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    Selection strategy for exchanging map information in collaborative multi-user SLAM systems
    11.
    发明授权
    Selection strategy for exchanging map information in collaborative multi-user SLAM systems 有权
    在多用户协作SLAM系统中交换地图信息的选择策略

    公开(公告)号：US09478029B2

    公开(公告)日：2016-10-25

    申请号：US14522233

    申请日：2014-10-23

    Applicant: QUALCOMM Incorporated

    Inventor： Winston Yll ,  Gerhard Reitmayr ,  Peter H. Rauber ,  Qi Pan ,  Zsolt Szalavari ,  Michael Gervautz

    IPC: G06K9/00 ,  G06T7/00

    CPC classification number: G06T7/0038 ,  G06T7/35 ,  G06T7/38 ,  G06T7/55 ,  G06T7/77 ,  G06T2207/10016 ,  G06T2207/20076 ,  G06T2207/30241 ,  G06T2207/30244

    Abstract: Disclosed is a method and apparatus for selecting a part of SLAM map information of a first device for transmission to a second device in a collaborative SLAM environment. In one embodiment, the functions implemented include: determining whether a 3D registration transformation between a map of the first device and a map of the second device is available; and transmitting a part of map information of the first device to the second device according to one of a first strategy or a second strategy based on whether or not a 3D registration transformation between the map of the first device and the map of the second device is available.

    Abstract translation: 公开了一种用于在协作SLAM环境中选择用于传输到第二设备的第一设备的SLAM映射信息的一部分的方法和装置。 在一个实施例中，所实现的功能包括：确定第一设备的地图和第二设备的地图之间的3D注册变换是否可用; 以及基于第一设备的映射与第二设备的映射之间的3D注册变换是否是第一策略或第二策略中的一个，将第一设备的映射信息的一部分发送到第二设备 可用。

    METHOD AND APPARATUS FOR REPRESENTING A PHYSICAL SCENE
    12.
    发明申请
    METHOD AND APPARATUS FOR REPRESENTING A PHYSICAL SCENE 有权
    用于表示物理场景的方法和装置

    公开(公告)号：US20150062120A1

    公开(公告)日：2015-03-05

    申请号：US14472278

    申请日：2014-08-28

    Applicant: QUALCOMM Incorporated

    Inventor： Irene Reisner-Kollmann ,  Istvan Siklossy ,  Qi Pan ,  Michael Gervautz ,  Andrew Gee

    IPC: G06T19/00 ,  G06T7/00

    CPC classification number: G06T19/006 ,  G06T17/00

    Abstract: Systems, methods, and devices are described for constructing a digital representation of a physical scene by obtaining information about the physical scene. Based on the information, an initial portion of a planar surface within the physical scene may be identified. In one aspect of the disclosure, constructing a digital representation of a physical scene may include obtaining information about the physical scene, identifying a planar surface within the physical scene, selecting a physical object within the physical scene, placed above the planar surface, detecting properties associated with the physical object, generating a three-dimensional (3D) reconstructed object using the properties associated with the physical object, and representing the planar surface as an augmented reality (AR) plane in an augmented reality environment, wherein the AR plane in the AR environment is capable of supporting 3D reconstructed objects on top of it.

    Abstract translation: 描述了通过获取关于物理场景的信息来构建物理场景的数字表示的系统，方法和设备。 基于该信息，可以识别物理场景内的平面的初始部分。 在本公开的一个方面，构建物理场景的数字表示可以包括获得关于物理场景的信息，识别物理场景内的平面表面，选择物理场景内物理物体，放置在平面上方，检测属性 与所述物理对象相关联，使用与所述物理对象相关联的属性生成三维（3D）重建对象，并且在增强现实环境中将所述平面表示为增强现实（AR）平面，其中所述AR平面 AR环境能够支持其上的3D重建对象。

    Expanding a digital representation of a physical plane
    14.
    发明授权
    Expanding a digital representation of a physical plane 有权
    扩展物理平面的数字表示

