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    POSE ESTIMATION USING MULTIPLE CAMERAS
    42.
    发明申请
    POSE ESTIMATION USING MULTIPLE CAMERAS 审中-公开

    公开(公告)号：US20190005678A1

    公开(公告)日：2019-01-03

    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.

    Method and apparatus for bus sharing by multiple imaging sensors
    44.
    发明授权
    Method and apparatus for bus sharing by multiple imaging sensors 有权

    公开(公告)号：US10104364B2

    公开(公告)日：2018-10-16

    申请号：US15056609

    申请日：2016-02-29

    Applicant: QUALCOMM Incorporated

    Inventor： Sergiu R Goma ,  Kalin Mitkov Atanassov ,  Vikas Ramachandra

    IPC: H04N13/02 ,  H04N13/246 ,  H04N13/161 ,  H04N13/25 ,  H04N13/296 ,  H04N5/232 ,  G06T7/80

    Abstract: Methods and apparatus for sharing a bus between multiple imaging sensors, include, in some aspects, a device having at least two imaging sensors, an electronic hardware processor, and an imaging sensor controller. The imaging sensor controller includes first clock and data lines, operably coupling the electronic hardware processor to the imaging sensor controller, and a second clock line, operably coupling the imaging sensor controller to the first imaging sensor and the second imaging sensor. A second data line operably couples the imaging sensor controller to the first imaging sensor. A third data line operably couples the sensor controller to the second imaging sensor. The imaging sensor controller is configured to use the second clock line, and second data line to send a first command to the first imaging sensor, and, use the second clock line, and third data line to send a second command to the second imaging sensor.

    MEMORY-EFFICIENT CODED LIGHT ERROR CORRECTION
    49.
    发明申请
    MEMORY-EFFICIENT CODED LIGHT ERROR CORRECTION 有权
    内存有效的光标错误校正

    公开(公告)号：US20170048507A1

    公开(公告)日：2017-02-16

    申请号：US14827088

    申请日：2015-08-14

    Applicant: QUALCOMM Incorporated

    Inventor： Shandon Campbell ,  Stephen Michael VerraII ,  Kalin Mitkov Atanassov ,  Ovidiu Cristian Miclea

    IPC: H04N13/00

    CPC classification number: H04N13/128 ,  G06T5/005 ,  G06T7/521 ,  G06T2207/10028 ,  H04N13/161 ,  H04N2013/0081

    Abstract: Systems and methods for correcting errors in a depth map generated by a structured light system are disclosed. In one aspect, a method includes receiving valid and invalid codewords, the valid spatial codewords included in a codebook. The method includes detecting the invalid codeword. The method includes retrieving a set of candidate valid codewords a lowest Hamming distance between the invalid codeword and the valid codewords in the codebook. The method includes estimating a median depth of neighboring locations of the invalid codeword. The method includes associating a depth with each candidate codeword and selecting the candidate with an associated depth closest to the depth estimate. The method includes assigning the depth associated with the selected candidate codeword to the location of the invalid codeword.

    Abstract translation: 公开了一种用于校正由结构化光系统生成的深度图中的误差的系统和方法。 一方面，一种方法包括接收有效和无效码字，包括在码本中的有效空间码字。 该方法包括检测无效码字。 该方法包括在码本中检索无效码字与有效码字之间的最低汉明距离的一组候选有效码字。 该方法包括估计无效码字的相邻位置的中间深度。 该方法包括将深度与每个候选码字相关联，并且选择具有最接近深度估计的相关深度的候选。 该方法包括将与所选候选码字相关联的深度分配给无效码字的位置。

    Coded light pattern having hermitian symmetry
    50.
    发明授权
    Coded light pattern having hermitian symmetry 有权
    具有隐性对称性的编码光图案

    公开(公告)号：US09558436B2

    公开(公告)日：2017-01-31

    申请号：US14491521

    申请日：2014-09-19

    Applicant: QUALCOMM Incorporated

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

    IPC: G06K19/00 ,  G06K19/06 ,  G02B5/18 ,  G02B27/42 ,  G06T15/50 ,  G06K9/20

    CPC classification number: G06K19/06037 ,  G02B5/1857 ,  G02B27/4205 ,  G02B27/4266 ,  G06K9/2036 ,  G06T15/506

    Abstract: A method includes identifying one or more codewords of a bit sequence that fail to satisfy at least one codeword constraint. The method also includes removing the one or more codewords from the bit sequence to generate a punctured bit sequence. The method further includes determining whether the punctured bit sequence is symmetric. The method includes, in response to determining that the punctured bit sequence is symmetric, generating a hermitian symmetric codebook primitive based at least in part on the punctured bit sequence, where the hermitian symmetric codebook primitive is useable to form a diffractive optical element (DOE) of a structured light depth sensing system.

    Abstract translation: 一种方法包括识别不满足至少一个码字约束的比特序列的一个或多个码字。 该方法还包括从比特序列中移除一个或多个码字以产生一个穿孔比特序列。 该方法还包括确定穿孔比特序列是否是对称的。 该方法包括响应于确定穿孔比特序列是对称的，至少部分地基于穿孔比特序列生成隐形对称码本原语，其中，密码对称码本原语可用于形成衍射光学元件（DOE） 的结构光深度感测系统。

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