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    Stereo depth camera using VCSEL with spatially and temporally interleaved patterns
    3.
    发明授权
    Stereo depth camera using VCSEL with spatially and temporally interleaved patterns 有权

    公开(公告)号：US09992474B2

    公开(公告)日：2018-06-05

    申请号：US14998253

    申请日：2015-12-26

    Applicant: Intel Corporation

    Inventor： Anders Grunnet-Jepsen ,  Krishna Swaminathan ,  Leonid M. Keselman

    IPC: G06T7/00 ,  H04N13/00 ,  H04N13/02 ,  G06T7/521 ,  G06T7/593

    CPC classification number: H04N13/128 ,  G06T7/521 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/10152 ,  H04N13/239 ,  H04N13/243 ,  H04N13/25 ,  H04N2013/0081

    Abstract: In accordance with disclosed embodiments, there are provided systems, methods, and apparatuses for implementing a stereo depth camera using a VCSEL projector with spatially and temporally interleaved patterns. For instance, a depth camera is described having therein a Vertical-Cavity Surface-Emitting Laser projector (VCSEL projector); in which the VCSEL projector embodies a VCSEL array, the VCSEL being comprised of a plurality of VCSEL elements divided into a plurality of individually addressable subsets of the plurality of VCSEL elements; processing circuitry to activate one or more of the individually addressable subsets of the plurality of VCSEL elements to cause the VCSEL projector to emit a plurality of infrared beams through a projection lens to form a projected pattern which is projected onto a scene; stereoscopic image capture devices to capture stereoscopic imagery from the scene having the projected pattern projected thereupon; and processing circuitry to determine depth to an object in the scene based on the captured stereoscopic imagery from the scene having the projected pattern represented therein as projected from the VCSEL projector. Other related embodiments are disclosed.

    3D object tracking
    4.
    发明授权
    3D object tracking 有权
    3D对象跟踪

    公开(公告)号：US09142022B2

    公开(公告)日：2015-09-22

    申请号：US14052118

    申请日：2013-10-11

    Applicant: INTEL CORPORATION

    Inventor： Stanley K. Melax ,  Sterling G. Orsten ,  Leonid M. Keselman

    IPC: G06K9/00 ,  G06T7/00 ,  G06T7/20

    CPC classification number: G06T7/004 ,  G06K9/00201 ,  G06K9/00375 ,  G06T7/20 ,  G06T7/75 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/30196

    Abstract: Embodiments relate to tracking a pose of a 3D object. In embodiments, a 3D computer model, consisting of geometry and joints, matching the 3D real-world object may be used for the tracking process. Processing the 3D model may be done using collision constraints generated from interpenetrating geometry detected in the 3D model, and by angular motion constraints generated by the joints describing the connections between pieces/segments/bones of the model. The depth data in its 3D (point cloud) form, supplied by a depth camera, may be used to create additional constraints on the surface of the 3D model thus limiting its motion. Combined together, all the constraints, using linear equation processing, may be satisfied to determine a plausible pose of the 3D model that matches the real-world pose of the object in front of the 3D camera.

    Abstract translation: 实施例涉及跟踪3D对象的姿态。 在实施例中，与3D现实世界对象相匹配的由几何和关节组成的3D计算机模型可用于跟踪过程。 可以使用从3D模型中检测到的互穿几何生成的碰撞约束以及由描述模型的段/段/骨骼之间的连接的关节生成的角运动约束来完成3D模型的处理。 由深度摄像机提供的3D（点云）形式的深度数据可用于在3D模型的表面上创建额外的约束，从而限制其运动。 结合在一起，可以满足使用线性方程处理的所有约束，以确定与3D相机前面的对象的真实世界姿态相匹配的3D模型的合理姿态。

    DEPTH IMAGE ENHANCEMENT FOR HARDWARE GENERATED DEPTH IMAGES
    6.
    发明申请
    DEPTH IMAGE ENHANCEMENT FOR HARDWARE GENERATED DEPTH IMAGES 有权
    深度图像增强硬件生成深度图像

    公开(公告)号：US20170041585A1

    公开(公告)日：2017-02-09

    申请号：US14820069

    申请日：2015-08-06

    Applicant: Intel Corporation

    Inventor： Haowei Liu ,  Mohamed Selim Ben Himane ,  Leonid M. Keselman

    IPC: H04N13/00

    CPC classification number: H04N13/128 ,  G06T5/005 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N13/271 ,  H04N2013/0081

    Abstract: Techniques related to depth image enhancement for hardware generated depth images are discussed. Such techniques may include determining a depth image enhancement indicator for a depth image based on the depth image and a depth image model and generating pixel depth values for missing pixel depth values of the depth image when the depth image enhancement indicator indicates enhancement. The pixel depth values may be generated based on search windows that extend from a position greater than a predetermined disparity position to a maximum disparity position.

