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    Method and system for depth estimation based upon object magnification
    11.
    发明授权
    Method and system for depth estimation based upon object magnification 有权

    公开(公告)号：US10277889B2

    公开(公告)日：2019-04-30

    申请号：US15456275

    申请日：2017-03-10

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Venkata Ravi Kiran Dayana ,  Kalin Mitkov Atanassov

    IPC: G06T7/571 ,  H04N13/271 ,  H04N13/236 ,  G06T7/593 ,  H04N5/232

    Abstract: Methods and apparatus for determining a depth of an object within a scene are provided. Image data of a scene can be captured using a lens configured to project an image of the scene onto an image sensor. The lens has a known focal length and is movable between at least a first lens position and a second lens position. A first image of the scene is captured with the lens at a first lens position, and a second image of the scene is captured with the lens at a second, different position. By measuring a first dimension of the object using the first image and a second dimension of the object using the second image, a depth of the object may be determined based upon a ratio of the first and second dimensions, the focal length of the lens, and a distance between the first and second lens positions.

    CODE DOMAIN POWER CONTROL FOR STRUCTURED LIGHT
    13.
    发明申请
    CODE DOMAIN POWER CONTROL FOR STRUCTURED LIGHT 有权
    用于结构光的代码域功率控制

    公开(公告)号：US20170061634A1

    公开(公告)日：2017-03-02

    申请号：US15060028

    申请日：2016-03-03

    Applicant: QUALCOMM Incorporated

    Inventor： James Wilson Nash ,  Kalin Mitkov Atanassov ,  Albrecht Johannes Lindner

    IPC: G06T7/00 ,  G01B11/22 ,  G06K9/62 ,  G06K9/52 ,  G06K9/18 ,  G06K9/46

    CPC classification number: G06T7/50 ,  G01B11/22 ,  G01B11/2513 ,  G06K9/18 ,  G06K9/4661 ,  G06K9/52 ,  G06K9/6215 ,  G06K9/6267 ,  G06T7/521

    Abstract: Systems and methods for controlling structured light laser systems are disclosed. One aspect is a structured light system. The system includes a memory device configured to store a depth map. The system further includes an image projecting device including a laser system configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to retrieve a portion of the depth map and calculate expected codewords from the depth map. The system further includes a feedback system configured to control the output power of the laser system based on the sensed codewords and the expected codewords.

    Abstract translation: 公开了用于控制结构光激光系统的系统和方法。 一个方面是结构化光系统。 该系统包括被配置为存储深度图的存储器件。 该系统还包括图像投影装置，其包括被配置为投影码字的激光系统。 该系统还包括一个包括传感器的接收机设备，该接收机设备被配置为感测从对象反射的投影码字。 该系统还包括处理电路，其被配置为检索深度图的一部分并从深度图计算预期码字。 该系统还包括被配置为基于感测的码字和预期码字来控制激光系统的输出功率的反馈系统。

    SYSTEMS AND METHODS FOR ERROR CORRECTION IN STRUCTURED LIGHT
    14.
    发明申请
    SYSTEMS AND METHODS FOR ERROR CORRECTION IN STRUCTURED LIGHT 有权
    用于结构光的误差校正的系统和方法

    公开(公告)号：US20160255332A1

    公开(公告)日：2016-09-01

    申请号：US14820419

    申请日：2015-08-06

    Applicant: QUALCOMM Incorporated

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

    IPC: H04N13/02 ,  G06F11/10 ,  H04L1/00

    CPC classification number: H04N13/271 ,  G01B11/25 ,  G06F11/07 ,  G06F11/0703 ,  G06F11/0751 ,  G06F11/0793 ,  G06F11/10 ,  H03M13/39 ,  H03M13/47 ,  H03M13/61 ,  H03M13/615 ,  H04L1/0045 ,  H04N13/128 ,  H04N13/161 ,  H04N13/254 ,  H04N13/296

    Abstract: Systems and methods for error correction in structured light are disclosed. In one aspect, a method includes receiving, via a receiver sensor, a structured light image of at least a portion of a composite code mask encoding a plurality of codewords, the image including an invalid codeword. The method further includes detecting the invalid codeword. The method further includes generating a plurality of candidate codewords based on the invalid codeword. The method further includes selecting one of the plurality of candidate codewords to replace the invalid codeword. The method further includes generating a depth map for an image of the scene based on the selected candidate codeword. The method further includes generating a digital representation of a scene based on the depth map. The method further includes outputting the digital representation of the scene to an output device.