    公开(公告)号：US09595125B2

    公开(公告)日：2017-03-14

    申请号：US14472288

    申请日：2014-08-28

    Applicant: QUALCOMM Incorporated

    Inventor： Qi Pan ,  Istvan Siklossy ,  Irene Reisner-Kollmann ,  Michael Gervautz ,  Per Orum Nielsen ,  Roy Lawrence Ashok Inigo

    IPC: G09G5/00 ,  G06T11/60 ,  G06T7/00 ,  G06T19/00

    CPC classification number: G06T11/60 ,  G06T7/70 ,  G06T19/006

    Abstract: Techniques are presented for expanding a digital representation of a physical plane from a physical scene. In some aspects, a method may include determining an orientation and an initial portion of a physical plane in the scene, and subdividing a rectified image for the scene into a plurality of grid cells. For the grid cells, an image signature may be generated. A grid cell contiguous to the obtained initial portion of the plane is determined to include part of the plane. An iterative process may be performed for each neighboring grid cell from the grid cell contiguous to at least part of the obtained initial portion, determining whether the neighboring grid cell is to be included as part of the plane if the image signature of said neighboring grid cell is similar to the image signature of a grid cell already determined to be included as part of the plane.

    Abstract translation: 演示技术用于从物理场景扩展物理平面的数字表示。 在一些方面，方法可以包括确定场景中的物理平面的取向和初始部分，以及将场景的经整形图像细分为多个网格单元。 对于网格单元，可以生成图像签名。 与所获得的平面的初始部分相邻的网格单元被确定为包括该平面的一部分。 可以从与所获得的初始部分的至少一部分相邻的网格单元对每个相邻网格单元执行迭代处理，如果所述相邻网格单元的图像签名，则确定相邻网格单元是否被包括为平面的一部分 类似于已经确定为包括在该平面的一部分的网格单元的图像签名。

    Transitioning 3D space information to screen aligned information for video see through augmented reality
    16.
    发明授权
    Transitioning 3D space information to screen aligned information for video see through augmented reality 有权
    转换3D空间信息，以便通过增强现实来查看视频对齐信息

    公开(公告)号：US09135735B2

    公开(公告)日：2015-09-15

    申请号：US13795438

    申请日：2013-03-12

    Applicant: QUALCOMM Incorporated

    Inventor： Scott A. Leazenby ,  Eunjoo Kim ,  Per O. Nielsen ,  Gerald V. Wright, Jr. ,  Erick Mendez Mendez ,  Michael Gervautz

    IPC: G09G5/00 ,  G06T11/60 ,  G06T15/20 ,  G06T19/00

    CPC classification number: G06T11/60 ,  G06T15/20 ,  G06T19/006

    Abstract: Methods, apparatuses, and systems are provided to transition 3D space information detected in an Augmented Reality (AR) view of a mobile device to screen aligned information on the mobile device. In at least one implementation, a method includes determining augmentation information associated with an object of interest, including a Modelview (M1) matrix and a Projection (P1) matrix, displaying the augmentation information on top of a video image of the object of interest using the M1 and P1 matrices, generating a second Modelview (M2) matrix and a second Projection (P2) matrix, such that the matrices M2 and P2 represent the screen aligned final position of the augmentation information, and displaying the augmentation information using the M2 and P2 matrices.

    Abstract translation: 提供了方法，装置和系统来转换在移动设备的增强现实（AR）视图中检测到的3D空间信息，以筛选移动设备上的对齐信息。 在至少一个实施方式中，一种方法包括确定与感兴趣对象相关联的增强信息，包括Modelview（M1）矩阵和Projection（P1）矩阵，在感兴趣对象的视频图像之上显示增强信息，使用 M1和P1矩阵，生成第二Modelview（M2）矩阵和第二投影（P2）矩阵，使得矩阵M2和P2表示扩展信息的屏幕对齐的最终位置，并且使用M2和 P2矩阵。

    OBJECT RECOGNITION AND MAP GENERATION WITH ENVIRONMENT REFERENCES
    17.
    发明申请
    OBJECT RECOGNITION AND MAP GENERATION WITH ENVIRONMENT REFERENCES 审中-公开
    对象识别和地图生成与环境参考

