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公开(公告)号：US11636645B1
公开(公告)日：2023-04-25
申请号：US17524270
申请日：2021-11-11
Applicant: Microsoft Technology Licensing, LLC
Abstract: Techniques for aligning images generated by two cameras are disclosed. This alignment is performed by computing a relative 3D orientation between the two cameras. A first gravity vector for a first camera and a second gravity vector for a second camera are determined. A first camera image is obtained from the first camera, and a second camera image is obtained from the second camera. A first alignment process is performed to partially align the first camera's orientation with the second camera's orientation. This process is performed by aligning the gravity vectors, thereby resulting in two degrees of freedom of the relative 3D orientation being eliminated. Visual correspondences between the two images are identified. A second alignment process is performed to fully align the orientations. This process is performed by using the identified visual correspondences to identify and eliminate a third degree of freedom of the relative 3D orientation.
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公开(公告)号：US20180367728A1
公开(公告)日：2018-12-20
申请号：US15593556
申请日：2017-05-12
Applicant: Microsoft Technology Licensing, LLC
Inventor： Mike Roberts , Debadeepta Dey , Sudipta Narayan Sinha , Shital Shah , Ashish Kapoor , Neel Suresh Joshi
IPC: H04N5/232 , H04N13/189 , G06T7/73 , B64C39/02
Abstract: Examples of the present disclosure relate to generating optimal scanning trajectories for 3D scenes. In an example, a moveable camera may gather information about a scene. During an initial pass, an initial trajectory may be used to gather an initial dataset. In order to generate an optimal trajectory, a reconstruction of the scene may be generated based on the initial data set. Surface points and a camera position graph may be generated based on the reconstruction. A subgradient may be determined, wherein the subgradient provides an additive approximation for the marginal reward associated with each camera position node in the camera position graph. The subgradient may be used to generate an optimal trajectory based on the marginal reward of each camera position node. The optimal trajectory may then be used by to gather additional data, which may be iteratively analyzed and used to further refine and optimize subsequent trajectories.
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公开(公告)号：US09973697B2
公开(公告)日：2018-05-15
申请号：US15603568
申请日：2017-05-24
Applicant: Microsoft Technology Licensing, LLC
Inventor： Blaise Aguera y Arcas , Markus Unger , Donald A. Barnett , David Maxwell Gedye , Sudipta Narayan Sinha , Eric Joel Stollnitz , Johannes Kopf
CPC classification number: H04N5/23238 , G06T3/4038
Abstract: One or more techniques and/or systems are provided for ordering images for panorama stitching and/or for providing a focal point indicator for image capture. For example, one or more images, which may be stitched together to create a panorama of a scene, may be stored within an image stack according to one or more ordering preferences, such as where manually captured images are stored within a first/higher priority region of the image stack as compared to automatically captured images. One or more images within the image stack may be stitched according to a stitching order to create the panorama, such as using images in the first region for a foreground of the panorama. Also, a current position of a camera may be tracked and compared with a focal point of a scene to generate a focal point indicator to assist with capturing a new/current image of the scene.
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公开(公告)号：US12154312B2
公开(公告)日：2024-11-26
申请号：US17191516
申请日：2021-03-03
Applicant: Microsoft Technology Licensing, LLC
Abstract: One example provides a computing system comprising a storage machine storing instructions executable by a logic machine to extract features from a source and target images to form source and target feature maps, form a correlation map comprising a plurality of similarity scores, form an initial correspondence map comprising initial mappings between pixels of the source feature map and corresponding pixels of the target feature map, refine the initial correspondence map by, for each of one or more pixels of the source feature map, for each of a plurality of candidate correspondences, inputting a four-dimensional patch into a trained scoring function, the trained scoring function being configured to output a correctness score, and selecting a refined correspondence based at least upon the correctness scores, and output a refined correspondence map comprising a refined correspondence for each of the one or more pixels of the source feature map.
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公开(公告)号：US11841509B2
公开(公告)日：2023-12-12
申请号：US17986445
申请日：2022-11-14
Applicant: Microsoft Technology Licensing, LLC
CPC classification number: G02B27/0172 , G06F3/012 , G06F3/017 , G06T7/248 , G06T7/337 , G06T19/006 , G02B2027/0138
Abstract: Techniques for updating a position of overlaid image content using IMU data to reflect subsequent changes in camera positions to minimize latency effects are disclosed. A “system camera” refers to an integrated camera that is a part of an HMD. An “external camera” is a camera that is separated from the HMD. The system camera and the external camera generate images. These images are overlaid on one another and aligned to form an overlaid image. Content from the external camera image is surrounded by a bounding element in the overlaid image. IMU data associated with both the system camera and the external camera is obtained. Based on that IMU data, an amount of movement that the system camera and/or the external camera have moved since the images were originally generated is determined. Based on that movement, the bounding element is shifted to a new position in the overlaid image.
