公开(公告)号：US20150373322A1

公开(公告)日：2015-12-24

申请号：US14599248

申请日：2015-01-16

Applicant: QUALCOMM Incorporated

Inventor： Sergiu Radu Goma ,  Kalin Mitkov Atanassov

IPC: H04N13/02 ,  H04N5/44 ,  H04N5/40 ,  H04N13/04 ,  H04N5/33

CPC classification number: H04N5/44 ,  G01B11/245 ,  G01B11/2513 ,  G01S7/4814 ,  G01S7/483 ,  G01S17/10 ,  G01S17/87 ,  G01S17/89 ,  G03B17/38 ,  G03B35/00 ,  G03B2206/00 ,  H04N5/33 ,  H04N5/40 ,  H04N13/271

Abstract: Aspects relate to an depth sensing system for capturing an image containing depth information of an object. In one embodiment, a depth sensing device for use in conjunction with multiple depth sensing devices for capturing an image containing depth information of an object comprises a near-infrared transmitter comprising a laser capable of producing a near infra-red light beam, a diffractive optical element positioned to receive a light beam emitted from the laser, the diffractive optical element, and a collimating lens, and a near-infrared receiver coupled to the transmitter in a relative position, the receiver comprising a sensor assembly capable of producing an image of the received light, the depth sensing device being configured to transmit and receive near infra-red light beams during a time period that is different than any of the other of two or more transmitter-receiver pairs of devices in communication with the depth sensing device.

Abstract translation: 方面涉及用于捕获包含对象的深度信息的图像的深度感测系统。 在一个实施例中，与用于捕获包含对象的深度信息的图像的多个深度感测装置结合使用的深度感测装置包括近红外发射器，其包括能够产生近红外光束的激光，衍射光学 定位成接收从激光发射的光束，衍射光学元件和准直透镜以及在相对位置耦合到发射器的近红外接收器，所述接收器包括传感器组件，该传感器组件能够产生 所述深度感测装置被配置为在与所述深度感测装置通信的两个或更多个发射器 - 接收器对中的任一个中的其它另一个的时间段内发射和接收近红外光束。

公开(公告)号：US20150373262A1

公开(公告)日：2015-12-24

申请号：US14571149

申请日：2014-12-15

Applicant: QUALCOMM Incorporated

Inventor： Todor Georgiev Georgiev ,  Sergiu Radu Goma

IPC: H04N5/232

CPC classification number: H04N5/23232 ,  G03B17/00 ,  G03B17/17 ,  H04N5/2171 ,  H04N5/225 ,  H04N5/2253 ,  H04N5/2254 ,  H04N5/2258 ,  H04N5/232 ,  H04N5/23238 ,  Y10T29/49828

Abstract: Aspects relate to an array camera exhibiting little or no parallax artifacts in captured images. For example, the planes of the central mirror prism of the array camera can intersect at an apex defining the vertical axis of symmetry of the system. The apex can serve as a point of intersection for the optical axes of the sensors in the array. Each sensor in the array “sees” a portion of the image scene using a corresponding facet of the central mirror prism, and accordingly each individual sensor/mirror pair represents only a sub-aperture of the total array camera. The complete array camera has a synthetic aperture generated based on the sum of all individual aperture rays.

Abstract translation: 方面涉及在捕获的图像中显示很少或没有视差伪像的阵列相机。 例如，阵列照相机的中心镜棱镜的平面可以在限定系统的垂直对称轴的顶点处相交。 顶点可以作为阵列中传感器光轴的交点。 阵列中的每个传感器使用中心镜棱镜的相应小面“看到”图像场景的一部分，因此每个单独的传感器/镜对仅表示总阵列照相机的子孔径。 完整的阵列相机具有基于所有单独光阑的总和产生的合成孔径。

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。

公开(公告)号：US20140111650A1

公开(公告)日：2014-04-24

申请号：US13837098

申请日：2013-03-15

Applicant: QUALCOMM INCORPORATED

Inventor： Todor G. Georgiev ,  Thomas Wesley Osborne ,  Sergiu Radu Goma

IPC: H04N7/18

CPC classification number: H04N5/23238 ,  G02B13/0065 ,  G06T3/4038 ,  H04N5/2254 ,  H04N5/2257 ,  H04N5/247 ,  H04N5/3415 ,  H04N7/18

Abstract: Described herein are methods and devices that employ a plurality of image sensors to capture a target image of a scene. As described, positioning at least one reflective or refractive surface near the plurality of image sensors enables the sensors to capture together an image of wider field of view and longer focal length than any sensor could capture individually by using the reflective or refractive surface to guide a portion of the image scene to each sensor. The different portions of the scene captured by the sensors may overlap, and may be aligned and cropped to generate the target image.

