公开(公告)号：US10789776B2

公开(公告)日：2020-09-29

申请号：US15902248

申请日：2018-02-22

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Thanh Quoc Nguyen ,  Raphael Grasset ,  Tobias Langlotz ,  Hartmut Seichter

IPC: G06T19/00 ,  G06T17/00 ,  G06T7/12 ,  H04N13/00

Abstract: Techniques are presented for constructing a digital representation of a physical environment. In some embodiments, a method includes obtaining image data indicative of the physical environment; receiving gesture input data from a user corresponding to at least one location in the physical environment, based on the obtained image data; detecting at least one discontinuity in the physical environment near the at least one location corresponding to the received gesture input data; and generating a digital surface corresponding to a surface in the physical environment, based on the received gesture input data and the at least one discontinuity.

公开(公告)号：US10776997B2

公开(公告)日：2020-09-15

申请号：US15685770

申请日：2017-08-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/80 ,  G06F9/50 ,  G06T15/00 ,  G06T15/20 ,  G06T15/40 ,  G06T11/00 ,  G06T15/04 ,  G06T15/60

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to determine graphics primitives of a computer graphics scene that are visible from a camera viewpoint, generate a primitive atlas that includes data representing the graphics primitives that are visible from the camera viewpoint, and shade the visible graphics primitives in the primitive atlas to produce a shaded primitive atlas. The second GPU is configured to render an image using the shaded primitive atlas.

公开(公告)号：US20200184712A1

公开(公告)日：2020-06-11

申请号：US16640705

申请日：2018-07-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/40 ,  G06T17/20 ,  G06T15/80 ,  G06T15/04 ,  G06T15/00 ,  G06T1/60 ,  A63F13/50 ,  G06T15/10

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to perform a first portion of an image rendering process to generate intermediate graphics data and send the intermediate graphics data to the second computing device. The second GPU is configured to perform a second portion of the image rendering process to render an image from the intermediate graphics data. The first computing device may be a video game console, and the second computing device may be a virtual reality (VR) headset that warps the rendered image to produce a stereoscopic image pair.

公开(公告)号：US20190066370A1

公开(公告)日：2019-02-28

申请号：US15685770

申请日：2017-08-24

Applicant: QUALCOMM Incorporated

Inventor： Dieter Schmalstieg ,  Gerhard Reitmayr ,  Serafin Diaz Spindola

IPC: G06T15/80 ,  G06F9/50 ,  G06T15/20 ,  G06T15/00 ,  G06T15/40

CPC classification number: G06T15/80 ,  G06F9/5066 ,  G06T11/001 ,  G06T15/005 ,  G06T15/04 ,  G06T15/20 ,  G06T15/40 ,  G06T15/60

Abstract: An example system includes a first computing device comprising a first graphics processing unit (GPU) implemented in circuitry, and a second computing device comprising a second GPU implemented in circuitry. The first GPU is configured to determine graphics primitives of a computer graphics scene that are visible from a camera viewpoint, generate a primitive atlas that includes data representing the graphics primitives that are visible from the camera viewpoint, and shade the visible graphics primitives in the primitive atlas to produce a shaded primitive atlas. The second GPU is configured to render an image using the shaded primitive atlas.

公开(公告)号：US09866815B2

公开(公告)日：2018-01-09

申请号：US14866771

申请日：2015-09-25

Applicant: QUALCOMM Incorporated

Inventor： Bojan Vrcelj ,  Young Hoon Lee ,  Gerhard Reitmayr

IPC: G06K9/00 ,  G06T7/00 ,  H04N13/02 ,  G06K9/34 ,  G06K9/62 ,  G01B11/22 ,  G06T7/50 ,  G06T7/11 ,  G06T7/12 ,  G06T7/13 ,  G06T7/136 ,  H04N13/00

CPC classification number: H04N13/204 ,  G01B11/22 ,  G06K9/00214 ,  G06K9/34 ,  G06K9/6215 ,  G06T7/11 ,  G06T7/12 ,  G06T7/13 ,  G06T7/136 ,  G06T7/50 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/10028 ,  G06T2207/30244 ,  H04N2013/0092

