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    Pose estimation in extended reality systems
    11.
    发明授权
    Pose estimation in extended reality systems 有权

    公开(公告)号：US11232834B2

    公开(公告)日：2022-01-25

    申请号：US16667754

    申请日：2019-10-29

    Applicant: QUALCOMM Incorporated

    Inventor： Wesley James Holland ,  Mehrad Tavakoli ,  Injoon Hong ,  Huang Huang ,  Simon Peter William Booth ,  Gerhard Reitmayr

    IPC: G06F1/3287 ,  G06F3/01 ,  G06F3/14 ,  G06T5/00 ,  G06T19/00 ,  G11C11/419 ,  G11C11/412 ,  H01L27/11

    Abstract: Systems, methods, and computer-readable media are provided for providing pose estimation in extended reality systems. An example method can include tracking, in a lower-power processing mode using a set of lower-power circuit elements on an integrated circuit, a position and orientation of a computing device during a lower-power processing period, the set of lower-power circuit elements including a static random-access memory (SRAM); suspending, based on a triggering event, the tracking in the lower-power processing mode; initiating a higher-power processing mode for tracking the position and orientation of the computing device during a higher-power processing period; and tracking, in the higher-power processing mode using a set of higher-power circuit elements on the integrated circuit and a dynamic random-access memory (DRAM), the position and orientation of the computing device during the higher-power processing period.

    PROBABILISTIC COLOR CLASSIFICATION
    13.
    发明申请
    PROBABILISTIC COLOR CLASSIFICATION 有权
    概念颜色分类

    公开(公告)号：US20160364632A1

    公开(公告)日：2016-12-15

    申请号：US14739635

    申请日：2015-06-15

    Applicant: QUALCOMM Incorporated

    Inventor： Emilio Maggio ,  Qi Pan ,  Gerhard Reitmayr

    IPC: G06K9/62 ,  G06K9/66 ,  G06K9/46

    CPC classification number: G06K9/6277 ,  G06K9/34 ,  G06K9/4652 ,  G06K9/6278 ,  G06K9/66 ,  G06T7/90 ,  H04N1/6086

    Abstract: Methods, systems, computer-readable media, and apparatuses for assigning a color class of a defined finite set of colors to at least one sub-region within a test image are presented. A plurality of sub-regions are identified within a test image. A first sub-region color value is determined for a selected first sub-region of the test image. Using the first sub-region color value and a plurality of zero-order probability distributions, a first color class of the defined finite set of colors is determined as a hypothesis color for the first sub-region. A second sub-region color value is determined for a selected second sub-region of the test image. Using the second sub-region color value and a conditional probability distribution conditioned on the hypothesis color for the first sub-region, a second color class of the defined set of colors is determined. The second color class is assigned to the second sub-region.

    Abstract translation: 呈现用于将定义的有限颜色集合的颜色分类分配给测试图像内的至少一个子区域的方法，系统，计算机可读介质和装置。 在测试图像内识别多个子区域。 针对测试图像的所选择的第一子区域确定第一子区域颜色值。 使用第一子区域颜色值和多个零阶概率分布，将所定义的有限颜色集合的第一颜色类别确定为第一子区域的假设颜色。 对于测试图像的所选择的第二子区域确定第二子区域颜色值。 使用第二子区域颜色值和对第一子区域的假设颜色进行调节的条件概率分布，确定所定义的一组颜色的第二颜色类别。 第二个颜色类被分配给第二个子区域。

    Selection strategy for exchanging map information in collaborative multi-user SLAM systems
    14.
    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 IMAGE PROCESSING IN AUGMENTED REALITY SYSTEMS
    15.
    发明申请
    METHOD AND APPARATUS FOR IMAGE PROCESSING IN AUGMENTED REALITY SYSTEMS 有权
    在现实系统中进行图像处理的方法和装置

