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公开(公告)号：US11589031B2
公开(公告)日：2023-02-21
申请号：US16580802
申请日：2019-09-24
申请人： Google LLC
发明人： Sameh Khamis , Yinda Zhang , Christoph Rhemann , Julien Valentin , Adarsh Kowdle , Vladimir Tankovich , Michael Schoenberg , Shahram Izadi , Thomas Funkhouser , Sean Fanello
IPC分类号： H04N13/271 , G06T7/90 , G06T7/521 , H04N5/33 , H04N13/239
摘要： An electronic device estimates a depth map of an environment based on matching reduced-resolution stereo depth images captured by depth cameras to generate a coarse disparity (depth) map. The electronic device downsamples depth images captured by the depth cameras and matches sections of the reduced-resolution images to each other to generate a coarse depth map. The electronic device upsamples the coarse depth map to a higher resolution and refines the upsampled depth map to generate a high-resolution depth map to support location-based functionality.
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公开(公告)号：US10554957B2
公开(公告)日：2020-02-04
申请号：US15996880
申请日：2018-06-04
申请人： Google LLC
发明人： Julien Pascal Christophe Valentin , Sean Ryan Fanello , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Vladimir Tankovich , Philip L. Davidson , Shahram Izadi
IPC分类号： G06K9/64 , H04N13/271 , H04N19/597 , H04N13/128 , G06K9/62 , G06T7/593 , H04N13/00
摘要： A first and second image of a scene are captured. Each of a plurality of pixels in the first image is associated with a disparity value. An image patch associated with each of the plurality of pixels of the first image and the second image is mapped into a binary vector. Thus, values of pixels in an image are mapped to a binary space using a function that preserves characteristics of values of the pixels. The difference between the binary vector associated with each of the plurality of pixels of the first image and its corresponding binary vector in the second image designated by the disparity value associated with each of the plurality of pixels of the first image is determined. Based on the determined difference between binary vectors, correspondence between the plurality of pixels of the first image and the second image is established.
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公开(公告)号：US20180352213A1
公开(公告)日：2018-12-06
申请号：US15996880
申请日：2018-06-04
申请人： Google LLC
发明人： Julien Pascal Christophe Valentin , Sean Ryan Fanello , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Vladimir Tankovich , Philip L. Davidson , Shahram Izadi
IPC分类号： H04N13/271 , H04N19/597 , G06K9/62 , H04N13/128
CPC分类号： H04N13/271 , G06K9/6268 , G06T7/593 , G06T2207/20081 , H04N13/128 , H04N19/597 , H04N2013/0081
摘要： A first and second image of a scene are captured. Each of a plurality of pixels in the first image is associated with a disparity value. An image patch associated with each of the plurality of pixels of the first image and the second image is mapped into a binary vector. Thus, values of pixels in an image are mapped to a binary space using a function that preserves characteristics of values of the pixels. The difference between the binary vector associated with each of the plurality of pixels of the first image and its corresponding binary vector in the second image designated by the disparity value associated with each of the plurality of pixels of the first image is determined. Based on the determined difference between binary vectors, correspondence between the plurality of pixels of the first image and the second image is established.
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公开(公告)号：US11145075B2
公开(公告)日：2021-10-12
申请号：US16767401
申请日：2019-10-04
申请人： Google LLC
发明人： Julien Valentin , Onur G. Guleryuz , Mira Leung , Maksym Dzitsiuk , Jose Pascoal , Mirko Schmidt , Christoph Rhemann , Neal Wadhwa , Eric Turner , Sameh Khamis , Adarsh Prakash Murthy Kowdle , Ambrus Csaszar , João Manuel Castro Afonso , Jonathan T. Barron , Michael Schoenberg , Ivan Dryanovski , Vivek Verma , Vladimir Tankovich , Shahram Izadi , Sean Ryan Francesco Fanello , Konstantine Nicholas John Tsotsos
摘要： A handheld user device includes a monocular camera to capture a feed of images of a local scene and a processor to select, from the feed, a keyframe and perform, for a first image from the feed, stereo matching using the first image, the keyframe, and a relative pose based on a pose associated with the first image and a pose associated with the keyframe to generate a sparse disparity map representing disparities between the first image and the keyframe. The processor further is to determine a dense depth map from the disparity map using a bilateral solver algorithm, and process a viewfinder image generated from a second image of the feed with occlusion rendering based on the depth map to incorporate one or more virtual objects into the viewfinder image to generate an AR viewfinder image. Further, the processor is to provide the AR viewfinder image for display.
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公开(公告)号：US20210264632A1
公开(公告)日：2021-08-26
申请号：US17249095
申请日：2021-02-19
申请人： GOOGLE LLC
发明人： Vladimir Tankovich , Christian Haene , Sean Rayn Francesco Fanello , Yinda Zhang , Shahram Izadi , Sofien Bouaziz , Adarsh Prakash Murthy Kowdle , Sameh Khamis
摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.
