公开(公告)号：US12100098B2

公开(公告)日：2024-09-24

申请号：US17970490

申请日：2022-10-20

申请人： Magic Leap, Inc.

发明人： Benjamin Joseph Uscinski

IPC分类号： G06T17/00 ,  G06T7/564 ,  G06T7/593 ,  G06T19/00 ,  G06V10/44 ,  G06V20/20 ,  G06V40/18

CPC分类号： G06T17/00 ,  G06T7/564 ,  G06T7/593 ,  G06T19/006 ,  G06V10/44 ,  G06V20/20 ,  G06V40/193

摘要： A method to reconstruct an environment is provided. The method makes available to a wide variety of XR applications fresh and accurate 3D reconstruction data of environments with low processing time and low usage of computational resources and storage spaces. The 3D reconstruction data are structured in a way to be efficiently shared between users for multi-user experiences. The method includes obtaining plane segments of an environment, identifying surface planes of the environment by, for example, filtering and grouping the plane segments or ad hoc selection of the plane segments by a user, and inferring corner points of the environment based on the surface planes. The corner points are used to build a 3D representation of the environment when an XR application requires.

公开(公告)号：US20240312038A1

公开(公告)日：2024-09-19

申请号：US18183061

申请日：2023-03-13

申请人： QUALCOMM Incorporated

发明人： James Wilson NASH ,  Kalin Mitkov ATANASSOV ,  Stephen Michael VERRALL

IPC分类号： G06T7/593 ,  H04N13/239 ,  H04N13/254

CPC分类号： G06T7/593 ,  H04N13/239 ,  H04N13/254 ,  H04N2013/0081

摘要： Systems and techniques are described for determining disparity information. For instance, a method for determining disparity information is provided. The method including: obtaining a plurality of cost functions; determining a first disparity for a center pixel of a first region of pixels at least in part by comparing one or more minima of a cost function of the center pixel to one or more minima of cost functions of other pixels in the first region; determining a second disparity for the center pixel at least in part by comparing one or more minima of a cost function of a center pixel of a second region to one or more minima of cost functions of other pixels in the second region, including the center pixel of the first region; and determining a third disparity for the center pixel of the first region based on the first disparity and the second disparity.

公开(公告)号：US20240310515A1

公开(公告)日：2024-09-19

申请号：US18573545

申请日：2022-06-22

申请人： Commonwealth Scientific and Industrial Research Organisation

发明人： Navinda Kottege ,  Ethan Tracy

IPC分类号： G01S15/89 ,  G01S13/86 ,  G01S15/86 ,  G01S15/87 ,  G01S15/931 ,  G01S17/86 ,  G06T7/593

CPC分类号： G01S15/89 ,  G01S13/86 ,  G01S15/86 ,  G01S15/876 ,  G01S15/931 ,  G01S17/86 ,  G06T7/593

摘要： A depth sensing apparatus configured to generate a depth map of an environment, the apparatus including an audio output device, at least one audio sensor and one or more processing devices configured to cause the audio output device to emit an omnidirectional emitted audio signal, acquire echo signals indicative of reflected audio signals captured by the at least one audio sensors in response to reflection of the emitted audio signal from the environment surrounding the depth sensing apparatus, generate spectrograms using the echo signals and apply the spectrograms to a computational model to generate a depth map, the computational model being trained using reference echo signals and omnidirectional reference depth images.

公开(公告)号：US12086925B2

公开(公告)日：2024-09-10

申请号：US17702982

申请日：2022-03-24

申请人： FARO Technologies, Inc.

发明人： Marco Lombardi ,  Francesco Bonarrigo ,  Andrea Riccardi ,  Federico Barone

IPC分类号： G06T15/20 ,  G06T7/593 ,  G06T7/73 ,  G06V10/10

CPC分类号： G06T15/205 ,  G06T7/593 ,  G06T7/73 ,  G06V10/17 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20084

摘要： Technical solutions are described to track a handheld three-dimensional (3D) scanner in an environment using natural features in the environment. In one or more examples, the natural features are detected using machine learning. Features are filtered by performing a stereo matching between respective pairs of stereo images captured by the scanner. The features are further filtered using time matching between images captured by the scanner at different timepoints.

