公开(公告)号：US20170148168A1

公开(公告)日：2017-05-25

申请号：US14948195

申请日：2015-11-20

Applicant: QUALCOMM Incorporated

Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

IPC: G06T7/00 ,  H04N13/00 ,  H04N5/232 ,  G06T3/60 ,  G06T3/20

CPC classification number: H04N13/128 ,  G06T5/001 ,  G06T5/50 ,  G06T7/0002 ,  G06T7/30 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20182 ,  H04N5/23258 ,  H04N2013/0081

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.

公开(公告)号：US09635339B2

公开(公告)日：2017-04-25

申请号：US14827088

申请日：2015-08-14

Applicant: QUALCOMM Incorporated

Inventor： Shandon Campbell ,  Stephen Michael Verrall ,  Kalin Mitkov Atanassov ,  Ovidiu Cristian Miclea

IPC: H03M13/00 ,  H04N13/00

CPC classification number: H04N13/128 ,  G06T5/005 ,  G06T7/521 ,  G06T2207/10028 ,  H04N13/161 ,  H04N2013/0081

Abstract: Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes receiving valid and invalid codewords, the valid spatial codewords included in a codebook. The method includes detecting the invalid codeword. The method includes retrieving a set of candidate valid codewords a lowest Hamming distance between the invalid codeword and the valid codewords in the codebook. The method includes estimating a median depth of neighboring locations of the invalid codeword. The method includes associating a depth with each candidate codeword and selecting the candidate with an associated depth closest to the depth estimate. The method includes assigning the depth associated with the selected candidate codeword to the location of the invalid codeword.

公开(公告)号：US20160212411A1

公开(公告)日：2016-07-21

申请号：US14601073

申请日：2015-01-20

Applicant: QUALCOMM Incorporated

Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Sergiu Radu Goma

IPC: H04N13/02 ,  G06T5/50 ,  G06T7/00 ,  G01C11/00 ,  H04N13/00

CPC classification number: H04N13/271 ,  G01C11/00 ,  G01C2011/36 ,  G06T5/50 ,  G06T7/507 ,  G06T7/521 ,  G06T7/593 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20221 ,  H04N13/128 ,  H04N13/218 ,  H04N2013/0081

Abstract: Systems, apparatus, and methods for generating a fused depth map from one or more individual depth maps, wherein the fused depth map is configured to provide robust depth estimation for points within the depth map. The methods, apparatus, or systems may comprise components that identify a field of view (FOV) of an imaging device configured to capture an image of the FOV and select a first depth sensing method. The system or method may sense a depth of the FOV with respect to the imaging device using the first selected depth sensing method and generate a first depth map of the FOV based on the sensed depth of the first selected depth sensing method. The system or method may also identify a region of one or more points of the first depth map having one or more inaccurate depth measurements and determine if additional depth sensing is needed.

Abstract translation: 用于从一个或多个单独深度图生成融合深度图的系统，装置和方法，其中所述融合深度图被配置为对所述深度图内的点提供鲁棒的深度估计。 方法，装置或系统可以包括识别被配置为捕获FOV的图像并选择第一深度感测方法的成像装置的视场（FOV）的部件。 系统或方法可以使用第一选择的深度感测方法来感测相对于成像装置的FOV的深度，并且基于第一选择的深度感测方法的感测深度生成FOV的第一深度图。 系统或方法还可以识别具有一个或多个不准确的深度测量的第一深度图的一个或多个点的区域，并且确定是否需要额外的深度感测。

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。

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。

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。

公开(公告)号：US20140098194A1

公开(公告)日：2014-04-10

申请号：US13645975

申请日：2012-10-05

Applicant: QUALCOMM INCORPORATED

Inventor： Sergiu R Goma ,  Kalin Mitkov Atanassov ,  Vikas Ramachandra

IPC: H04N13/02

CPC classification number: H04N13/246 ,  G06T7/85 ,  G06T2207/10012 ,  H04N5/23212 ,  H04N13/161 ,  H04N13/25 ,  H04N13/296

Abstract: Described are methods and apparatus for adjusting images of a stereoscopic image pair. The methods and apparatus may capture a first and second image with first and second imaging sensors. The two imaging sensors have intrinsic and extrinsic parameters. A normalized focal distance of a reference imaging sensor may also be determined based on intrinsic and extrinsic parameters. A calibration matrix is then adjusted based on the normalized focal distance. The calibration matrix may be applied to an image captured by a image sensor.

Abstract translation: 描述了用于调整立体图像对的图像的方法和装置。 方法和装置可以利用第一和第二成像传感器捕获第一和第二图像。 两个成像传感器具有内在和外在参数。 参考成像传感器的归一化焦距也可以基于内在和外在参数来确定。 然后基于归一化的焦距调整校准矩阵。 校准矩阵可以应用于由图像传感器捕获的图像。

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。

公开(公告)号：US11509880B2

公开(公告)日：2022-11-22

申请号：US13723891

申请日：2012-12-21

Applicant: QUALCOMM Incorporated

Inventor： Judit Martinez Bauza ,  Kalin Mitkov Atanassov ,  Sergiu Radu Goma

IPC: H04N13/207 ,  G01B11/25 ,  G06T5/50 ,  G06T7/521

Abstract: A method and device is provided that compensates for different reflectivity/absorption coefficients of objects in a scene/object when performing active depth sensing using structured light. A receiver sensor captures an image of a scene onto which a code mask is projected. One or more parameters are ascertained from the captured image. Then a light source power for a projecting light source is dynamically adjusted according to the one or more parameters to improve decoding of the code mask in a subsequently captured image. Depth information for the scene may then be ascertained based on the captured image based on the code mask. In one example, the light source power is fixed at a particular illumination while an exposure time for the receiver sensor is adjusted. In another example, an exposure time for the receiver sensor is maintained/kept at a fixed value while the light source power is adjusted.

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.