Abstract: Disclosed are a system, apparatus, and method for 3D object segmentation within an environment. Image frames are obtained from one or more depth cameras or at different times and planar segments are extracted from data obtained from the image frames. Candidate segments that comprise a non-planar object surface are identified from the extracted planar segments. In one aspect, certain extracted planar segments are identified as comprising a non-planar object surface, and are referred to as candidate segments. Confidence of preexisting candidate segments are adjusted in response to determining correspondence with a candidate segment. In one aspect, one or more preexisting candidate segments are determined to comprise a surface of a preexisting non-planar object hypothesis. Confidence in the non-planar object hypothesis is updated in response to determining correspondence with a candidate segment.

公开(公告)号：US09858498B2

公开(公告)日：2018-01-02

申请号：US14863364

申请日：2015-09-23

Applicant: QUALCOMM Incorporated

Inventor： Victor Chan ,  Alok Govil ,  Gerhard Reitmayr

IPC: G06K9/46 ,  G06K9/66 ,  G06K9/62

CPC classification number: G06K9/6201 ,  G06K9/46 ,  G06K9/6267 ,  G06K2009/4666

Abstract: Methods, systems, computer-readable media, and apparatuses for incremental object detection using a staged process and a band-pass feature extractor are presented. At each stage of the staged process, a different band of features from a plurality of bands of features in image data can be extracted using a dual-threshold local binary pattern operator, and compared with features of a target object within the band for a partial decision. The staged process exits if a rejection decision is made at any stage of the staged process. If no rejection decision is made in each stage of the staged process, the target object is detected. Features extracted at each stage may be from a different image for some applications.

公开(公告)号：US09576183B2

公开(公告)日：2017-02-21

申请号：US13831405

申请日：2013-03-14

Applicant: QUALCOMM Incorporated

Inventor： Gerhard Reitmayr ,  Alessandro Mulloni

IPC: G06K9/00 ,  G06T7/00

CPC classification number: G06K9/00201 ,  G06T7/12 ,  G06T7/73 ,  G06T2207/10016

Abstract: Apparatuses and methods for fast visual simultaneous localization and mapping are described. In one embodiment, a three-dimensional (3D) target is initialized immediately from a first reference image and prior to processing a subsequent image. In one embodiment, one or more subsequent reference images are processed, and the 3D target is tracked in six degrees of freedom. In one embodiment, the 3D target is refined based on the processed the one or more subsequent images.

Abstract translation: 描述了用于快速视觉同时定位和映射的装置和方法。 在一个实施例中，三维（3D）目标被立即从第一参考图像初始化并且在处理随后的图像之前被初始化。 在一个实施例中，处理一个或多个后续参考图像，并且以六个自由度跟踪3D目标。 在一个实施例中，基于处理了一个或多个后续图像来改进3D目标。

公开(公告)号：US09489735B1

公开(公告)日：2016-11-08

申请号：US14857277

申请日：2015-09-17

Applicant: QUALCOMM Incorporated

Inventor： Gerhard Reitmayr

IPC: G06T7/00 ,  H04N17/00 ,  H04N9/31

CPC classification number: H04N9/3164 ,  G06T7/80 ,  G06T2207/10004 ,  G06T2207/10016 ,  G06T2207/30208 ,  G06T2207/30244 ,  H04N17/002

Abstract: Methods, systems, computer-readable media, and apparatuses for calibrating an event-based camera are presented. One example method includes the steps of receiving a calibration image comprising intensity information for a set of image elements defining the calibration image; iteratively, until a threshold number of different image elements have been projected: selecting a portion of the calibration image corresponding to a subset of image elements of the set of image elements, the subset comprising less than all image elements in the set of image elements, and comprising at least one image element not previously selected; projecting the selected portion of the calibration image onto a sensor of the event-based camera; detecting, by the sensor, the selected portion of the calibration image; generating a set of detected pixels corresponding to the detecting; and discontinuing projection of the selected portion; and determining, for a position of the event-based camera, at least one calibration parameter using the generated sets of detected pixels.