公开(公告)号：US12084824B2

公开(公告)日：2024-09-10

申请号：US18144759

申请日：2023-05-08

申请人： Walmart Apollo, LLC

发明人： Donald R. High ,  Michael D. Atchley ,  Shuvro Chakrobartty ,  Karl Kay ,  Brian G. McHale ,  Robert C. Taylor ,  John P. Thompson ,  Eric E. Welch ,  David C. Winkle

IPC分类号： E01H5/06 ,  A47F3/08 ,  A47F10/04 ,  A47F13/00 ,  A47L11/40 ,  B07C5/28 ,  B07C5/342 ,  B60L53/36 ,  B60L53/63 ,  B60P3/06 ,  B62B5/00 ,  B65F3/00 ,  B66F9/06 ,  E01H5/12 ,  G01C21/20 ,  G01S1/02 ,  G01S1/70 ,  G01S1/72 ,  G05B19/048 ,  G05D1/00 ,  G06F3/01 ,  G06F18/214 ,  G06Q10/02 ,  G06Q10/0631 ,  G06Q10/08 ,  G06Q10/083 ,  G06Q10/087 ,  G06Q10/1093 ,  G06Q10/30 ,  G06Q30/016 ,  G06Q30/02 ,  G06Q30/0601 ,  G06Q50/40 ,  G06T7/593 ,  G06T7/73 ,  G06V20/20 ,  G06V20/40 ,  G06V20/52 ,  G06V20/56 ,  G06V20/58 ,  G06V20/64 ,  G06V30/224 ,  G08G1/00 ,  G10L13/00 ,  G10L15/22 ,  G10L17/22 ,  H02J7/00 ,  H04B10/116 ,  H04L67/12 ,  H04L67/141 ,  H04L67/143 ,  H04N5/77 ,  H04N7/18 ,  H04N13/282 ,  H04W4/02 ,  H04W4/021 ,  H04W4/029 ,  H04W4/30 ,  H04W4/33 ,  H04W4/40 ,  H04W4/80 ,  A47F10/00 ,  A47F10/02 ,  B62B3/14 ,  G01S5/16 ,  G01S5/18 ,  G05B19/12 ,  G06F16/903 ,  G06F21/60 ,  G06K7/10 ,  G06K7/14 ,  G06Q20/12 ,  H04B1/38 ,  H04L9/40

CPC分类号： E01H5/061 ,  A47F3/08 ,  A47F10/04 ,  A47F13/00 ,  A47L11/4011 ,  B07C5/28 ,  B07C5/3422 ,  B60L53/36 ,  B60L53/63 ,  B60P3/06 ,  B62B5/0026 ,  B62B5/0069 ,  B62B5/0076 ,  B65F3/00 ,  B66F9/063 ,  E01H5/12 ,  G01C21/206 ,  G01S1/02 ,  G01S1/70 ,  G01S1/7034 ,  G01S1/7038 ,  G01S1/72 ,  G05B19/048 ,  G05D1/0011 ,  G05D1/0016 ,  G05D1/0022 ,  G05D1/0027 ,  G05D1/0061 ,  G05D1/0088 ,  G05D1/021 ,  G05D1/0214 ,  G05D1/0219 ,  G05D1/0234 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0276 ,  G05D1/028 ,  G05D1/0289 ,  G05D1/0291 ,  G05D1/0293 ,  G05D1/0297 ,  G05D1/04 ,  G06F3/017 ,  G06F18/214 ,  G06Q10/02 ,  G06Q10/0631 ,  G06Q10/06311 ,  G06Q10/08 ,  G06Q10/083 ,  G06Q10/087 ,  G06Q10/1095 ,  G06Q10/30 ,  G06Q30/016 ,  G06Q30/0281 ,  G06Q30/0601 ,  G06Q30/0605 ,  G06Q30/0613 ,  G06Q30/0617 ,  G06Q30/0619 ,  G06Q30/0631 ,  G06Q30/0633 ,  G06Q30/0635 ,  G06Q30/0639 ,  G06Q30/0641 ,  G06Q50/40 ,  G06T7/593 ,  G06T7/74 ,  G06V20/20 ,  G06V20/40 ,  G06V20/52 ,  G06V20/56 ,  G06V20/58 ,  G06V20/647 ,  G06V30/224 ,  G08G1/20 ,  G10L13/00 ,  G10L15/22 ,  G10L17/22 ,  H02J7/0013 ,  H02J7/0071 ,  H04B10/116 ,  H04L67/12 ,  H04L67/141 ,  H04L67/143 ,  H04N5/77 ,  H04N7/18 ,  H04N7/183 ,  H04N7/185 ,  H04N13/282 ,  H04W4/02 ,  H04W4/021 ,  H04W4/029 ,  H04W4/30 ,  H04W4/33 ,  H04W4/40 ,  H04W4/80 ,  A47F2010/005 ,  A47F2010/025 ,  A47L2201/04 ,  B07C2501/0045 ,  B07C2501/0054 ,  B07C2501/0063 ,  B60Y2410/10 ,  B62B3/1404 ,  B62B5/005 ,  B65F2210/168 ,  G01S5/16 ,  G01S5/18 ,  G01S2201/01 ,  G01S2201/02 ,  G05B19/124 ,  G05B2219/23363 ,  G05B2219/39107 ,  G06F16/90335 ,  G06F21/606 ,  G06K7/10297 ,  G06K7/10821 ,  G06K7/1413 ,  G06Q10/06315 ,  G06Q20/12 ,  G06T2207/10028 ,  G06V20/44 ,  G10L2015/223 ,  H02J7/00034 ,  H04B1/38 ,  H04L63/06 ,  H04L63/08 ,  H04L63/0846 ,  Y02W30/82 ,  Y02W90/00 ,  Y02W90/10 ,  Y04S10/50 ,  Y10S901/01

