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公开(公告)号：US09013617B2
公开(公告)日：2015-04-21
申请号：US13651055
申请日：2012-10-12
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Christopher Brunner , Murali R. Chari , Serafin Diaz Spindola
CPC classification number: G01C25/00 , G06T7/73 , G06T2207/10016 , G06T2207/30244
Abstract: An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.
Abstract translation: 公开了一种使用相机姿态和陀螺仪旋转来生成诸如增强现实应用（AR app）的应用的参数的装置和方法。 基于来自图像的姿态和来自陀螺仪的旋转来估计参数（例如，使用具有QR因子分解的最小二乘估计或卡尔曼滤波器）。 参数表示旋转，刻度和/或非正交性参数以及可选的陀螺仪偏置误差。 此外，尺度和非正交性参数可用于调节原始陀螺仪测量以补偿比例和非正交性。
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公开(公告)号：US20140126771A1
公开(公告)日：2014-05-08
申请号：US14014174
申请日：2013-08-29
Applicant: QUALCOMM Incorporated
IPC: G06T7/00
CPC classification number: G06T7/004 , G06T7/70 , G06T7/74 , G06T2207/30244
Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.
Abstract translation: 提出了用于估计移动设备中的重力和/或尺度的系统，装置和方法。 基于图像的姿势和基于惯性的姿势之间的差异正在用于更新重力和/或尺度的估计。 基于图像的姿势由两个姿态计算，并且在差异之前用缩放比例缩放。 基于惯性的姿态由加速度计测量计算，通过重力估计进行调整。
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23.发明申请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解决冲浪的局部几何或表面法线的方法公开(公告)号：US20140126768A1
公开(公告)日：2014-05-08
申请号：US13789577
申请日：2013-03-07
Applicant: QUALCOMM INCORPORATED
Inventor： Mahesh Ramachandran , Daniel Wagner , Murali Ramaswamy Chari
IPC: G06K9/00
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：US11079841B2
公开(公告)日：2021-08-03
申请号：US16591382
申请日：2019-10-02
Applicant: QUALCOMM Incorporated
Inventor： Ashwin Swaminathan , Mahesh Ramachandran
Abstract: Methods and apparatus relating to enabling augmented reality applications using eye gaze tracking are disclosed. An exemplary method according to the disclosure includes displaying an image to a user of a scene viewable by the user, receiving information indicative of an eye gaze of the user, determining an area of interest within the image based on the eye gaze information, determining an image segment based on the area of interest, initiating an object recognition process on the image segment, and displaying results of the object recognition process.
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公开(公告)号：US10444845B2
公开(公告)日：2019-10-15
申请号：US13725175
申请日：2012-12-21
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Christopher Brunner , Arvind Ramanandan , Serafin Diaz Spindola , Murali Ramaswamy Chari
IPC: G06F3/01 , G01C21/16 , G01C25/00 , G06F3/0487 , G06F3/0346 , G06T7/80 , G06T7/73 , G06F3/03
Abstract: A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.
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Patent Agency Ranking
公开(公告)号：US09714955B2
公开(公告)日：2017-07-25
申请号：US13767838
申请日：2013-02-14
Applicant: QUALCOMM Incorporated
CPC classification number: G01P21/00 , G01C25/00 , G01C25/005
Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.
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公开(公告)号：US09336440B2
公开(公告)日：2016-05-10
申请号：US14552183
申请日：2014-11-24
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Shankar Sadasivam , Ashwin Swaminathan
CPC classification number: G06K9/00624 , G06F3/012 , G06T7/277 , G06T2200/04 , G06T2207/10016 , G06T2207/10028 , G06T2207/20076 , H04N5/23248 , H04N13/25 , H04N13/271
Abstract: Systems, apparatus and methods in a mobile device to enable and disable a depth sensor for tracking pose of the mobile device are presented. A mobile device relaying on a camera without a depth sensor may provide inadequate pose estimates, for example, in low light situations. A mobile device with a depth sensor uses substantial power when the depth sensor is enabled. Embodiments described herein enable a depth sensor only when images are expected to be inadequate, for example, accelerating or moving too fast, when inertial sensor measurements are too noisy, light levels are too low or high, an image is too blurry, or a rate of images is too slow. By only using a depth sensor when images are expected to be inadequate, battery power in the mobile device may be conserved and pose estimations may still be maintained.