Abstract translation: 这里描述了使用多个图像传感器来捕获场景的目标图像的方法和装置。 如上所述，在多个图像传感器附近定位至少一个反射或折射表面使得传感器能够将比较任何传感器可以通过使用反射或折射表面单独捕获的更宽视野和更长焦距的图像一起捕获以引导 图像场景的一部分到每个传感器。 由传感器捕获的场景的不同部分可以重叠，并且可以对准和裁剪以生成目标图像。

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。

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。

公开(公告)号：US11790481B2

公开(公告)日：2023-10-17

申请号：US16375795

申请日：2019-04-04

Applicant: QUALCOMM Incorporated

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

IPC: G06T5/00 ,  G06T5/50 ,  H04N5/232 ,  G06T3/40 ,  G06T7/11 ,  G06T5/20 ,  G06T3/00 ,  H04N9/76 ,  H04N5/262 ,  G06F18/22 ,  H04N23/45 ,  H04N23/81 ,  H04N23/698 ,  H04N23/951 ,  H04N25/60 ,  G06T7/30 ,  H04N23/58

CPC classification number: G06T3/0025 ,  G06F18/22 ,  G06T3/4038 ,  G06T5/002 ,  G06T5/20 ,  G06T5/50 ,  G06T7/11 ,  G06T7/30 ,  H04N5/2621 ,  H04N9/76 ,  H04N23/45 ,  H04N23/698 ,  H04N23/81 ,  H04N23/951 ,  H04N25/60 ,  G06T2207/10016 ,  G06T2207/20004 ,  G06T2207/20221 ,  H04N23/58

Abstract: A method performed by an electronic device is described. The method includes obtaining a first image from a first camera, the first camera having a first focal length and a first field of view. The method also includes obtaining a second image from a second camera, the second camera having a second focal length and a second field of view disposed within the first field of view. The method further includes aligning at least a portion of the first image and at least a portion of the second image to produce aligned images. The method additionally includes fusing the aligned images based on a diffusion kernel to produce a fused image. The diffusion kernel indicates a threshold level over a gray level range. The method also includes outputting the fused image. The method may be performed for each of a plurality of frames of a video feed.

公开(公告)号：US11763425B2

公开(公告)日：2023-09-19

申请号：US17166990

申请日：2021-02-03

Applicant: QUALCOMM Incorporated

Inventor： Jian Ma ,  Sergiu Radu Goma ,  Biay-Cheng Hseih

IPC: G06T3/40 ,  G06T7/80 ,  G06T7/593 ,  G02B26/08

CPC classification number: G06T3/4053 ,  G02B26/0833 ,  G06T7/593 ,  G06T7/80 ,  G06T2207/10028

Abstract: Techniques and systems are provided for high resolution time-of-flight (ToF) depth imaging. In some examples, an apparatus includes a projection system including one or more light-emitting devices, each light-emitting device being configured to illuminate at least one portion of an entire field-of-view (FOV) of the projection system. The entire FOV includes a plurality of FOV portions. The apparatus also includes a receiving system including a sensor configured to sequentially capture a plurality of images based on a plurality of illumination reflections corresponding to light emitted by the one or more light-emitting devices. Each image of the plurality of images corresponds to one of the plurality of FOV portions. An image resolution associated with each image corresponds to a full resolution of the sensor. The apparatus further includes a processor configured to generate, using the plurality of images, an increased resolution depth map associated with the entire FOV.

公开(公告)号：US10419703B2

公开(公告)日：2019-09-17

申请号：US14599248

申请日：2015-01-16

Applicant: QUALCOMM Incorporated

Inventor： Sergiu Radu Goma ,  Kalin Mitkov Atanassov

IPC: H04N5/44 ,  H04N5/33 ,  H04N5/40 ,  G01B11/245 ,  G01B11/25 ,  G01S17/10 ,  G01S17/87 ,  G01S17/89 ,  G01S7/481 ,  G01S7/483 ,  G03B17/38 ,  G03B35/00 ,  H04N13/271

Abstract: Aspects relate to a depth sensing system for capturing an image containing depth information of an object. In one embodiment, a depth sensing device for use in conjunction with multiple depth sensing devices for capturing an image containing depth information of an object comprises a near-infrared transmitter comprising a laser capable of producing a near infra-red light beam, a diffractive optical element positioned to receive a light beam emitted from the laser, the diffractive optical element, a collimating lens, and a near-infrared receiver coupled to the transmitter in a relative position, the receiver comprising a sensor assembly capable of producing an image of the received light, the depth sensing device being configured to transmit and receive near infra-red light beams during a time period that is different than any of the other of two or more transmitter-receiver pairs of devices in communication with the depth sensing device.

公开(公告)号：US10368053B2

公开(公告)日：2019-07-30

申请号：US13723873

申请日：2012-12-21

Applicant: QUALCOMM Incorporated

Inventor： Judit Martinez Bauza ,  Kalin Mitkov Atanassov ,  Sergiu Radu Goma

IPC: H04N5/265 ,  H04N13/20 ,  H04N13/207 ,  G01B11/25 ,  G06T5/50 ,  G06T7/521

Abstract: A receiver sensor captures a plurality of images, at two or more (different) exposure times, of a scene onto which a code mask is projected. The two or more of the plurality of images are combined by extracting decodable portions of the code mask from each image to generate a combined image. Alternatively, two receiver sensors, each at a different exposure time, are used to capture a plurality of images. The first and second images are then combined by extracting decodable portions of the code mask from each image to generate a combined image. Depth information for the scene may then be ascertained based on the combined image and using the code mask.