摘要： Apparatuses, components and methods are provided herein useful to provide assistance to customers and/or workers in a shopping facility. In some embodiments, a shopping facility personal assistance system comprises: a plurality of motorized transport units located in and configured to move through a shopping facility space; a plurality of user interface units, each corresponding to a respective motorized transport unit during use of the respective motorized transport unit; and a central computer system having a network interface such that the central computer system wirelessly communicates with one or both of the plurality of motorized transport units and the plurality of user interface units, wherein the central computer system is configured to control movement of the plurality of motorized transport units through the shopping facility space based at least on inputs from the plurality of user interface units.

公开(公告)号：US12080013B2

公开(公告)日：2024-09-03

申请号：US17368703

申请日：2021-07-06

申请人： TOYOTA RESEARCH INSTITUTE, INC.

发明人： Jiexiong Tang ,  Rares Andrei Ambrus ,  Sudeep Pillai ,  Vitor Guizilini ,  Adrien David Gaidon

IPC分类号： G06T7/593 ,  G06T7/536 ,  G06T7/70

CPC分类号： G06T7/596 ,  G06T7/536 ,  G06T7/70 ,  G06T2207/10028 ,  G06T2207/30252

摘要： A method for estimating depth of a scene includes selecting an image of the scene from a sequence of images of the scene captured via an in-vehicle sensor of a first agent. The method also includes identifying previously captured images of the scene. The method further includes selecting a set of images from the previously captured images based on each image of the set of images satisfying depth criteria. The method still further includes estimating the depth of the scene based on the selected image and the selected set of images.

公开(公告)号：US20240290032A1

公开(公告)日：2024-08-29

申请号：US18588943

申请日：2024-02-27

申请人： Tribe of Pan Inc.

发明人： Thomas Charles Mark Hall ,  Joanna Agnieszka Popinska

IPC分类号： G06T15/20 ,  G06T3/40 ,  G06T7/593 ,  G06T15/04 ,  G06T15/08 ,  G06T17/20 ,  H04N13/00 ,  H04N13/243 ,  H04N13/296

CPC分类号： G06T15/205 ,  G06T3/40 ,  G06T7/593 ,  G06T15/04 ,  G06T15/08 ,  G06T17/205 ,  H04N13/243 ,  H04N13/296 ,  G06T2207/10028 ,  G06T2207/10048 ,  H04N2013/0081

摘要： Stereoscopic volumetric video is provided using a processor-implemented method comprising: receiving captured video data of a scene from a first imaging device and a second imaging device; receiving captured depth data of the scene from a third imaging device and a fourth imaging device; combining the captured video data and the captured depth data to generate a first atlas frame sequence comprising multiple atlas frames; processing each atlas frame of the first atlas frame sequence to generate a reconstructed scene in a virtual environment; capturing each frame of the reconstructed scene using a virtual imaging device to generate a second atlas frame sequence comprising multiple atlas frames, wherein each atlas frame of the second atlas frame sequence includes virtual video data and virtual depth data of the reconstructed scene; and providing the stereoscopic volumetric video of the scene based on the virtual video data and the virtual depth data.

