公开(公告)号：US20180184070A1

公开(公告)日：2018-06-28

申请号：US15456275

申请日：2017-03-10

Applicant: QUALCOMM Incorporated

Inventor： James Wilson Nash ,  Venkata Ravi Kiran Dayana ,  Kalin Mitkov Atanassov

IPC: H04N13/02 ,  G06T7/73 ,  G06T7/571

CPC classification number: H04N13/271 ,  G06T7/593 ,  G06T2207/10012 ,  H04N5/23212 ,  H04N5/23296 ,  H04N13/236

Abstract: Methods and apparatus for determining a depth of an object within a scene are provided. Image data of a scene can be captured using a lens configured to project an image of the scene onto an image sensor. The lens has a known focal length and is movable between at least a first lens position and a second lens position. A first image of the scene is captured with the lens at a first lens position, and a second image of the scene is captured with the lens at a second, different position. By measuring a first dimension of the object using the first image and a second dimension of the object using the second image, a depth of the object may be determined based upon a ratio of the first and second dimensions, the focal length of the lens, and a distance between the first and second lens positions.

公开(公告)号：US20180096487A1

公开(公告)日：2018-04-05

申请号：US15498905

申请日：2017-04-27

Applicant: QUALCOMM Incorporated

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

IPC: G06T7/30 ,  G06T5/20 ,  G06K9/62 ,  G06T7/11

CPC classification number: G06T7/30 ,  G06K9/6215 ,  G06T5/002 ,  G06T5/20 ,  G06T5/50 ,  G06T7/11 ,  G06T2207/10016 ,  G06T2207/20004 ,  G06T2207/20221 ,  H04N5/217 ,  H04N5/2259 ,  H04N5/23232 ,  H04N5/2621 ,  H04N9/76

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：US09536186B2

公开(公告)日：2017-01-03

申请号：US14536402

申请日：2014-11-07

Applicant: QUALCOMM Incorporated

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

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

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 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。

公开(公告)号：US20160275690A1

公开(公告)日：2016-09-22

申请号：US14664061

申请日：2015-03-20

Applicant: QUALCOMM Incorporated

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

IPC: G06T7/00 ,  G06T11/60

CPC classification number: G06T7/0075 ,  G06T7/521 ,  G06T11/60 ,  G06T2207/10016 ,  G06T2207/10028 ,  G06T2207/20076 ,  G06T2207/20216

Abstract: Systems and method for generating depth maps using active sensing technology, for scenes with moving objects, is disclosed. One aspect provides for a method that includes estimating areas in adjacent frames that correspond to a moving object by generating a probability map for each received frame, the probability map comprising a probability value at each pixel. The method also includes computing a convex temporal average map using a plurality of the reflected structured light frames including at least the prior frame received at time t−1, the received frame received at time t, and the next frame received at time t+1, the value at each pixel of the convex temporal average map weighted and normalized by the probability map at each pixel at each time. The method also includes determining the codewords at each pixel in the convex temporal average map, and generating a depth map from the determined codewords.

Abstract translation: 公开了使用主动感测技术生成深度图的系统和方法，用于具有移动对象的场景。 一方面提供一种方法，其包括通过为每个接收到的帧生成概率图来估计与移动对象相对应的相邻帧中的区域，所述概率图包括每个像素处的概率值。 该方法还包括使用多个反射的结构化光帧来计算凸时间平均映射图，该多个反射结构光帧至少包括在时间t-1接收到的先前帧，在时间t接收到的接收帧，以及在时间t + 1接收的下一帧 在每个像素处的每个像素的概率图加权和归一化的凸时间平均图的每个像素处的值。 该方法还包括在凸时间平均图中确定每个像素处的码字，以及从确定的码字生成深度图。

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。

公开(公告)号：US20160012567A1

公开(公告)日：2016-01-14

申请号：US14631681

申请日：2015-02-25

Applicant: QUALCOMM Incorporated

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

IPC: G06T3/40 ,  H04N13/02 ,  G06T7/00

CPC classification number: G06T3/4053 ,  G06T3/4007 ,  G06T7/337 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10021 ,  G06T2207/20016 ,  H04N13/239 ,  H04N13/271

Abstract: Aspects relate to a method of generating a high-resolution image containing depth information of an object. In one aspect, the method includes downsampling a first reference image and a second reference image from a first resolution to a second resolution, wherein the first resolution is higher than the second resolution, and wherein the first reference image and the second reference image comprising a stereo image pair. The method further includes generating a depth map at the second resolution based on global minimization techniques, using the downsampled stereo image pair. The method also includes upsampling the depth map from the second resolution to the first resolution and using a guided filter to align contours of the upsampled depth map to contours of the first reference image.

Abstract translation: 方面涉及生成包含对象的深度信息的高分辨率图像的方法。 一方面，该方法包括从第一分辨率向第二分辨率对第一参考图像和第二参考图像进行下采样，其中所述第一分辨率高于所述第二分辨率，并且其中所述第一参考图像和所述第二参考图像包括 立体图像对。 该方法还包括使用下采样的立体图像对在基于全局最小化技术的第二分辨率下生成深度图。 该方法还包括将深度图从第二分辨率上升到第一分辨率，并使用引导过滤器将上采样的深度图的轮廓对准第一参考图像的轮廓。

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：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。

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：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。