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公开(公告)号：US09948911B2
公开(公告)日：2018-04-17
申请号：US14845203
申请日：2015-09-03
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni
CPC classification number: H04N13/128 , G06T5/006 , G06T5/50 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , H04N13/111 , H04N13/239 , H04N13/257
Abstract: Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined. The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.
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公开(公告)号：US09905039B2
公开(公告)日：2018-02-27
申请号：US14625465
申请日：2015-02-18
Applicant: QUALCOMM Incorporated
Inventor： Daniel Knoblauch , Alessandro Mulloni , Daniel Wagner
CPC classification number: G06T15/04 , G06T5/003 , G06T11/001 , G06T17/10 , G06T17/205 , G06T2200/04 , G06T2200/28 , G06T2210/61
Abstract: One disclosed example method for view independent color equalized 3D scene texturing includes capturing a plurality of keyframes of an object; accessing a 3D representation of the object comprising a surface mesh model for the object, the surface mesh model comprising a plurality of polygons; for each polygon, assigning one of the plurality of keyframes to the polygon based on one or more image quality characteristics associated with a portion of the keyframe corresponding to the polygon; reducing a number of assigned keyframes by changing associations between assigned keyframes; and for each polygon of the surface mesh model having an assigned keyframe: equalizing a texture color of at least a portion of the polygon based at least in part on one or more image quality characteristics of the plurality of keyframes associated with the polygon; and assigning the equalized texture color to the 3D representation of the object.
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23.发明授权Method for initializing and solving the local geometry or surface normals of surfels using images in a parallelizable architecture 有权使用可并行化架构中的图像初始化和求解冲浪的局部几何或表面法线的方法公开(公告)号：US09256788B2
公开(公告)日：2016-02-09
申请号：US13789577
申请日：2013-03-07
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Daniel Wagner , Murali Ramaswamy Chari
CPC classification number: G06K9/00711 , G06K9/00201 , G06K9/00214 , G06T7/248 , G06T17/20 , G06T2207/10016
Abstract: A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.
Abstract translation: 这里描述了一种解决在视频流中观察到的场景中的对象的表面法线的系统和方法。 系统和方法可以包括对视频流进行采样以生成一组关键帧; 为每个关键帧中的一组地图点生成假设表面法线; 将第一关键帧中的相应地图点的修补片从具有从每个假设表面法线计算的翘曲矩阵的第二关键帧的视点; 在两个关键帧之间的每个假说表面正常之间评分翘曲误差; 并且丢弃在第一和第二关键帧之间具有高翘曲误差的假设表面法线。
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公开(公告)号：US20140139639A1
公开(公告)日：2014-05-22
申请号：US14161140
申请日：2014-01-22
Applicant: QUALCOMM INCORPORATED
Inventor： Daniel Wagner , Alessandro Mulloni
IPC: 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。
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公开(公告)号：US10733798B2
公开(公告)日：2020-08-04
申请号：US13802834
申请日：2013-03-14
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Qi Pan
Abstract: Disclosed are a system, apparatus, and method for in-situ creation of planar natural feature targets. In one embodiment, a planar target is initialized from a single first reference image one or more subsequent images are processed. In one embodiment, the planar target is tracked in six degrees of freedom upon the processing of the one or more subsequent images and a second reference image is selected from the processed one or more subsequent images. In one embodiment, upon selecting the second reference image the planar target is refined to a more accurate planar target.
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Patent Agency Ranking
公开(公告)号：US09667873B2
公开(公告)日：2017-05-30
申请号：US14268784
申请日：2014-05-02
Applicant: QUALCOMM Incorporated
Inventor： Alessandro Mulloni , Gerhard Reitmayr , Mahesh Ramachandran , Daniel Wagner
CPC classification number: H04N5/23296 , G01C25/005 , G06T7/73 , G06T7/80 , G06T2207/20092 , H04N5/23203
Abstract: Embodiments disclosed pertain to systems, method s and apparatus for the initialization of Computer Vision (CV) applications on user devices (UDs) comprising a camera and a display. In some embodiments, an optimal camera trajectory for initialization of a Computer Vision (CV) application may be determined based on an initial camera pose and an estimated pivot distance. For example, the initial camera pose may be estimated based on a first image captured by the camera. Further, the display may be updated in real-time with an indication of a desired movement direction for the camera. In some embodiments, the indication of desired movement direction may be based, in part, on a current camera pose and the optimal trajectory, where the current camera pose may be estimated based on a current image captured by the camera.
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公开(公告)号：US09626803B2
公开(公告)日：2017-04-18
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
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.
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公开(公告)号：US09547669B2
公开(公告)日：2017-01-17
申请号：US14711406
申请日：2015-05-13
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Qi Pan
CPC classification number: G06F17/30286 , G06T17/00
Abstract: Disclosed is a server that can perform a visual search using at least one rectified image. A method implemented at a server includes storing a plurality of images with the server, receiving at least one rectified image having at least one potential object of interest from a computing device for a visual search, and extracting descriptors representing features of the at least one rectified image. The extracted descriptors of the at least one rectified image are designed to be invariant to rotation, scale, and lighting without needing to be invariant to perspective or affine distortion.
Abstract translation: 公开了一种可以使用至少一个整流图像执行视觉搜索的服务器。 在服务器上实现的方法包括：与服务器一起存储多个图像;从计算设备接收至少一个具有至少一个潜在感兴趣对象的整流图像用于视觉搜索，以及提取表示所述至少一个经校正的特征的描述符 图片。 所提取的至少一个整流图像的描述符被设计为对旋转，缩放和照明是不变的，而不需要对透视或仿射变形不变。
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公开(公告)号：US20160335519A1
公开(公告)日：2016-11-17
申请号：US14846674
申请日：2015-09-04
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Kiyoung Kim
CPC classification number: G06K9/4671 , G06K9/52 , G06K9/6211 , G06K9/6215 , G06K2009/3291 , G06K2009/4666 , G06T3/0093 , G06T7/20 , G06T2207/20048
Abstract: Disclosed embodiments facilitate keypoint selection in part by assigning a similarity score to each candidate keypoint being considered for selection. The similarity score may be based on the maximum measured similarity of an image patch associated with a keypoint in relation to an image patch in a local image section in a region around the image patch. A subset of the candidate keypoints with the lowest similarity scores may be selected and used to detect and/or track objects in subsequent images and/or to determine camera pose.
Abstract translation: 公开的实施例部分地通过将考虑用于选择的每个候选关键点分配相似性分数来促进关键点选择。 相似度得分可以基于与图像贴片周围区域中的局部图像部分中的关键点相关联的图像贴片的图像贴片的最大测量相似度。 可以选择具有最低相似性得分的候选关键点的子集，并用于检测和/或跟踪后续图像中的对象和/或确定相机姿态。
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公开(公告)号：US09443350B2
公开(公告)日：2016-09-13
申请号：US14730146
申请日：2015-06-03
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni , Gerhard Reitmayr , Daniel Knoblauch
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.
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