    Abstract translation: 公开了用于结构光中纠错的系统和方法。 一方面，一种方法包括经由接收器传感器接收编码多个码字的复合码屏蔽的至少一部分的结构光图像，所述图像包括无效码字。 该方法还包括检测无效码字。 该方法还包括基于无效码字生成多个候选码字。 该方法还包括选择多个候选码字中的一个以替换无效码字。 该方法还包括基于所选择的候选码字生成场景图像的深度图。 该方法还包括基于深度图生成场景的数字表示。 该方法还包括将场景的数字表示输出到输出设备。

    Transmission of affine-invariant spatial mask for active depth sensing
    15.
    发明授权
    Transmission of affine-invariant spatial mask for active depth sensing 有权
    用于主动深度感测的仿射不变空间掩模的传输

    公开(公告)号：US09207070B2

    公开(公告)日：2015-12-08

    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 ,  G06T7/00 ,  G06T5/00

    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。

    Time of flight ranging with varying fields of emission
    16.
    发明授权
    Time of flight ranging with varying fields of emission 有权

    公开(公告)号：US10914823B2

    公开(公告)日：2021-02-09

    申请号：US15968317

    申请日：2018-05-01

    Applicant: QUALCOMM Incorporated

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

    IPC: G01S7/48 ,  G01S7/484 ,  G01S7/4865 ,  G01S17/08 ,  G01S17/89

    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.

    Coded light pattern having hermitian symmetry
    19.
    发明授权
    Coded light pattern having hermitian symmetry 有权
    具有隐性对称性的编码光图案

    公开(公告)号：US09536186B2

    公开(公告)日：2017-01-03

    申请号：US14536402

    申请日：2014-11-07

    Applicant: QUALCOMM Incorporated

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

    IPC: G06K19/06 ,  G06K9/20 ,  G02B27/42 ,  G02B5/18 ,  G06T15/50

    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。

    SYSTEMS AND METHODS FOR ENHANCED DEPTH MAP RETRIEVAL FOR MOVING OBJECTS USING ACTIVE SENSING TECHNOLOGY
    20.
    发明申请
    SYSTEMS AND METHODS FOR ENHANCED DEPTH MAP RETRIEVAL FOR MOVING OBJECTS USING ACTIVE SENSING TECHNOLOGY 有权
    使用主动感测技术移动物体的增强深度地图检索的系统和方法

    公开(公告)号：US20160275690A1

    公开(公告)日：2016-09-22

    申请号：US14664061

    申请日：2015-03-20

    Applicant: QUALCOMM Incorporated

    Inventor： Hasib Ahmed Siddiqui ,  Kalin Mitkov Atanassov ,  James Wilson Nash

    IPC: G06T7/00 ,  G06T11/60

    CPC classification number: G06T7/0075 ,  G06T7/521 ,  G06T11/60 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20076 ,  G06T2207/20216

    Abstract: Systems and method for generating depth maps using active sensing technology, for scenes with moving objects, is disclosed. One aspect provides for a method that includes estimating areas in adjacent frames that correspond to a moving object by generating a probability map for each received frame, the probability map comprising a probability value at each pixel. The method also includes computing a convex temporal average map using a plurality of the reflected structured light frames including at least the prior frame received at time t−1, the received frame received at time t, and the next frame received at time t+1, the value at each pixel of the convex temporal average map weighted and normalized by the probability map at each pixel at each time. The method also includes determining the codewords at each pixel in the convex temporal average map, and generating a depth map from the determined codewords.

    Abstract translation: 公开了使用主动感测技术生成深度图的系统和方法，用于具有移动对象的场景。 一方面提供一种方法，其包括通过为每个接收到的帧生成概率图来估计与移动对象相对应的相邻帧中的区域，所述概率图包括每个像素处的概率值。 该方法还包括使用多个反射的结构化光帧来计算凸时间平均映射图，该多个反射结构光帧至少包括在时间t-1接收到的先前帧，在时间t接收到的接收帧，以及在时间t + 1接收的下一帧 在每个像素处的每个像素的概率图加权和归一化的凸时间平均图的每个像素处的值。 该方法还包括在凸时间平均图中确定每个像素处的码字，以及从确定的码字生成深度图。

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