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公开(公告)号：US09576183B2
公开(公告)日：2017-02-21
申请号：US13831405
申请日：2013-03-14
Applicant: QUALCOMM Incorporated
Inventor： Gerhard Reitmayr , Alessandro Mulloni
CPC classification number: G06K9/00201 , G06T7/12 , G06T7/73 , G06T2207/10016
Abstract: Apparatuses and methods for fast visual simultaneous localization and mapping are described. In one embodiment, a three-dimensional (3D) target is initialized immediately from a first reference image and prior to processing a subsequent image. In one embodiment, one or more subsequent reference images are processed, and the 3D target is tracked in six degrees of freedom. In one embodiment, the 3D target is refined based on the processed the one or more subsequent images.
Abstract translation: 描述了用于快速视觉同时定位和映射的装置和方法。 在一个实施例中，三维（3D）目标被立即从第一参考图像初始化并且在处理随后的图像之前被初始化。 在一个实施例中，处理一个或多个后续参考图像，并且以六个自由度跟踪3D目标。 在一个实施例中，基于处理了一个或多个后续图像来改进3D目标。
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公开(公告)号：US20160073080A1
公开(公告)日：2016-03-10
申请号：US14845203
申请日：2015-09-03
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni
CPC classification number: H04N13/128 , G06T5/006 , G06T5/50 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , H04N13/111 , H04N13/239 , H04N13/257
Abstract: Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.
Abstract translation: 公开了一种用于深度摄像机图像重新映射的系统，装置和方法。 可以接收来自深度相机的深度相机图像，并且可以确定深度相机的物理位置。可以相对于诸如彩色相机的物理位置的其他物理位置来确定深度相机的物理位置。 可以根据与另一物理位置相关联的处理顺序来变换深度相机图像。
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公开(公告)号：US20150294499A1
公开(公告)日：2015-10-15
申请号：US14730146
申请日：2015-06-03
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni , Gerhard Reitmayr , Daniel Knoblauch
CPC classification number: G06T17/00 , G06T2200/08 , H04N13/204 , H04N13/254 , H04N13/271
Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.
Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。
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公开(公告)号：US09948911B2
公开(公告)日：2018-04-17
申请号：US14845203
申请日：2015-09-03
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni
CPC classification number: H04N13/128 , G06T5/006 , G06T5/50 , G06T7/55 , G06T2207/10024 , G06T2207/10028 , H04N13/111 , H04N13/239 , H04N13/257
Abstract: Disclosed are a system, apparatus, and method for depth camera image re-mapping. A depth camera image from a depth camera may be received and a depth camera's physical position may be determined. The depth camera's physical position may be determined relative to an other physical position, such as the physical position of a color camera. The depth camera image may be transformed according to a processing order associated with the other physical position.
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公开(公告)号：US09905039B2
公开(公告)日：2018-02-27
申请号：US14625465
申请日：2015-02-18
Applicant: QUALCOMM Incorporated
Inventor： Daniel Knoblauch , Alessandro Mulloni , Daniel Wagner
CPC classification number: G06T15/04 , G06T5/003 , G06T11/001 , G06T17/10 , G06T17/205 , G06T2200/04 , G06T2200/28 , G06T2210/61
Abstract: One disclosed example method for view independent color equalized 3D scene texturing includes capturing a plurality of keyframes of an object; accessing a 3D representation of the object comprising a surface mesh model for the object, the surface mesh model comprising a plurality of polygons; for each polygon, assigning one of the plurality of keyframes to the polygon based on one or more image quality characteristics associated with a portion of the keyframe corresponding to the polygon; reducing a number of assigned keyframes by changing associations between assigned keyframes; and for each polygon of the surface mesh model having an assigned keyframe: equalizing a texture color of at least a portion of the polygon based at least in part on one or more image quality characteristics of the plurality of keyframes associated with the polygon; and assigning the equalized texture color to the 3D representation of the object.
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Patent Agency Ranking
公开(公告)号：US20140139639A1
公开(公告)日：2014-05-22
申请号：US14161140
申请日：2014-01-22
Applicant: QUALCOMM INCORPORATED
Inventor： Daniel Wagner , Alessandro Mulloni
IPC: H04N13/02
CPC classification number: G06T17/00 , G06T2200/08 , H04N13/204 , H04N13/254 , H04N13/271
Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.
Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。
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公开(公告)号：US20140126769A1
公开(公告)日：2014-05-08
申请号：US13831405
申请日：2013-03-14
Applicant: QUALCOMM INCORPORATED
Inventor： Gerhard Reitmayr , Alessandro Mulloni
IPC: G06K9/00
CPC classification number: G06K9/00201 , G06T7/12 , G06T7/73 , G06T2207/10016
Abstract: Apparatuses and methods for fast visual simultaneous localization and mapping are described. In one embodiment, a three-dimensional (3D) target is initialized immediately from a first reference image and prior to processing a subsequent image. In one embodiment, one or more subsequent reference images are processed, and the 3D target is tracked in six degrees of freedom. In one embodiment, the 3D target is refined based on the processed the one or more subsequent images.
Abstract translation: 描述了用于快速视觉同时定位和映射的装置和方法。 在一个实施例中，三维（3D）目标被立即从第一参考图像初始化并且在处理随后的图像之前被初始化。 在一个实施例中，处理一个或多个后续参考图像，并且以六个自由度跟踪3D目标。 在一个实施例中，基于处理了一个或多个后续图像来改进3D目标。
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公开(公告)号：US10309762B2
公开(公告)日：2019-06-04
申请号：US15182750
申请日：2016-06-15
Applicant: QUALCOMM Incorporated
Inventor： Prince Gupta , Daniel Wagner , Gerhard Reitmayr , Alessandro Mulloni
Abstract: A method of determining a reference coordinate system includes: obtaining information indicative of a direction of gravity relative to a device; and converting an orientation of a device coordinate system using the direction of gravity relative to the device to produce the reference coordinate system. The method may also include setting an origin of the reference coordinate system and/or determining a scale value of the reference coordinate system. The method may also include refining the reference coordinate system.
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公开(公告)号：US09083960B2
公开(公告)日：2015-07-14
申请号：US14161140
申请日：2014-01-22
Applicant: QUALCOMM Incorporated
Inventor： Daniel Wagner , Alessandro Mulloni
CPC classification number: G06T17/00 , G06T2200/08 , H04N13/204 , H04N13/254 , H04N13/271
Abstract: Embodiments disclosed facilitate resource utilization efficiencies in Mobile Stations (MS) during 3D reconstruction. In some embodiments, camera pose information for a first color image captured by a camera on an MS may be obtained and a determination may be made whether to extend or update a first 3-Dimensional (3D) model of an environment being modeled by the MS based, in part, on the first color image and associated camera pose information. The depth sensor, which provides depth information for images captured by the camera, may be disabled, when the first 3D model is not extended or updated.
Abstract translation: 所公开的实施例在3D重建期间促进移动台（MS）中的资源利用效率。 在一些实施例中，可以获得由相机在MS上拍摄的第一彩色图像的相机姿态信息，并且可以确定是否扩展或更新由MS建模的环境的第一维三维（3D）模型 部分地基于第一彩色图像和相关联的摄像机姿态信息。 当第一3D模型不被扩展或更新时，可以禁用深度传感器，其为摄像机拍摄的图像提供深度信息。
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公开(公告)号：US09667873B2
公开(公告)日：2017-05-30
申请号：US14268784
申请日：2014-05-02
Applicant: QUALCOMM Incorporated
Inventor： Alessandro Mulloni , Gerhard Reitmayr , Mahesh Ramachandran , Daniel Wagner
CPC classification number: H04N5/23296 , G01C25/005 , G06T7/73 , G06T7/80 , G06T2207/20092 , H04N5/23203
Abstract: Embodiments disclosed pertain to systems, method s and apparatus for the initialization of Computer Vision (CV) applications on user devices (UDs) comprising a camera and a display. In some embodiments, an optimal camera trajectory for initialization of a Computer Vision (CV) application may be determined based on an initial camera pose and an estimated pivot distance. For example, the initial camera pose may be estimated based on a first image captured by the camera. Further, the display may be updated in real-time with an indication of a desired movement direction for the camera. In some embodiments, the indication of desired movement direction may be based, in part, on a current camera pose and the optimal trajectory, where the current camera pose may be estimated based on a current image captured by the camera.
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