Abstract translation: 提出了移动设备中的启用和禁用用于跟踪移动设备姿态的深度传感器的系统，设备和方法。 在没有深度传感器的相机上中继的移动设备可以提供不足的姿势估计，例如在低光情况下。 当深度传感器启用时，具有深度传感器的移动设备使用大量功率。 本文所描述的实施例仅在预期图像不足时才能使用深度传感器，例如，当惯性传感器测量太嘈杂时，加速或移动太快，光水平太低或过高，图像太模糊或速率 的图像太慢了。 通过在图像预期不足时仅使用深度传感器，移动设备中的电池电量可能被保存并且仍然可以维持姿态估计。
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公开(公告)号：US20140279790A1
公开(公告)日：2014-09-18
申请号：US13842928
申请日：2013-03-15
Applicant: QUALCOMM INCORPORATED
Inventor： Mahesh Ramachandran , Ashwin Swaminathan , Shankar Sadasivam
IPC: G06N5/04
CPC classification number: G06N7/005 , G01C21/36 , G06K9/00664 , G06K9/00993
Abstract: Exemplary methods, apparatuses, and systems infer a context of a user or device. A computer vision parameter is configured according to the inferred context. Performing a computer vision task, in accordance with the configured computer vision parameter. The computer vision task may by at least one of: a visual mapping of an environment of the device, a visual localization of the device or an object within the environment of the device, or a visual tracking of the device within the environment of the device.
Abstract translation: 示例性的方法，装置和系统推断用户或设备的上下文。 根据推断的上下文配置计算机视觉参数。 根据配置的计算机视觉参数执行计算机视觉任务。 计算机视觉任务可以通过以下至少一个来进行：设备的环境的视觉映射，设备的视觉定位或设备的环境内的对象，或者设备的环境内的设备的视觉跟踪 。
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29.发明申请ESTIMATING THE GRAVITY VECTOR IN A WORLD COORDINATE SYSTEM USING AN ACCELEROMETER IN A MOBILE DEVICE 审中-公开使用移动设备在移动设备中估算世界坐标系统中的重力矢量公开(公告)号：US20140129176A1
公开(公告)日：2014-05-08
申请号：US13767784
申请日：2013-02-14
Applicant: QUALCOMM INCORPORATED
IPC: G01P13/02
CPC classification number: G01P13/02 , G01C21/10 , G01C25/005 , G06F1/1694 , G06F3/0346
Abstract: An accelerometer located within a mobile device is used to estimate a gravity vector on a target plane in a world coordinate system. The accelerometer makes multiple measurements, each measurement being taken when the mobile device is held stationary on the target plane and a surface of the mobile device faces and is in contact with a planar portion of the target plane. An average of the measurements is calculated. A rotational transformation between an accelerometer coordinate system and a mobile device's coordinate system is retrieved from a memory in the mobile device, where the mobile device's coordinate system is aligned with the surface of the mobile device. The rotational transformation is applied to the averaged measurements to obtain an estimated gravity vector in a world coordinate system defined by the target plane.
Abstract translation: 位于移动设备内的加速度计用于估计世界坐标系中目标平面上的重力矢量。 加速度计进行多次测量，当移动设备在目标平面上保持静止并且移动设备的表面面对并且与目标平面的平面部分接触时，进行每次测量。 计算平均值。 在移动设备中的存储器中检索加速度计坐标系和移动设备的坐标系之间的旋转变换，其中移动设备的坐标系与移动设备的表面对齐。 将旋转变换应用于平均测量值，以获得由目标平面定义的世界坐标系中的估计重力矢量。
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30.发明申请Systems and Methods of Merging Multiple Maps for Computer Vision Based Tracking 有权合并多个地图的系统和方法，用于基于计算机视觉的跟踪公开(公告)号：US20140119598A1
公开(公告)日：2014-05-01
申请号：US13830664
申请日：2013-03-14
Applicant: QUALCOMM Incorporated
Inventor： Mahesh Ramachandran , Abhishek Tyagi , Serafin Diaz Spindola
CPC classification number: G06T11/60 , G06K9/3241 , G06K9/38 , G06T7/579
Abstract: Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking are disclosed. In one embodiment, a method of merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and merging the multiple keyframes to generate a global map of the scene.
Abstract translation: 公开了用于合并用于基于计算机视觉的跟踪的多个地图的方法，装置和计算机程序产品。 在一个实施例中，合并用于基于计算机视觉的跟踪的多个地图的方法包括从至少一个移动设备接收场地中的场景的多个地图，识别场景的多个地图中的多个关键帧，并且合并多个 关键帧生成场景的全局映射。
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