Abstract translation: 提出了用于校准基于事件的相机的方法，系统，计算机可读介质和装置。 一个示例性方法包括以下步骤：接收校准图像，其包括用于定义校准图像的一组图像元素的强度信息; 迭代地，直到已经投影了不同图像元素的阈值数量：选择与该组图像元素的图像元素的子集相对应的校准图像的一部分，该子集包括少于图像元素集合中的所有图像元素， 并且包括至少一个先前未选择的图像元素; 将所述校准图像的所选部分投影到所述基于事件的相机的传感器上; 由所述传感器检测所述校准图像的所选部分; 产生与所述检测相对应的一组检测像素; 并停止所选部分的投影; 以及使用所生成的检测到的像素组来确定对于所述基于事件的相机的位置的至少一个校准参数。

公开(公告)号：US20160086377A1

公开(公告)日：2016-03-24

申请号：US14491356

申请日：2014-09-19

Applicant: QUALCOMM Incorporated

Inventor： Erick Mendez Mendez ,  Gerhard Reitmayr

IPC: G06T19/00 ,  G06T7/40 ,  G06K9/46 ,  G09G5/02

CPC classification number: G06T19/006 ,  G06K9/4652 ,  G06T7/90 ,  G06T2215/16 ,  G09G5/02 ,  G09G2320/0242 ,  G09G2320/0666 ,  G09G2340/06

Abstract: Disclosed are example methods, apparatuses, and articles of manufacture for determining and providing a suitability of an image target for Color Transfer. In an example embodiment, a method, which may be implemented using a computing device, may comprise: receiving image data representative of the image target; determining a suitability of the image target for Color Transfer based, at least in part, on one or more colors of the image data; and providing an indication indicative of the suitability of the image target for Color Transfer.

Abstract translation: 公开了用于确定和提供彩色图像目标的适用性的示例性方法，装置和制品。 在示例实施例中，可以使用计算设备实现的方法可以包括：接收表示图像目标的图像数据; 至少部分地基于图像数据的一种或多种颜色来确定用于颜色传输的图像目标的适用性; 并提供指示图像目标对于颜色转移的适合性的指示。

公开(公告)号：US20140320593A1

公开(公告)日：2014-10-30

申请号：US14151776

申请日：2014-01-09

Applicant: QUALCOMM Incorporated

Inventor： Christian Pirchheim ,  Dieter Schmalstieg ,  Gerhard Reitmayr

IPC: H04N13/02 ,  H04N5/232

CPC classification number: H04N13/289 ,  G06T7/579 ,  H04N5/23238

Abstract: Disclosed are a system, apparatus, and method for monocular visual simultaneous localization and mapping that handles general 6DOF and panorama camera movements. A 3D map of an environment containing features with finite or infinite depth observed in regular or panorama keyframes is received. The camera is tracked in 6DOF from finite, infinite, or mixed feature sets. Upon detection of a panorama camera movement towards unmapped scene regions, a reference panorama keyframe with infinite features is created and inserted into the 3D map. When panoramic camera movement extends toward unmapped scene regions, the reference keyframe is extended with further dependent panorama keyframes. Panorama keyframes are robustly localized in 6DOF with respect to finite 3D map features. Localized panorama keyframes contain 2D observations of infinite map features that are matched with 2D observations in other localized keyframes. 2D-2D correspondences are triangulated, resulting in new finite 3D map features.

Abstract translation: 公开了用于单目视觉同时定位和映射的系统，装置和方法，其处理一般的6DOF和全景照相机移动。 接收包含在常规或全景关键帧中观察到的具有有限或无限深度的特征的环境的3D地图。 相机以6DOF从有限，无限或混合特征集进行跟踪。 一旦检测到全景照相机向未映射的场景区域移动，就会创建具有无限特征的参考全景关键帧并将其插入到3D地图中。 当全景相机移动延伸到未映射的场景区域时，参考关键帧将被扩展，并具有进一步的相关全景关键帧。 相对于有限的3D地图特征，全景关键帧在6DOF中稳健地定位。 本地化全景关键帧包含与其他局部关键帧中的2D观测相匹配的无限地图特征的2D观察。 2D-2D对应被三角测量，导致新的有限3D地图特征。