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    Descriptor generation and point cloud fusion
    2.
    发明授权
    Descriptor generation and point cloud fusion 有权

    公开(公告)号：US11875527B1

    公开(公告)日：2024-01-16

    申请号：US17224192

    申请日：2021-04-07

    Applicant: Apple Inc.

    Inventor： Lina M. Paz-Perez ,  Chavdar Papazov ,  Vimal Thilak ,  Jai Prakash

    IPC: G06T7/73 ,  G06T7/11 ,  G06T7/64 ,  G06T17/00 ,  G06F18/25

    CPC classification number: G06T7/73 ,  G06F18/253 ,  G06T7/11 ,  G06T7/64 ,  G06T17/00 ,  G06T2207/20084 ,  G06T2207/20132

    Abstract: Some implementations involve a process that identifies a subset of points in an image and creates descriptors for these points. The detection and descriptor process may use one or more neural networks. In some implementations, the process includes a neural network that uses one or more fixed (e.g., weight independent) neural network layers to perform certain functions that can be performed more accurately and/or efficiently than via non-fixed (e.g., weight-based) layers. In some implementations, for example, a neural network includes a layer that determines orientation formulaically within the neural network. Such orientations may be determined convolutionally (e.g., using sliding patches) but are not determined based on internal node weights within the layer that were determined during the training of the neural network.

    POSE ESTIMATION WITH LIMITED CORRESPONDENCES
    3.
    发明申请
    POSE ESTIMATION WITH LIMITED CORRESPONDENCES 有权

    公开(公告)号：US20220222848A1

    公开(公告)日：2022-07-14

    申请号：US17705725

    申请日：2022-03-28

    Applicant: Apple Inc.

    Inventor： Jai Prakash ,  Lina Maria Paz-Perez ,  Oliver Thomas Ruepp

    IPC: G06T7/73 ,  G01V7/00

    Abstract: Various implementations disclosed herein include devices, systems, and methods for pose estimation using one point correspondence, one line correspondence, and a directional measurement. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an image corresponding to a physical environment. A first correspondence between a first set of pixels in the image and a spatial point in the physical environment is determined. A second correspondence between a second set of pixels in the image and a spatial line in the physical environment is determined. Pose information is generated as a function of the first correspondence, the second correspondence, and a directional measurement.

    Pose estimation with limited correspondences
    4.
    发明授权
    Pose estimation with limited correspondences 有权

    公开(公告)号：US11315280B1

    公开(公告)日：2022-04-26

    申请号：US16935645

    申请日：2020-07-22

    Applicant: Apple Inc.

    Inventor： Jai Prakash ,  Lina Maria Paz-Perez ,  Oliver Thomas Ruepp

    IPC: G06T7/73 ,  G01V7/00

    Abstract: Various implementations disclosed herein include devices, systems, and methods for pose estimation using one point correspondence, one line correspondence, and a directional measurement. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an image corresponding to a physical environment. A first correspondence between a first set of pixels in the image and a spatial point in the physical environment is determined. A second correspondence between a second set of pixels in the image and a spatial line in the physical environment is determined. Pose information is generated as a function of the first correspondence, the second correspondence, and a directional measurement.

    Pose estimation with limited correspondences
    6.
    发明授权
    Pose estimation with limited correspondences 有权

    公开(公告)号：US11935264B2

    公开(公告)日：2024-03-19

    申请号：US17705725

    申请日：2022-03-28

    Applicant: Apple Inc.

    Inventor： Jai Prakash ,  Lina Maria Paz-Perez ,  Oliver Thomas Ruepp

    IPC: G06T7/73 ,  G01V7/00

    CPC classification number: G06T7/73 ,  G01V7/00

    Abstract: Various implementations disclosed herein include devices, systems, and methods for pose estimation using one point correspondence, one line correspondence, and a directional measurement. In various implementations, a device includes a non-transitory memory and one or more processors coupled with the non-transitory memory. In some implementations, a method includes obtaining an image corresponding to a physical environment. A first correspondence between a first set of pixels in the image and a spatial point in the physical environment is determined. A second correspondence between a second set of pixels in the image and a spatial line in the physical environment is determined. Pose information is generated as a function of the first correspondence, the second correspondence, and a directional measurement.

    Orientation Based on Vanishing Points
    7.
    发明申请
    Orientation Based on Vanishing Points 有权

    公开(公告)号：US20240386599A1

    公开(公告)日：2024-11-21

    申请号：US18666992

    申请日：2024-05-17

    Applicant: Apple Inc.

    Inventor： Jai Prakash ,  Lina M. Paz-Perez

    IPC: G06T7/73 ,  G01C21/16 ,  G06T7/13 ,  G06T13/00

    Abstract: In one implementation, a method of determining a downward direction is performed by a device including one or more processors, non-transitory memory, and an image sensor. The method includes capturing, using the image sensor, an image of a physical environment. The method includes detecting a plurality of lines within the image of the physical environment. The method includes determining one or more vanishing directions based on the plurality of lines. The method includes defining a downward direction based on the one or more vanishing directions.

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