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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：US20230306709A1
公开(公告)日：2023-09-28
申请号：US18200822
申请日：2023-05-23
Applicant: Apple Inc.
Inventor： Oliver Thomas Ruepp , Jai Prakash , Johan Hedborg , Rahul Raguram , Michele Stoppa
Abstract: In one implementation, a method of estimating the heading of a device is performed by the device including a processor, non-transitory memory, and an image sensor. The method includes determining a geographic location of the device. The method includes capturing, using the image sensor, an image at the geographic location. The method includes detecting one or more lines within the image. The method includes determining a heading of the device based on the one or more lines and the geographic location.
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公开(公告)号：US11967146B2
公开(公告)日：2024-04-23
申请号：US18099600
申请日：2023-01-20
Applicant: Apple Inc.
Inventor： Oliver Thomas Ruepp , Pedro Antonio Pinies Rodriguez
Abstract: Various implementations disclosed herein include devices, systems, and methods for normal estimation using a directional measurement, such as a gravity vector. 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 identifying planar surfaces in an environment represented by an image. Each planar surface is associated with a respective orientation. A directional vector associated with the environment is determined. A subset of the planar surfaces that have a threshold orientation relative to the directional vector is identified. For each planar surface in the subset of the planar surfaces, a normal vector for the planar surface is determined based on the orientation of the planar surface and the directional vector.
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公开(公告)号：US20230334847A1
公开(公告)日：2023-10-19
申请号：US18099600
申请日：2023-01-20
Applicant: Apple Inc.
Inventor： Oliver Thomas Ruepp , Pedro Antonio Pinies Rodriguez
Abstract: Various implementations disclosed herein include devices, systems, and methods for normal estimation using a directional measurement, such as a gravity vector. 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 identifying planar surfaces in an environment represented by an image. Each planar surface is associated with a respective orientation. A directional vector associated with the environment is determined. A subset of the planar surfaces that have a threshold orientation relative to the directional vector is identified. For each planar surface in the subset of the planar surfaces, a normal vector for the planar surface is determined based on the orientation of the planar surface and the directional vector.
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公开(公告)号：US11699279B1
公开(公告)日：2023-07-11
申请号：US16909014
申请日：2020-06-23
Applicant: Apple Inc.
Inventor： Oliver Thomas Ruepp , Jai Prakash , Johan Hedborg , Rahul Raguram , Michele Stoppa
Abstract: In one implementation, a method of estimating the heading of a device is performed by the device including a processor, non-transitory memory, and an image sensor. The method includes determining a geographic location of the device. The method includes capturing, using the image sensor, an image at the geographic location. The method includes detecting one or more lines within the image. The method includes determining a heading of the device based on the one or more lines and the geographic location.
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Patent Agency Ranking
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：US11562560B1
公开(公告)日：2023-01-24
申请号：US17148789
申请日：2021-01-14
Applicant: Apple Inc.
Inventor： Oliver Thomas Ruepp , Pedro Antonio Pinies Rodriguez
Abstract: Various implementations disclosed herein include devices, systems, and methods for normal estimation using a directional measurement, such as a gravity vector. 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 identifying planar surfaces in an environment represented by an image. Each planar surface is associated with a respective orientation. A directional vector associated with the environment is determined. A subset of the planar surfaces that have a threshold orientation relative to the directional vector is identified. For each planar surface in the subset of the planar surfaces, a normal vector for the planar surface is determined based on the orientation of the planar surface and the directional vector.
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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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公开(公告)号：US11257245B1
公开(公告)日：2022-02-22
申请号：US16113743
申请日：2018-08-27
Applicant: Apple Inc.
Abstract: In accordance with some embodiments, a method is performed at a device with one or more processors, non-transitory memory, and an image sensor. The method includes synthesizing, from image data that corresponds to a physical perspective of an object relative to the device, a surface mask characterizing a portion of a surface of the object based on a grid arranged on the object, wherein the grid is represented in the image data. The method includes generating a virtual perspective of a model associated with the object having a surface oriented to match the surface mask within a predefined confidence threshold.
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