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公开(公告)号：US20170357858A1
公开(公告)日：2017-12-14
申请号：US15178505
申请日：2016-06-09
Applicant: QUALCOMM Incorporated
Inventor： Paulo Mendonca , Christopher Brunner , Arvind Ramanandan , Murali Ramaswamy Chari , Dheeraj Ahuja
CPC classification number: G06K9/00791 , G01C21/00 , G01C21/165 , G01S19/42 , G06K9/00 , G06K9/00664 , G06K9/6201 , G06K9/6211 , G06T7/20 , G06T7/30 , G06T2200/04 , G06T2207/30244
Abstract: A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.
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Patent Agency Ranking
公开(公告)号：US09406137B2
公开(公告)日：2016-08-02
申请号：US14278928
申请日：2014-05-15
Applicant: QUALCOMM Incorporated
Inventor： Dheeraj Ahuja , Kiyoung Kim , Yanghai Tsin , Seyed Hesameddin Najafi Shoushtari
CPC classification number: G06T7/0044 , G06T7/246 , G06T7/75 , G06T2207/20021 , G06T2207/30244 , H04N7/183
Abstract: Disclosed embodiments pertain to apparatus, systems, and methods for robust feature based tracking. In some embodiments, a score may be computed for a camera captured current image comprising a target object. The score may be based on one or more metrics determined from a comparison of features in the current image and a prior image captured by the camera. The comparison may be based on an estimated camera pose for the current image. In some embodiments, one of a point based, an edge based, or a combined point and edge based feature correspondence method may be selected based on a comparison of the score with a point threshold and/or a line threshold, the point and line thresholds being obtained from a model of the target. The camera pose may be refined by establishing feature correspondences using the selected method between the current image and a model image.
Abstract translation: 公开的实施例涉及用于基于鲁棒特征的跟踪的装置，系统和方法。 在一些实施例中，可以针对包括目标对象的摄像机拍摄的当前图像计算得分。 得分可以基于从当前图像中的特征与由相机捕获的先前图像的比较确定的一个或多个度量。 比较可以基于当前图像的估计的摄像机姿态。 在一些实施例中，可以基于得分与点阈值和/或线阈值的比较来选择基于点，基于边缘的或基于组合的基于点和边缘的特征对应方法中的一个，点和线阈值 从目标的模型中获得。 可以通过使用当前图像和模型图像之间的所选方法建立特征对应来改进相机姿态。
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公开(公告)号：US09965689B2
公开(公告)日：2018-05-08
申请号：US15178505
申请日：2016-06-09
Applicant: QUALCOMM Incorporated
Inventor： Paulo Ricardo dos Santos Mendonca , Christopher Brunner , Arvind Ramanandan , Murali Ramaswamy Chari , Dheeraj Ahuja
CPC classification number: G06K9/00791 , G01C21/00 , G01C21/165 , G01S19/42 , G06K9/00 , G06K9/00664 , G06K9/6201 , G06K9/6211 , G06T7/20 , G06T7/30 , G06T2200/04 , G06T2207/30244
Abstract: A first map comprising local features and 3D locations of the local features is generated, the local features comprising visible features in a current image and a corresponding set of covisible features. A second map comprising prior features and 3D locations of the prior features may be determined, where each prior feature: was first imaged at a time prior to the first imaging of any of the local features, and lies within a threshold distance of at least one local feature. A first subset comprising previously imaged local features in the first map and a corresponding second subset of the prior features in the second map is determined by comparing the first and second maps, where each local feature in the first subset corresponds to a distinct prior feature in the second subset. A transformation mapping a subset of local features to a subset of prior features is determined.
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4.发明授权公开(公告)号：US09558557B2
公开(公告)日：2017-01-31
申请号：US14662555
申请日：2015-03-19
Applicant: QUALCOMM Incorporated
Inventor： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC classification number: G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
Abstract: A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
Abstract translation: 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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5.发明申请公开(公告)号：US20150193935A1
公开(公告)日：2015-07-09
申请号：US14662555
申请日：2015-03-19
Applicant: QUALCOMM Incorporated
Inventor： Bolan Jiang , Ashwin Swaminathan , Serafin Diaz Spindola , Dheeraj Ahuja , Charles Wheeler Sweet, III , Prasun Choudhury
CPC classification number: G06T7/74 , G06T19/006 , G06T2207/10004 , G06T2207/30244
Abstract: A multi-user augmented reality (AR) system operates without a previously acquired common reference by generating a reference image on the fly. The reference image is produced by capturing at least two images of a planar object and using the images to determine a pose (position and orientation) of a first mobile platform with respect to the planar object. Based on the orientation of the mobile platform, an image of the planar object, which may be one of the initial images or a subsequently captured image, is warped to produce the reference image of a front view of the planar object. The reference image may be produced by the mobile platform or by, e.g., a server. Other mobile platforms may determine their pose with respect to the planar object using the reference image to perform a multi-user augmented reality application.
Abstract translation: 多用户增强现实（AR）系统通过即时生成参考图像而无需先前获取的公共参考。 通过捕获平面物体的至少两个图像并使用图像来确定第一移动平台相对于平面对象的姿势（位置和方位）来产生参考图像。 基于移动平台的方向，可以将平面对象的图像（其可以是初始图像之一或随后的拍摄图像）扭曲，以产生平面对象的前视图的参考图像。 参考图像可以由移动平台或者例如由服务器产生。 其他移动平台可以使用参考图像来确定其相对于平面对象的姿态来执行多用户增强现实应用。
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公开(公告)号：US20140369557A1
公开(公告)日：2014-12-18
申请号：US14263866
申请日：2014-04-28
Applicant: QUALCOMM Incorporated
IPC: G06K9/00
CPC classification number: G06K9/00624 , G06T7/73 , G06T2207/10016 , G06T2207/20016 , G06T2207/30244
Abstract: Disclosed embodiments pertain to feature based tracking. In some embodiments, a camera pose may be obtained relative to a tracked object in a first image and a predicted camera pose relative to the tracked object may be determined for a second image subsequent to the first image based, in part, on a motion model of the tracked object. An updated SE(3) camera pose may then be obtained based, in part on the predicted camera pose, by estimating a plane induced homography using an equation of a dominant plane of the tracked object, wherein the plane induced homography is used to align a first lower resolution version of the first image and a first lower resolution version of the second image by minimizing the sum of their squared intensity differences. A feature tracker may be initialized with the updated SE(3) camera pose.
Abstract translation: 公开的实施例涉及基于特征的跟踪。 在一些实施例中，可以相对于第一图像中的跟踪对象获得相机姿态，并且可以针对基于运动模型的第一图像之后的第二图像来确定相对于被跟踪对象的预测相机姿态 的跟踪对象。 然后可以部分地基于预测的摄像机姿态通过使用跟踪对象的主平面的方程估计平面诱导的单应性来获得更新的SE（3）相机姿态，其中使用平面诱导的单应性来对齐 第一图像的第一低分辨率版本和第二图像的第一较低分辨率版本，通过最小化其平方强度差的总和。 功能跟踪器可以用更新的SE（3）相机姿态来初始化。
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