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    Reception of affine-invariant spatial mask for active depth sensing
    21.
    发明授权
    Reception of affine-invariant spatial mask for active depth sensing 有权
    接收用于主动深度感测的仿射不变空间掩模

    公开(公告)号：US09448064B2

    公开(公告)日：2016-09-20

    申请号：US13785939

    申请日：2013-03-05

    Applicant: QUALCOMM Incorporated

    Inventor： Kalin Mitkov Atanassov ,  James Wilson Nash ,  Vikas Ramachandra ,  Sergiu Radu Goma

    IPC: H04L27/06 ,  G01B11/25 ,  H04B1/12 ,  G06T5/00 ,  G06T7/00

    CPC classification number: G01B11/254 ,  G01B11/2513 ,  G01B11/2545 ,  G06T5/001 ,  G06T7/521 ,  H04B1/12

    Abstract: A method operational on a receiver device for decoding a codeword is provided. At least a portion of a composite code mask is obtained, via a receiver sensor, and projected on the surface of a target object. The composite code mask may be defined by a code layer and a carrier layer. A code layer of uniquely identifiable spatially-coded codewords may be defined by a plurality of symbols. A carrier layer may be independently ascertainable and distinct from the code layer and may include a plurality of reference objects that are robust to distortion upon projection. At least one of the code layer and carrier layer may have been pre-shaped by a synthetic point spread function prior to projection. The code layer may be adjusted, at a processing circuit, for distortion based on the reference objects within the portion of the composite code mask.

    Abstract translation: 提供了一种在用于解码码字的接收机设备上运行的方法。 经由接收器传感器获得复合码屏蔽的至少一部分，并且投射在目标对象的表面上。 复合代码掩码可以由代码层和载体层来定义。 唯一可识别的空间编码码字的码层可以由多个符号来定义。 载体层可以独立地确定并且不同于代码层，并且可以包括多个参考对象，其在投影时对于失真是鲁棒的。 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形成。 可以在处理电路处根据复合代码掩码的部分内的参考对象来调整代码层的失真。

    LOCAL ADAPTIVE HISTOGRAM EQUALIZATION
    22.
    发明申请
    LOCAL ADAPTIVE HISTOGRAM EQUALIZATION 有权
    本地自适应组织均衡

    公开(公告)号：US20150371387A1

    公开(公告)日：2015-12-24

    申请号：US14309458

    申请日：2014-06-19

    Applicant: QUALCOMM Incorporated

    Inventor： Kalin Mitkov Atanassov ,  James Wilson Nash ,  Stephen Michael Verrall ,  Hasib Ahmed Siddiqui

    IPC: G06T7/00 ,  H04N13/02 ,  H04N5/232 ,  G06T7/40 ,  G06T19/20

    CPC classification number: G06T7/33 ,  G06T5/008 ,  G06T5/40 ,  G06T7/593 ,  G06T19/20 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/10048 ,  G06T2207/20021 ,  H04N5/23229 ,  H04N13/239 ,  H04N13/257

    Abstract: Certain aspects relate to systems and techniques for performing local intensity equalization on images in a set of images exhibiting local intensity variations. For example, the local intensity equalization can be used to perform accurate region matching and alignment of the images. The images can be partitioned into regions of pixel blocks, for instance based on location, shape, and size of identified keypoints in the images. Regions depicting the same feature in the images can be equalized with respect to intensity. Region matching based on the keypoints in the intensity-equalized regions can be performed with accuracy even in images captured by asymmetric sensors or exhibiting spatially varying intensity.

    Abstract translation: 某些方面涉及用于在呈现局部强度变化的一组图像中的图像上执行局部强度均衡的系统和技术。 例如，可以使用局部强度均衡来执行图像的精确区域匹配和对准。 图像可以被划分为像素块的区域，例如基于图像中所确定的关键点的位置，形状和大小。 在图像中描绘相同特征的区域可以相对于强度相等。 即使在由不对称传感器拍摄的图像或显示出空间变化的强度的图像中，也可以精确地执行基于强度均衡区域中的关键点的区域匹配。

    SYSTEMS AND METHODS FOR MULTIVIEW METROLOGY
    23.
    发明申请
    SYSTEMS AND METHODS FOR MULTIVIEW METROLOGY 审中-公开
    多系统的系统与方法

    公开(公告)号：US20140210950A1

    公开(公告)日：2014-07-31

    申请号：US13756238

    申请日：2013-01-31

    Applicant: QUALCOMM INCORPORATED

    Inventor： Kalin Mitkov Atanassov ,  Vikas Ramachandra ,  James Wilson Nash ,  Sergiu Radu Goma

    IPC: G02B27/22

    CPC classification number: G01B11/02 ,  G06T7/12 ,  G06T7/62 ,  G06T2207/10012 ,  G06T2207/20164

    Abstract: Described are systems and methods for measuring objects using stereoscopic imaging. After determining keypoints within a set of stereoscopic images, a user may select a desired object within an imaged scene to be measured. Using depth map information and information about the boundary of the selected object, the desired measurement may be calculated and displayed to the user on a display device. Tracking of the object in three dimensions and continuous updating of the measurement of a selected object may also be performed as the object or the imaging device is moved.

