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公开(公告)号：US11335022B2
公开(公告)日：2022-05-17
申请号：US16897749
申请日：2020-06-10
申请人： Snap Inc.
摘要： The pose of a wide-angle image is determined by dewarping regions of the wide-angle image, determining estimated poses of the dewarped regions of the wide-angle image and deriving a pose of the wide-angle image from the estimated poses of the of the dewarped regions. The estimated poses of the dewarped regions may be determined by comparing features in the dewarped regions with features in prior dewarped regions from one or more prior wide-angle images, as well as by comparing features in the dewarped regions with features in a point cloud.
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公开(公告)号：US20240185524A1
公开(公告)日：2024-06-06
申请号：US18072958
申请日：2022-12-01
申请人： Snap Inc.
CPC分类号： G06T17/20 , G06T7/38 , G06T2207/10028 , G06T2207/10032
摘要： Systems and method for generating three-dimensional (3D) maps of physical structures are provided. A 3D mapping system can be configured to generate a 3D map of a physical structures using image data sets generated from different user devices. The mapping system can implement reference geometry into a 3D structure generation pipeline to generate more accurate 3D models.
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公开(公告)号：US11276201B1
公开(公告)日：2022-03-15
申请号：US15929976
申请日：2020-06-01
申请人： Snap Inc.
摘要： Determining the position and orientation (or “pose”) of an augmented reality device includes capturing an image of a scene having a number of features and extracting descriptors of features of the scene represented in the image. The descriptors are matched to landmarks in a 3D model of the scene to generate sets of matches between the descriptors and the landmarks. Estimated poses are determined from at least some of the sets of matches between the descriptors and the landmarks. Estimated poses having deviations from an observed location measurement that are greater than a threshold value may be eliminated. Features used in the determination of estimated poses may also be weighted by the inverse of the distance between the feature and the device, so that closer features are accorded more weight.
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公开(公告)号：US20230368476A1
公开(公告)日：2023-11-16
申请号：US18221179
申请日：2023-07-12
申请人： Snap Inc.
CPC分类号： G06T19/006 , G06T7/70
摘要： An augmented reality device generates an updated position and orientation (pose) value by initially determining, using image-based processing, a pose estimate from a current image frame, a previous image frame and a previous pose. An IMU pose is then obtained from data generated by an inertial measurement unit including motion sensors, and transformation between the pose estimate and the IMU pose is determined. The transformation is applied to the pose estimate to generate a pose update. Media content is applied to a position within an image, the position being based on the pose update.
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公开(公告)号：US20220156976A1
公开(公告)日：2022-05-19
申请号：US17589523
申请日：2022-01-31
申请人： Snap Inc.
摘要： Determining the position and orientation (or “pose”) of an augmented reality device includes capturing an image of a scene having a number of features and extracting descriptors of features of the scene represented in the image. The descriptors are matched to landmarks in a 3D model of the scene to generate sets of matches between the descriptors and the landmarks. Estimated poses are determined from at least some of the sets of matches between the descriptors and the landmarks. Estimated poses having deviations from an observed location measurement that are greater than a threshold value may be eliminated. Features used in the determination of estimated poses may also be weighted by the inverse of the distance between the feature and the device, so that closer features are accorded more weight.
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公开(公告)号：US20210390729A1
公开(公告)日：2021-12-16
申请号：US16897749
申请日：2020-06-10
申请人： Snap Inc.
摘要： The pose of a wide-angle image is determined by dewarping regions of the wide-angle image, determining estimated poses of the dewarped regions of the wide-angle image and deriving a pose of the wide-angle image from the estimated poses of the of the dewarped regions. The estimated poses of the dewarped regions may be determined by comparing features in the dewarped regions with features in prior dewarped regions from one or more prior wide-angle images, as well as by comparing features in the dewarped regions with features in a point cloud.
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公开(公告)号：US11748954B2
公开(公告)日：2023-09-05
申请号：US17083722
申请日：2020-10-29
申请人： Snap Inc.
CPC分类号： G06T19/006 , G06T7/70
摘要： An augmented reality device generates an updated position and orientation (pose) value by initially determining, using image-based processing, a pose estimate from a current image frame, a previous image frame and a previous pose. An IMU pose is then obtained from data generated by an inertial measurement unit including motion sensors, and transformation between the pose estimate and the IMU pose is determined. The transformation is applied to the pose estimate to generate a pose update. Media content is applied to a position within an image, the position being based on the pose update.
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公开(公告)号：US20220230351A1
公开(公告)日：2022-07-21
申请号：US17714720
申请日：2022-04-06
申请人： Snap Inc.
摘要： The pose of a wide-angle image is determined by dewarping regions of the wide-angle image, determining estimated poses of the dewarped regions of the wide-angle image and deriving a pose of the wide-angle image from the estimated poses of the of the dewarped regions. The estimated poses of the dewarped regions may be determined by comparing features in the dewarped regions with features in prior dewarped regions from one or more prior wide-angle images, as well as by comparing features in the dewarped regions with features in a point cloud.
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公开(公告)号：US20210375054A1
公开(公告)日：2021-12-02
申请号：US17083722
申请日：2020-10-29
申请人： Snap Inc.
摘要： An augmented reality device generates an updated position and orientation (pose) value by initially determining, using image-based processing, a pose estimate from a current image frame, a previous image frame and a previous pose. An IMU pose is then obtained from data generated by an inertial measurement unit including motion sensors, and transformation between the pose estimate and the IMU pose is determined. The transformation is applied to the pose estimate to generate a pose update. Media content is applied to a position within an image, the position being based on the pose update.
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公开(公告)号：US11854231B2
公开(公告)日：2023-12-26
申请号：US17589523
申请日：2022-01-31
申请人： Snap Inc.
CPC分类号： G06T7/75 , G06T19/006 , G06T2207/30244
摘要： Determining the position and orientation (or “pose”) of an augmented reality device includes capturing an image of a scene having a number of features and extracting descriptors of features of the scene represented in the image. The descriptors are matched to landmarks in a 3D model of the scene to generate sets of matches between the descriptors and the landmarks. Estimated poses are determined from at least some of the sets of matches between the descriptors and the landmarks. Estimated poses having deviations from an observed location measurement that are greater than a threshold value may be eliminated. Features used in the determination of estimated poses may also be weighted by the inverse of the distance between the feature and the device, so that closer features are accorded more weight.
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