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公开(公告)号：US11030773B2
公开(公告)日：2021-06-08
申请号：US16798881
申请日：2020-02-24
申请人： Google LLC
发明人： Jonathan James Taylor , Vladimir Tankovich , Danhang Tang , Cem Keskin , Adarsh Prakash Murthy Kowdle , Philip L. Davidson , Shahram Izadi , David Kim
摘要： An electronic device estimates a pose of a hand by volumetrically deforming a signed distance field using a skinned tetrahedral mesh to locate a local minimum of an energy function, wherein the local minimum corresponds to the hand pose. The electronic device identifies a pose of the hand by fitting an implicit surface model of a hand to the pixels of a depth image that correspond to the hand. The electronic device uses a skinned tetrahedral mesh to warp space from a base pose to a deformed pose to define an articulated signed distance field from which the hand tracking module derives candidate poses of the hand. The electronic device then minimizes an energy function based on the distance of each corresponding pixel to identify the candidate pose that most closely approximates the pose of the hand.
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公开(公告)号：US10937182B2
公开(公告)日：2021-03-02
申请号：US15994471
申请日：2018-05-31
申请人： Google LLC
发明人： Mingsong Dou , Sean Ryan Fanello , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Sameh Khamis , Philip L. Davidson , Shahram Izadi , Vladimir Tankovich
摘要： An electronic device estimates a pose of one or more subjects in an environment based on estimating a correspondence between a data volume containing a data mesh based on a current frame captured by a depth camera and a reference volume containing a plurality of fused prior data frames based on spectral embedding and performing bidirectional non-rigid matching between the reference volume and the current data frame to refine the correspondence so as to support location-based functionality. The electronic device predicts correspondences between the data volume and the reference volume based on spectral embedding. The correspondences provide constraints that accelerate the convergence between the data volume and the reference volume. By tracking changes between the current data mesh frame and the reference volume, the electronic device avoids tracking failures that can occur when relying solely on a previous data mesh frame.
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公开(公告)号：US11810313B2
公开(公告)日：2023-11-07
申请号：US17249095
申请日：2021-02-19
申请人： GOOGLE LLC
发明人： Vladimir Tankovich , Christian Haene , Sean Ryan Francesco Fanello , Yinda Zhang , Shahram Izadi , Sofien Bouaziz , Adarsh Prakash Murthy Kowdle , Sameh Khamis
CPC分类号： G06T7/593 , G06T3/0093 , G06T3/40 , G06T5/30 , H04N13/20 , G06T2207/20016 , G06T2207/20084 , H04N2013/0081
摘要： According to an aspect, a real-time active stereo system includes a capture system configured to capture stereo data, where the stereo data includes a first input image and a second input image, and a depth sensing computing system configured to predict a depth map. The depth sensing computing system includes a feature extractor configured to extract features from the first and second images at a plurality of resolutions, an initialization engine configured to generate a plurality of depth estimations, where each of the plurality of depth estimations corresponds to a different resolution, and a propagation engine configured to iteratively refine the plurality of depth estimations based on image warping and spatial propagation.
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公开(公告)号：US11037026B2
公开(公告)日：2021-06-15
申请号：US16749626
申请日：2020-01-22
申请人： Google LLC
发明人： Sean Ryan Fanello , Julien Pascal Christophe Valentin , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Vladimir Tankovich , Philip L. Davidson , Shahram Izadi
IPC分类号： G06K9/62
摘要： Values of pixels in an image are mapped to a binary space using a first function that preserves characteristics of values of the pixels. Labels are iteratively assigned to the pixels in the image in parallel based on a second function. The label assigned to each pixel is determined based on values of a set of nearest-neighbor pixels. The first function is trained to map values of pixels in a set of training images to the binary space and the second function is trained to assign labels to the pixels in the set of training images. Considering only the nearest neighbors in the inference scheme results in a computational complexity that is independent of the size of the solution space and produces sufficient approximations of the true distribution when the solution for each pixel is most likely found in a small subset of the set of potential solutions.
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公开(公告)号：US10579905B2
公开(公告)日：2020-03-03
申请号：US15925141
申请日：2018-03-19
申请人： Google LLC
发明人： Sean Ryan Fanello , Julien Pascal Christophe Valentin , Adarsh Prakash Murthy Kowdle , Christoph Rhemann , Vladimir Tankovich , Philip L. Davidson , Shahram Izadi
IPC分类号： G06K9/62
摘要： Values of pixels in an image are mapped to a binary space using a first function that preserves characteristics of values of the pixels. Labels are iteratively assigned to the pixels in the image in parallel based on a second function. The label assigned to each pixel is determined based on values of a set of nearest-neighbor pixels. The first function is trained to map values of pixels in a set of training images to the binary space and the second function is trained to assign labels to the pixels in the set of training images. Considering only the nearest neighbors in the inference scheme results in a computational complexity that is independent of the size of the solution space and produces sufficient approximations of the true distribution when the solution for each pixel is most likely found in a small subset of the set of potential solutions.
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