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Patent Agency Ranking
公开(公告)号：US11450014B2
公开(公告)日：2022-09-20
申请号：US16936377
申请日：2020-07-22
Applicant: Microsoft Technology Licensing, LLC
Inventor： Michael Bleyer , Christopher Douglas Edmonds , Michael Edward Samples , Sudipta Narayan Sinha , Matthew Beaudoin Karr , Raymond Kirk Price
Abstract: A system for continuous image alignment of separate cameras identifies a reference camera transformation matrix between a base reference camera pose and an updated reference camera pose. The system also identifies a match camera transformation matrix between a base match camera pose and an updated match camera pose and an alignment matrix based on visual correspondences between one or more reference frames captured by the reference camera and one or more match frames captured by the match camera. The system also generates a motion model configured to facilitate mapping of a set of pixels of a reference frame captured by the reference camera to a corresponding set of pixels of a match frame captured by the match camera based on the reference camera transformation matrix, the match camera transformation matrix, and the alignment matrix.
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公开(公告)号：US11941751B2
公开(公告)日：2024-03-26
申请号：US18128322
申请日：2023-03-30
Applicant: Microsoft Technology Licensing, LLC
CPC classification number: G06T15/205 , G06T7/33 , G06T7/97
Abstract: Techniques for aligning images generated by two cameras are disclosed. This alignment is performed by computing a relative 3D orientation between the two cameras. A first gravity vector for a first camera and a second gravity vector for a second camera are determined. A first camera image is obtained from the first camera, and a second camera image is obtained from the second camera. A first alignment process is performed to partially align the first camera's orientation with the second camera's orientation. This process is performed by aligning the gravity vectors, thereby resulting in two degrees of freedom of the relative 3D orientation being eliminated. Visual correspondences between the two images are identified. A second alignment process is performed to fully align the orientations. This process is performed by using the identified visual correspondences to identify and eliminate a third degree of freedom of the relative 3D orientation.
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公开(公告)号：US10964053B2
公开(公告)日：2021-03-30
申请号：US16025120
申请日：2018-07-02
Applicant: Microsoft Technology Licensing, LLC
Inventor： Sudipta Narayan Sinha , Pablo Alejandro Speciale , Sing Bing Kang , Marc Andre Leon Pollefeys
Abstract: Computing devices and methods for estimating a pose of a user computing device are provided. In one example a 3D map comprising a plurality of 3D points representing a physical environment is obtained. Each 3D point is transformed into a 3D line that passes through the point to generate a 3D line cloud. A query image of the environment captured by a user computing device is received, the query image comprising query features that correspond to the environment. Using the 3D line cloud and the query features, a pose of the user computing device with respect to the environment is estimated.
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公开(公告)号：US10602056B2
公开(公告)日：2020-03-24
申请号：US15593556
申请日：2017-05-12
Applicant: Microsoft Technology Licensing, LLC
Inventor： Mike Roberts , Debadeepta Dey , Sudipta Narayan Sinha , Shital Shah , Ashish Kapoor , Neel Suresh Joshi
Abstract: Examples of the present disclosure relate to generating optimal scanning trajectories for 3D scenes. In an example, a moveable camera may gather information about a scene. During an initial pass, an initial trajectory may be used to gather an initial dataset. In order to generate an optimal trajectory, a reconstruction of the scene may be generated based on the initial data set. Surface points and a camera position graph may be generated based on the reconstruction. A subgradient may be determined, wherein the subgradient provides an additive approximation for the marginal reward associated with each camera position node in the camera position graph. The subgradient may be used to generate an optimal trajectory based on the marginal reward of each camera position node. The optimal trajectory may then be used by to gather additional data, which may be iteratively analyzed and used to further refine and optimize subsequent trajectories.
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公开(公告)号：US20180225836A1
公开(公告)日：2018-08-09
申请号：US15478688
申请日：2017-04-04
Applicant: Microsoft Technology Licensing, LLC
Inventor： Neel Suresh Joshi , Sudipta Narayan Sinha , Minh Phuoc Vo
CPC classification number: G06T7/73 , G06K9/00711 , G06T7/55 , G06T7/579 , G06T2200/08 , G06T2207/10032 , G06T2207/30244
Abstract: Examples of the present disclosure describe systems and methods for scene reconstruction from bursts of image data. In an example, an image capture device may gather information from multiple positions within the scene. At each position, a burst of image data may be captured, such that other images within the burst may be used to identify common image features, anchor points, and geometry, in order to generate a scene reconstruction as observed from the position. Thus, as a result of capturing bursts from multiple positions in a scene, multiple burst reconstructions may be generated. Each burst may be oriented within the scene by identifying a key frame for each burst and using common image features and anchor points among the key frames to determine a camera position for each key frame. The burst reconstructions may then be combined into a unified reconstruction, thereby generating a high-quality reconstruction of the scene.
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