    公开(公告)号：US20150098616A1

    公开(公告)日：2015-04-09

    申请号：US14505431

    申请日：2014-10-02

    Applicant: QUALCOMM Incorporated

    Inventor： Michael Gervautz ,  Romain Tallonneau ,  Qi Pan

    IPC: G06K9/00 ,  G06K9/62 ,  G06T7/00 ,  G06K9/46

    CPC classification number: G06K9/00624 ,  G06K9/4604 ,  G06K9/4661 ,  G06K9/6202 ,  G06T7/579 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/10152 ,  G06T2207/30244

    Abstract: Exemplary methods, apparatuses, and systems for performing object detection on a mobile device are disclosed. A reference dataset comprising a set of reference keyframes for an object captured in a plurality of different lighting environments is obtained. An image of the object in a current lighting environment is captured. Reference keyframes are grouped into respective subsets according to one or more of: a reference keyframe camera position and orientation (pose), a reference keyframe lighting environment, or a combination thereof. Feature points of the image are compared with feature points of the reference keyframes in each of the respective subsets. A candidate subset of reference keyframes from the respective subsets is selected in response to the comparing feature points. A reference keyframe from the candidate subset of reference keyframes is selected for triangulation with the image of the object.

    Abstract translation: 公开了用于在移动设备上执行对象检测的示例性方法，设备和系统。 获得包括在多个不同照明环境中捕获的对象的一组参考关键帧的参考数据集。 捕获当前照明环境中对象的图像。 参考关键帧根据以下中的一个或多个被分组成各个子集：参考关键帧摄像机位置和方向（姿势），参考关键帧照明环境或其组合。 将图像的特征点与每个相应子集中的参考关键帧的特征点进行比较。 响应于比较特征点选择来自相应子集的参考关键帧的候选子集​​。 选择来自参考关键帧的候选子集​​的参考关键帧用于与对象的图像进行三角测量。

    EXPANDING A DIGITAL REPRESENTATION OF A PHYSICAL PLANE
    18.
    发明申请
    EXPANDING A DIGITAL REPRESENTATION OF A PHYSICAL PLANE 有权
    扩展一个物理平面的数字代表

    公开(公告)号：US20150062166A1

    公开(公告)日：2015-03-05

    申请号：US14472288

    申请日：2014-08-28

    Applicant: QUALCOMM Incorporated

    Inventor： Qi Pan ,  Istvan Siklossy ,  Irene Reisner-Kollmann ,  Michael Gervautz ,  Per Orum Nielsen ,  Roy Lawrence Ashok Inigo

    IPC: G06T11/60 ,  G06T7/00

    CPC classification number: G06T11/60 ,  G06T7/70 ,  G06T19/006

    Abstract: Techniques are presented for expanding a digital representation of a physical plane from a physical scene. In some aspects, a method may include determining an orientation and an initial portion of a physical plane in the scene, and subdividing a rectified image for the scene into a plurality of grid cells. For the grid cells, an image signature may be generated. A grid cell contiguous to the obtained initial portion of the plane is determined to include part of the plane. An iterative process may be performed for each neighboring grid cell from the grid cell contiguous to at least part of the obtained initial portion, determining whether the neighboring grid cell is to be included as part of the plane if the image signature of said neighboring grid cell is similar to the image signature of a grid cell already determined to be included as part of the plane.

    Abstract translation: 演示技术用于从物理场景扩展物理平面的数字表示。 在一些方面，方法可以包括确定场景中的物理平面的取向和初始部分，以及将场景的经整形图像细分为多个网格单元。 对于网格单元，可以生成图像签名。 与所获得的平面的初始部分相邻的网格单元被确定为包括该平面的一部分。 可以从与所获得的初始部分的至少一部分相邻的网格单元对每个相邻网格单元执行迭代处理，如果所述相邻网格单元的图像签名，则确定相邻网格单元是否被包括为平面的一部分 类似于已经确定为包括在该平面的一部分的网格单元的图像签名。

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