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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
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.
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公开(公告)号：US11430206B1
公开(公告)日：2022-08-30
申请号：US16829300
申请日：2020-03-25
Applicant: Apple Inc.
Inventor： Chavdar Chavdarov Papazov , Lina Maria Paz-Perez , Oliver Thomas Ruepp
Abstract: In some implementations, a method includes: extracting key-points from a reference image associated with a scene; generating a multi-cone structure including cones based on the key-points and intrinsic parameters, wherein an apex of the cones corresponds to a camera origin point associated with the reference image, and wherein each axis of the cones intersects a respective key-point; aligning the multi-cone structure based on a nominal alignment vector in order to restrict two rotational degrees of freedom; and determining a rigid transformation for the multi-cone structure, including a value for a remaining rotational degree of freedom and values for three translational degrees of freedom, within a search space associated with the scene, wherein a number of the cones within the multi-cone structure that include at least one point in a three-dimensional (3D) point cloud associated with the scene is maximal when the multi-cone structure is transformed by the rigid transformation.
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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
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.
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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
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.
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