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    Light distribution for active depth systems
    3.
    发明授权
    Light distribution for active depth systems 有权

    公开(公告)号：US11629949B2

    公开(公告)日：2023-04-18

    申请号：US15958651

    申请日：2018-04-20

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Stephen Michael Verrall

    IPC: G01B11/22 ,  G01B11/25

    Abstract: Aspects of the present disclosure relate to systems and methods for structured light depth systems. An example active depth system may include a receiver to receive reflections of transmitted light and a transmitter including one or more light sources to transmit light in a spatial distribution. The spatial distribution of transmitted light may include a first region of a first plurality of light points and a second region of a second plurality of light points. A first density of the first plurality of light points is greater than a second density of the second plurality of light points when a first distance between a center of the spatial distribution and a center of the first region is less than a second distance between the center of the spatial distribution and the center of the second region.

    Object reconstruction in disparity maps using displaced shadow outlines
    4.
    发明授权
    Object reconstruction in disparity maps using displaced shadow outlines 有权

    公开(公告)号：US10574947B2

    公开(公告)日：2020-02-25

    申请号：US15211877

    申请日：2016-07-15

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Hasib Ahmed Siddiqui ,  Kalin Mitkov Atanassov

    IPC: H04N9/00 ,  G06K9/62 ,  G06T7/521 ,  G06T7/10 ,  G06T7/50 ,  G06K19/06 ,  G06T11/20

    Abstract: Systems and methods for reconstructing an object boundary in a disparity map generated by a structured light system are disclosed. One aspect is a structured light system. The system includes an image projecting device configured to project codewords. The system further includes a receiver device including a sensor, the receiver device configured to sense the projected codewords reflected from an object. The system further includes a processing circuit configured to generate a disparity map of the object, detect a first boundary of the object in the disparity map, identify a shadow region in the disparity map adjoining the first boundary, the shadow region including pixels with codeword outages, and change a shape of the object in the disparity map based on the detected shadow region. The system further includes a memory device configured to store the disparity map.

    Registration of range images using virtual gimbal information
    5.
    发明授权
    Registration of range images using virtual gimbal information 有权

    公开(公告)号：US10242458B2

    公开(公告)日：2019-03-26

    申请号：US15493859

    申请日：2017-04-21

    Applicant: QUALCOMM Incorporated

    Inventor： James Nash ,  Kalin Atanassov ,  Albrecht Johannes Lindner

    IPC: G06K9/00 ,  G06T7/73 ,  G06K9/46 ,  G06T7/33

    Abstract: Systems and methods configured to generate virtual gimbal information for range images produced from 3D depth scans are described. In operation according to embodiments, known and advantageous spatial geometries of features of a scanned volume are exploited to generate virtual gimbal information for a pose. The virtual gimbal information of embodiments may be used to align a range image of the pose with one or more other range images for the scanned volume, such as for combining the range images for use in indoor mapping, gesture recognition, object scanning, etc. Implementations of range image registration using virtual gimbal information provide a realtime one shot direct pose estimator by detecting and estimating the normal vectors for surfaces of features between successive scans which effectively imparts a coordinate system for each scan with an orthogonal set of gimbal axes and defines the relative camera attitude.

    METHOD AND APPARATUS FOR MULTIPLE TECHNOLOGY DEPTH MAP ACQUISITION AND FUSION
    7.
    发明申请
    METHOD AND APPARATUS FOR MULTIPLE TECHNOLOGY DEPTH MAP ACQUISITION AND FUSION 审中-公开
    多种技术深度地图获取和融合的方法和装置

    公开(公告)号：US20160212411A1

    公开(公告)日：2016-07-21

    申请号：US14601073

    申请日：2015-01-20

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Kalin Mitkov Atanassov ,  Sergiu Radu Goma

