公开(公告)号：US11481982B2

公开(公告)日：2022-10-25

申请号：US16918277

申请日：2020-07-01

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Qi Pan

IPC: G06T7/246 ,  G06T19/00 ,  G06T7/73

Abstract: Disclosed are a system, apparatus, and method for in-situ creation of planar natural feature targets. In one embodiment, a planar target is initialized from a single first reference image one or more subsequent images are processed. In one embodiment, the planar target is tracked in six degrees of freedom upon the processing of the one or more subsequent images and a second reference image is selected from the processed one or more subsequent images. In one embodiment, upon selecting the second reference image the planar target is refined to a more accurate planar target.

公开(公告)号：US20200334913A1

公开(公告)日：2020-10-22

申请号：US16918277

申请日：2020-07-01

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Qi Pan

IPC: G06T19/00 ,  G06T7/246 ,  G06T7/73

Abstract: Disclosed are a system, apparatus, and method for in-situ creation of planar natural feature targets. In one embodiment, a planar target is initialized from a single first reference image one or more subsequent images are processed. In one embodiment, the planar target is tracked in six degrees of freedom upon the processing of the one or more subsequent images and a second reference image is selected from the processed one or more subsequent images. In one embodiment, upon selecting the second reference image the planar target is refined to a more accurate planar target.

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

IPC: G06T7/70 ,  G01B11/00 ,  G06T19/00

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.

公开(公告)号：US20170374256A1

公开(公告)日：2017-12-28

申请号：US15192930

申请日：2016-06-24

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner

IPC: H04N5/232

CPC classification number: H04N5/2329 ,  G06T7/246 ,  G06T7/73 ,  G06T2207/10021 ,  G06T2207/10028 ,  H04N5/2173 ,  H04N5/23251 ,  H04N5/23274 ,  H04N5/3532

Abstract: Disclosed are a system, apparatus, and method for rolling shutter compensation. An image having a plurality of scanlines captured at different times may be received from a rolling shutter camera where each scanline includes a plurality of 2D pixels, and where each scanline has an associated camera pose. One or more 2D pixels in a first scanline of the received image to 3D coordinates may be unprojected and the 3D coordinates may be transformed from the first scanline to a reference pose. The transformed 3D coordinates may be reprojected, and in response to the reprojecting, reference timeframe corrected 2D coordinates for the one or more 2D pixels in the first scanline may be provided.

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

IPC: H04N13/02 ,  H04N15/00 ,  G06T17/00

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。

公开(公告)号：US20140267397A1

公开(公告)日：2014-09-18

申请号：US13802834

申请日：2013-03-14

Applicant: QUALCOMM INCORPORATED

Inventor： Daniel Wagner ,  Qi Pan

IPC: G06T7/00 ,  G06T19/00

Abstract: Disclosed are a system, apparatus, and method for in-situ creation of planar natural feature targets. In one embodiment, a planar target is initialized from a single first reference image one or more subsequent images are processed. In one embodiment, the planar target is tracked in six degrees of freedom upon the processing of the one or more subsequent images and a second reference image is selected from the processed one or more subsequent images. In one embodiment, upon selecting the second reference image the planar target is refined to a more accurate planar target.

Abstract translation: 公开了用于原位创建平面自然特征目标的系统，装置和方法。 在一个实施例中，从单个第一参考图像初始化平面目标，一个或多个后续图像被处理。 在一个实施例中，在处理一个或多个后续图像时，以六个自由度跟踪平面目标，并且从处理的一个或多个后续图像中选择第二参考图像。 在一个实施例中，在选择第二参考图像时，将平面目标细化到更准确的平面目标。

公开(公告)号：US20140126768A1

公开(公告)日：2014-05-08

申请号：US13789577

申请日：2013-03-07

Applicant: QUALCOMM INCORPORATED

Inventor： Mahesh Ramachandran ,  Daniel Wagner ,  Murali Ramaswamy Chari

IPC: G06K9/00

CPC classification number: G06K9/00711 ,  G06K9/00201 ,  G06K9/00214 ,  G06T7/248 ,  G06T17/20 ,  G06T2207/10016

Abstract: A system and method is described herein for solving for surface normals of objects in the scene observed in a video stream. The system and method may include sampling the video stream to generate a set of keyframes; generating hypothesis surface normals for a set of mappoints in each of the keyframes; warping patches of corresponding mappoints in a first keyframe to the viewpoint of a second keyframe with a warping matrix computed from each of the hypothesis surface normals; scoring warping errors between each hypothesis surface normal in the two keyframes; and discarding hypothesis surface normals with high warping errors between the first and second keyframes.