    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

    IPC: G06T19/00 ,  G06T7/00 ,  H04N13/00

    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。

    SIMULTANEOUS LOCALIZATION AND MAPPING FOR VIDEO CODING
    16.
    发明申请
    SIMULTANEOUS LOCALIZATION AND MAPPING FOR VIDEO CODING 审中-公开
    用于视频编码的同时本地化和映射

    公开(公告)号：US20160073117A1

    公开(公告)日：2016-03-10

    申请号：US14845076

    申请日：2015-09-03

    Applicant: QUALCOMM Incorporated

    Inventor： Phillip Grasmug ,  Dieter Schmalstieg ,  Gerhard Reitmayr

    IPC: H04N19/27

    CPC classification number: H04N19/27 ,  G06T9/001 ,  H04N19/23 ,  H04N19/30

    Abstract: Video encoding and decoding techniques are described in which a predictive image s formed from texture mapping a composite image to a proxy geometry that provides an approximation of a three-dimensional structure of a current image or a previously encoded or decoded image. A residual between the predictive image and the current image is used to encode or decode the current image.

    Abstract translation: 描述了视频编码和解码技术，其中通过纹理将合成图像映射到提供当前图像或先前编码或解码图像的三维结构的代理几何形状的预测图像。 预测图像和当前图像之间的残差用于对当前图像进行编码或解码。

    REAL-TIME 3D RECONSTRUCTION WITH POWER EFFICIENT DEPTH SENSOR USAGE
    17.
    发明申请
    REAL-TIME 3D RECONSTRUCTION WITH POWER EFFICIENT DEPTH SENSOR USAGE 有权
    实时3D重建与功率有效的深度传感器使用

    公开(公告)号：US20150294499A1

    公开(公告)日：2015-10-15

    申请号：US14730146

    申请日：2015-06-03

    Applicant: QUALCOMM Incorporated

    Inventor： Daniel Wagner ,  Alessandro Mulloni ,  Gerhard Reitmayr ,  Daniel Knoblauch

    IPC: G06T17/00 ,  H04N13/02

    CPC classification number: G06T17/00 ,  G06T2200/08 ,  H04N13/204 ,  H04N13/254 ,  H04N13/271

    Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.

    Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。

    Spatially registered augmented video
    18.
    发明授权
    Spatially registered augmented video 有权
    空间注册增强视频

    公开(公告)号：US09153073B2

    公开(公告)日：2015-10-06

    申请号：US13802065

    申请日：2013-03-13

    Applicant: QUALCOMM Incorporated

    Inventor： Tobias Martin Langlotz ,  Mathaus Zingerle ,  Gerhard Reitmayr

    IPC: G09G5/00 ,  G06T19/00 ,  H04N5/232 ,  G06T11/00

    CPC classification number: G06T19/006 ,  G06T11/00 ,  H04N5/23238

    Abstract: A source video stream is processed to extract a desired object from the remainder of video stream to produce a segmented video of the object. Additional relevant information, such as the orientation of the source camera for each frame in the resulting segmented video of the object, is also determined and stored. During replay, the segmented video of the object, as well as the source camera orientation are obtained. Using the source camera orientation for each frame of the segmented video of the object, as well as target camera orientation for each frame of a target video stream, a transformation for the segmented video of the object may be produced. The segmented video of the object may be displayed over the target video stream, which may be a live video stream of a scene, using the transformation to spatially register the segmented video to the target video stream.

    Abstract translation: 源视频流被处理以从视频流的剩余部分提取期望的对象以产生对象的分段视频。 还确定并存储附加的相关信息，例如源摄像机对于对象的结果分割视频中的每帧的方向。 在重放期间，获得对象的分割视频以及源摄像头方位。 使用对象的分割视频的每个帧的源摄像机方向以及目标视频流的每个帧的目标摄像机方向，可以产生对象的分割视频的变换。 物体的分割视频可以在目标视频流上显示，目标视频流可以是场景的直播视频流，使用变换来将分割的视频空间注册到目标视频流。

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