while constructing the panoramic image. The proposed real-time panoramic mapping process may be performed on a parallel processor.

Abstract translation: 呈现实时全景映射过程，用于从被设备的一个或多个摄像机捕获的多个图像帧中生成全景图像。 所提出的映射处理可以用于从全景图像中清除不想要的部分，并用相同场景的其他图像的正确信息替换它。 此外，可以在构造全景图像的同时混合亮度接缝。 所提出的实时全景映射处理可以在并行处理器上执行。