Abstract translation: 这里描述了一种解决在视频流​​中观察到的场景中的对象的表面法线的系统和方法。 系统和方法可以包括对视频流进行采样以生成一组关键帧; 为每个关键帧中的一组地图点生成假设表面法线; 将第一关键帧中的相应地图点的修补片从具有从每个假设表面法线计算的翘曲矩阵的第二关键帧的视点; 在两个关键帧之间的每个假说表面正常之间评分翘曲误差; 并且丢弃在第一和第二关键帧之间具有高翘曲误差的假设表面法线。

公开(公告)号：US10262441B2

公开(公告)日：2019-04-16

申请号：US14625380

申请日：2015-02-18

Applicant: QUALCOMM Incorporated

Inventor： Erick Mendez Mendez ,  Daniel Wagner ,  Michael Gervautz

IPC: G06T11/00 ,  G06T19/00

Abstract: Disclosed is a method and apparatus for using color measurement features at multiple scales for a Color Transfer technique. In one embodiment, the functions implemented include: resizing a ground truth image target frame to a plurality of different scales; selecting one or more color measurement features from the ground truth image target frame at each of the plurality of different scales; making a color measurement for each color measurement feature in the ground truth image target frame; and adjusting colors of a virtual object in an augmented frame based at least in part on the color measurements.

公开(公告)号：US09785836B2

公开(公告)日：2017-10-10

申请号：US14967189

申请日：2015-12-11

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Zsolt Szabolcs Szalavari

IPC: G06K9/46 ,  G06K9/00 ,  G06T7/00 ,  G06T7/40 ,  G06T7/246

CPC classification number: G06K9/00624 ,  G06K9/46 ,  G06K2009/4666 ,  G06T7/0004 ,  G06T7/248 ,  G06T7/40 ,  G06T2207/10016 ,  G06T2207/30108

Abstract: A mobile platform visually detects and/or tracks a target that includes a dynamically changing portion, or otherwise undesirable portion, using a feature dataset for the target that excludes the undesirable portion. The feature dataset is created by providing an image of the target and identifying the undesirable portion of the target. The identification of the undesirable portion may be automatic or by user selection. An image mask is generated for the undesirable portion. The image mask is used to exclude the undesirable portion in the creation of the feature dataset for the target. For example, the image mask may be overlaid on the image and features are extracted only from unmasked areas of the image of the target. Alternatively, features may be extracted from all areas of the image and the image mask used to remove features extracted from the undesirable portion.

公开(公告)号：US09747516B2

公开(公告)日：2017-08-29

申请号：US14846674

申请日：2015-09-04

Applicant: QUALCOMM Incorporated

Inventor： Daniel Wagner ,  Kiyoung Kim

IPC: G06K9/46 ,  G06K9/62 ,  G06K9/52 ,  G06T3/00 ,  G06T7/20 ,  G06K9/32

CPC classification number: G06K9/4671 ,  G06K9/52 ,  G06K9/6211 ,  G06K9/6215 ,  G06K2009/3291 ,  G06K2009/4666 ,  G06T3/0093 ,  G06T7/20 ,  G06T2207/20048

Abstract: Disclosed embodiments facilitate keypoint selection in part by assigning a similarity score to each candidate keypoint being considered for selection. The similarity score may be based on the maximum measured similarity of an image patch associated with a keypoint in relation to an image patch in a local image section in a region around the image patch. A subset of the candidate keypoints with the lowest similarity scores may be selected and used to detect and/or track objects in subsequent images and/or to determine camera pose.