    Abstract translation: 描述了使用立体成像来测量物体的系统和方法。 在确定一组立体图像之间的关键点之后，用户可以在要测量的成像场景内选择所需对象。 使用深度图信息和关于所选对象的边界的信息，可以在显示设备上计算并显示所需的测量并将其显示给用户。 在对象或成像设备移动时，也可以执行三维跟踪对象和所选对象的测量的连续更新。

    DESIGN OF CODE IN AFFINE-INVARIANT SPATIAL MASK
    24.
    发明申请
    DESIGN OF CODE IN AFFINE-INVARIANT SPATIAL MASK 有权
    不规则空间掩蔽中的代码设计

    公开(公告)号：US20130315501A1

    公开(公告)日：2013-11-28

    申请号：US13785981

    申请日：2013-03-05

    Applicant: QUALCOMM INCORPORATED

    Inventor： Kalin Mitkov Atanassov ,  James Wilson Nash ,  Vias Ramachandra ,  Sergiu Radu Goma

    IPC: G06T5/00

    CPC classification number: G01B11/254 ,  G01B11/2513 ,  G01B11/2545 ,  G06T5/001 ,  G06T7/521 ,  H04B1/12

    Abstract: A method for generating codes for a code mask is provided. A plurality of symbols may be arranged into an n1 by n2 symbol structure, where n1 and n2 are integer values. A plurality of codewords may be defined from different overlapping k1 by k2 windows within the symbol structure, wherein co-linear and spatially overlapping windows define unique codewords, and the codewords are unique in a first direction of the symbol structure but are repeated in a second direction that is perpendicular to the first direction. A plurality of the symbol structures as a code mask, wherein symbols in two adjacent k1 by k2 windows are selected so as to avoid codeword aliasing of codewords in the two adjacent k1 by k2 windows.

    Abstract translation: 提供了一种用于生成代码掩码代码的方法。 多个符号可以被排列成n1乘n2符号结构，其中n1和n2是整数值。 可以在符号结构内从不同重叠的k1乘以k2窗口来定义多个码字，其中，共线和空间重叠的窗口定义唯一的码字，并且码字在符号结构的第一方向上是唯一的，但是在第二个 方向垂直于第一方向。 多个符号结构作为代码掩码，其中选择两个相邻k1乘k2窗口中的符号，以避免两个相邻k1乘以k2窗口的码字的码字混叠。

    Reception of Affine-Invariant Spatial Mask for Active Depth Sensing
    25.
    发明申请
    Reception of Affine-Invariant Spatial Mask for Active Depth Sensing 有权
    接近有效深度感应的仿射不变空间面具

    公开(公告)号：US20130315354A1

    公开(公告)日：2013-11-28

    申请号：US13785939

    申请日：2013-03-05

    Applicant: QUALCOMM INCORPORATED

    Inventor： Kalin Mitkov Atanassov ,  James Wilson Nash ,  Vikas Ramachandra ,  Sergiu Radu Goma

    IPC: H04B1/12

    CPC classification number: G01B11/254 ,  G01B11/2513 ,  G01B11/2545 ,  G06T5/001 ,  G06T7/521 ,  H04B1/12

    Abstract: A method operational on a receiver device for decoding a codeword is provided. At least a portion of a composite code mask is obtained, via a receiver sensor, and projected on the surface of a target object. The composite code mask may be defined by a code layer and a carrier layer. A code layer of uniquely identifiable spatially-coded codewords may be defined by a plurality of symbols. A carrier layer may be independently ascertainable and distinct from the code layer and may include a plurality of reference objects that are robust to distortion upon projection. At least one of the code layer and carrier layer may have been pre-shaped by a synthetic point spread function prior to projection. The code layer may be adjusted, at a processing circuit, for distortion based on the reference objects within the portion of the composite code mask.

    Abstract translation: 提供了一种在用于解码码字的接收机设备上运行的方法。 经由接收器传感器获得复合码屏蔽的至少一部分，并且投射在目标对象的表面上。 复合代码掩码可以由代码层和载体层来定义。 唯一可识别的空间编码码字的码层可以由多个符号来定义。 载体层可以独立地确定并且不同于代码层，并且可以包括多个参考对象，其在投影时对于失真是鲁棒的。 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形成。 可以在处理电路处根据复合代码掩码的部分内的参考对象来调整代码层的失真。

    Pose estimation using multiple cameras
    26.
    发明授权
    Pose estimation using multiple cameras 有权

    公开(公告)号：US10565726B2

    公开(公告)日：2020-02-18

    申请号：US15640821

    申请日：2017-07-03

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  James Wilson Nash ,  Hasib Siddiqui

    IPC: G06T7/73

    Abstract: A device includes a first camera and a processor configured to detect one or more first keypoints within a first image captured by the first camera at a first time, detect one or more second keypoints within a second image captured by a second camera at the first time, and detect the one or more first keypoints within a third image captured by the first camera at a second time. The processor is configured to determine a pose estimation based on coordinates of the one or more first keypoints of the first image relative to a common coordinate system, coordinates of the one or more second keypoints of the second image relative to the common coordinate system, and coordinates of the one or more first keypoints of the third image relative to the common coordinate system. The first coordinate system is different than the common coordinate system.

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