公开(公告)号：US12075020B2

公开(公告)日：2024-08-27

申请号：US17981781

申请日：2022-11-07

申请人： Microsoft Technology Licensing, LLC

发明人： Michael Bleyer ,  Yuri Pekelny ,  Raymond Kirk Price

IPC分类号： H04N13/271 ,  G06F3/01 ,  G06F3/0346 ,  G06T7/593 ,  G06T15/04 ,  G06T19/00 ,  G09G3/02 ,  H04N5/33 ,  H04N13/239 ,  H04N13/254 ,  G02B27/01 ,  H04N13/00

CPC分类号： H04N13/271 ,  G06F3/012 ,  G06F3/0346 ,  G06T7/593 ,  G06T15/04 ,  G06T19/006 ,  G09G3/025 ,  H04N5/33 ,  H04N13/239 ,  H04N13/254 ,  G02B2027/0138 ,  G02B2027/014 ,  G06T2207/10048 ,  H04N2013/0081

摘要： A head-mounted device (HMD) is configured to perform depth detection with a stereo camera pair comprising a first camera and a second camera, both of which are configured to detect/capture visible light and IR light. The fields of view for both of the cameras overlap to form an overlapping field of view. The HMD also includes an IR dot-pattern illuminator that is mounted on the HMD with the cameras and that is configured to emit an IR dot-pattern illumination. The IR dot-pattern illuminator emits a dot-pattern illumination that spans at least a part of the overlapping field of view. The IR dot-pattern illumination adds texture to objects in the environment and enables the HMD to determine depth for those objects, even if they have textureless/smooth surfaces.

公开(公告)号：US20240282149A1

公开(公告)日：2024-08-22

申请号：US18568910

申请日：2022-08-03

申请人： MASHANG CONSUMER FINANCE CO., LTD.

发明人： Jiezhi YANG ,  Xunyi ZHOU ,  Dingheng ZENG

IPC分类号： G06V40/40 ,  G06T7/593 ,  G06V10/764 ,  G06V10/776 ,  G06V10/80 ,  G06V10/82 ,  G06V40/16

CPC分类号： G06V40/40 ,  G06T7/593 ,  G06V10/764 ,  G06V10/776 ,  G06V10/803 ,  G06V10/82 ,  G06V40/172 ,  G06T2207/10012 ,  G06T2207/10152 ,  G06T2207/20081 ,  G06T2207/20084 ,  G06T2207/20221 ,  G06T2207/30201

摘要： Disclosed in the present application are a liveness detection method and apparatus, a training method and apparatus for a liveness detection system, and an electronic device and a storage medium. The liveness detection method comprises: acquiring two target images, which are obtained by means of a first sensor and a second sensor respectively performing collection on the same face to be recognized; extracting target depth information from the two target images by using a deep generative network; and performing detection on the target depth information by using a liveness detection model, so as to obtain a liveness detection result of said face. The liveness detection model is obtained by means of training using depth information of sample data, the sample data comprises first sample images, which are collected by the first sensor under at least two types of illumination, and second sample images, which are collected by the second sensor under the at least two types of illumination, and each of the first sample images and each of the second sample images comprise spoofing faces of different materials. Target depth information is extracted from two images by means of a deep generative network, and liveness detection is performed on the target depth information by using a liveness detection model, so as to recognize spoofing faces of different materials under different types of illumination, such that the accuracy of recognition is higher.

公开(公告)号：US12067737B2

公开(公告)日：2024-08-20

申请号：US18143524

申请日：2023-05-04

申请人： Purdue Research Foundation

发明人： Jie Shan ,  Xiangxi Tian

IPC分类号： G06T7/41 ,  G06T7/593 ,  G06V30/18

CPC分类号： G06T7/41 ,  G06T7/593 ,  G06T7/596 ,  G06V30/18143 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/20021

摘要： A method of determining macrotexture of an object is disclosed which includes obtaining a plurality of stereo images from an object by an imaging device, generating a coordinate system for each image of the plurality of stereo images, detecting one or more keypoints each having a coordinate in each image of the plurality of stereo images, wherein the coordinate system is based on a plurality of ground control points (GCPs) with apriori position knowledge of each of the plurality of GCPs, generating a sparse point cloud based on the one or more keypoints, reconstructing a 3D dense point cloud of the object based on the generated sparse point cloud and based on neighboring pixels of each of the one or more keypoints and calculating the coordinates of each pixel of the 3D dense point cloud, and obtaining the macrotexture based on the reconstructed 3D dense point cloud of the object.