    IPC: H04N13/02 ,  G06T5/50 ,  G06T7/00 ,  G01C11/00 ,  H04N13/00

    CPC classification number: H04N13/271 ,  G01C11/00 ,  G01C2011/36 ,  G06T5/50 ,  G06T7/507 ,  G06T7/521 ,  G06T7/593 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20221 ,  H04N13/128 ,  H04N13/218 ,  H04N2013/0081

    Abstract: Systems, apparatus, and methods for generating a fused depth map from one or more individual depth maps, wherein the fused depth map is configured to provide robust depth estimation for points within the depth map. The methods, apparatus, or systems may comprise components that identify a field of view (FOV) of an imaging device configured to capture an image of the FOV and select a first depth sensing method. The system or method may sense a depth of the FOV with respect to the imaging device using the first selected depth sensing method and generate a first depth map of the FOV based on the sensed depth of the first selected depth sensing method. The system or method may also identify a region of one or more points of the first depth map having one or more inaccurate depth measurements and determine if additional depth sensing is needed.

    Abstract translation: 用于从一个或多个单独深度图生成融合深度图的系统，装置和方法，其中所述融合深度图被配置为对所述深度图内的点提供鲁棒的深度估计。 方法，装置或系统可以包括识别被配置为捕获FOV的图像并选择第一深度感测方法的成像装置的视场（FOV）的部件。 系统或方法可以使用第一选择的深度感测方法来感测相对于成像装置的FOV的深度，并且基于第一选择的深度感测方法的感测深度生成FOV的第一深度图。 系统或方法还可以识别具有一个或多个不准确的深度测量的第一深度图的一个或多个点的区域，并且确定是否需要额外的深度感测。

    Active alignment correction for optical systems
    8.
    发明授权
    Active alignment correction for optical systems 有权

    公开(公告)号：US10412362B2

    公开(公告)日：2019-09-10

    申请号：US15661599

    申请日：2017-07-27

    Applicant: QUALCOMM Incorporated

    Inventor： Htet Naing ,  Kalin Mitkov Atanassov ,  Albrecht Johannes Lindner

    IPC: H04N5/225 ,  H04N13/128 ,  H04N5/232 ,  G06T5/00 ,  G06T7/521

    Abstract: Methods, systems, and apparatuses are provided to compensate for a misalignment of optical devices within an imaging system. For example, the methods receive image data captured by a first optical device having a first optical axis and a second optical device having a second optical axis. The methods also receive sensor data indicative of a deflection of a substrate that supports the first and second optical devices. The deflection can result from a misalignment of the first optical axis relative to the second optical axis. The methods generate a depth value based on the captured image data and the sensor data. The depth value can reflect a compensation for the misalignment of the first optical axis relative to the second optical axis.

    Systems and methods for depth map sampling
    9.
    发明授权
    Systems and methods for depth map sampling 有权

    公开(公告)号：US10282591B2

    公开(公告)日：2019-05-07

    申请号：US14833573

    申请日：2015-08-24

    Applicant: QUALCOMM Incorporated

    Inventor： Albrecht Johannes Lindner ,  Volodimir Slobodyanyuk ,  Stephen Michael Verrall ,  Kalin Mitkov Atanassov

    IPC: G06K9/00 ,  H04N13/261 ,  G01S17/02 ,  G01S17/89 ,  G01S7/497 ,  G06T7/50

    Abstract: An electronic device is described. The electronic device includes a camera configured to capture an image of a scene. The electronic device also includes an image segmentation mapper configured to perform segmentation of the image based on image content to generate a plurality of image segments, each of the plurality of image segments associated with spatial coordinates indicative of a location of each segment in the scene. The electronic device further includes a memory configured to store the image and the spatial coordinates. The electronic device additionally includes a LIDAR (light+radar) unit, the LIDAR unit steerable to selectively obtain depth values corresponding to at least a subset of the spatial coordinates. The electronic device further includes a depth mapper configured to generate a depth map of the scene based on the depth values and the spatial coordinates.

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