    Abstract translation: 讨论了与硬件生成的深度图像的深度图像增强相关的技术。 这样的技术可以包括当深度图像增强指示符指示增强时，基于深度图像和深度图像模型确定用于深度图像的深度图像增强指示符，并且为深度图像的缺失像素深度值生成像素深度值。 可以基于从大于预定视差位置的位置延伸到最大视差位置的搜索窗口来生成像素深度值。

    Object position determination
    7.
    发明授权
    Object position determination 有权
    对象位置确定

    公开(公告)号：US09494415B2

    公开(公告)日：2016-11-15

    申请号：US14125907

    申请日：2013-11-07

    Applicant: INTEL CORPORATION

    Inventor： John N. Sweetser ,  Anders Grunnet-Jepsen ,  Paul Winer ,  Leonid M. Keselman ,  Steven S. Bateman ,  Chris Rojas ,  Akihiro Takagi ,  Chandrika Jayant

    IPC: G06K9/32 ,  G01B11/14 ,  G01V8/20 ,  G06F3/00 ,  G06F3/01 ,  G06F1/16 ,  G06F3/03 ,  G06F3/0346

    CPC classification number: G01B11/14 ,  G01V8/20 ,  G06F1/1686 ,  G06F1/169 ,  G06F3/005 ,  G06F3/017 ,  G06F3/0304 ,  G06F3/0346

    Abstract: In embodiments, apparatuses, methods and storage media for human-computer interaction are described. In embodiments, an apparatus may include one or more light sources and a camera. Through capture of images by the camera, the computing device may detect positions of objects of a user, within a three-dimensional (3-D) interaction region within which to track positions of the objects of the user. The apparatus may utilize multiple light sources, which may be disposed at different distances to the display and may illuminate the objects in a direction other than the image capture direction. The apparatus may selectively illuminate individual light sources to facilitate detection of the objects in the direction toward the display. The camera may also capture images in synchronization with the selective illumination. Other embodiments may be described and claimed.

    Abstract translation: 在实施例中，描述了用于人机交互的装置，方法和存储介质。 在实施例中，装置可以包括一个或多个光源和照相机。 通过由相机捕获图像，计算设备可以在三维（3-D）交互区域内检测用户对象的位置，以跟踪用户对象的位置。 该设备可以利用多个光源，其可以设置在与显示器不同的距离处，并且可以沿除了图像捕获方向的方向照亮对象。 该设备可以选择性地照亮各个光源，以便于在朝向显示器的方向上检测物体。 相机还可以与选择性照明同步地捕获图像。 可以描述和要求保护其他实施例。

    Stereo depth camera using vcsel with spatially and temporally interleaved patterns
    10.
    发明申请
    Stereo depth camera using vcsel with spatially and temporally interleaved patterns 有权

    公开(公告)号：US20170186166A1

    公开(公告)日：2017-06-29

    申请号：US14998253

    申请日：2015-12-26

    Applicant: Intel Corporation

    Inventor： Anders Grunnet-Jepsen ,  Krishna Swaminathan ,  Leonid M. Keselman

    IPC: G06T7/00 ,  H04N13/00 ,  H01S5/42 ,  H04N13/02

    CPC classification number: H04N13/128 ,  G06T7/521 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10024 ,  G06T2207/10152 ,  H04N13/239 ,  H04N13/243 ,  H04N13/25 ,  H04N2013/0081

    Abstract: In accordance with disclosed embodiments, there are provided systems, methods, and apparatuses for implementing a stereo depth camera using a VCSEL projector with spatially and temporally interleaved patterns. For instance, a depth camera is described having therein a Vertical-Cavity Surface-Emitting Laser projector (VCSEL projector); in which the VCSEL projector embodies a VCSEL array, the VCSEL being comprised of a plurality of VCSEL elements divided into a plurality of individually addressable subsets of the plurality of VCSEL elements; processing circuitry to activate one or more of the individually addressable subsets of the plurality of VCSEL elements to cause the VCSEL projector to emit a plurality of infrared beams through a projection lens to form a projected pattern which is projected onto a scene; stereoscopic image capture devices to capture stereoscopic imagery from the scene having the projected pattern projected thereupon; and processing circuitry to determine depth to an object in the scene based on the captured stereoscopic imagery from the scene having the projected pattern represented therein as projected from the VCSEL projector. Other related embodiments are disclosed.

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