公开(公告)号：WO2014070334A1

公开(公告)日：2014-05-08

申请号：PCT/US2013/061401

申请日：2013-09-24

Applicant: QUALCOMM INCORPORATED

Inventor： RAMACHANDRAN, Mahesh ,  SWAMINATHAN, Ashwin

IPC: G06T7/00

CPC classification number: G09G5/377 ,  G06T7/55 ,  G06T2200/04 ,  G06T2200/08 ,  G06T2207/10016 ,  G06T2207/30244

Abstract: Systems and methods for performing localization and mapping with a mobile device are disclosed. In one embodiment, a method for performing localization and mapping with a mobile device includes identifying geometric constraints associated with a current area at which the mobile device is located, obtaining at least one image of the current area captured by at least a first camera of the mobile device, obtaining data associated with the current area via at least one of a second camera of the mobile device or a sensor of the mobile device, and performing localization and mapping for the current area by applying the geometric constraints and the data associated with the current area to the at least one image.

Abstract translation: 公开了用于利用移动设备执行定位和映射的系统和方法。 在一个实施例中，用于执行与移动设备的定位和映射的方法包括识别与移动设备所在的当前区域相关联的几何约束，获得由至少一个第一相机捕获的当前区域的至少一个图像 移动设备，通过移动设备的第二相机或移动设备的传感器中的至少一个获得与当前区域相关联的数据，以及通过应用几何约束和与该移动设备相关联的数据来执行当前区域的定位和映射 当前区域到至少一个图像。

公开(公告)号：WO2014179745A1

公开(公告)日：2014-11-06

申请号：PCT/US2014/036659

申请日：2014-05-02

Applicant: QUALCOMM INCORPORATED

Inventor： MULLONI, Alessandro ,  REITMAYR, Gerhard ,  RAMACHANDRAN, Mahesh ,  WAGNER, Daniel

IPC: G06T7/00 ,  G01C25/00

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.

Abstract translation: 所公开的实施例涉及用于在包括相机和显示器的用户设备（UD）上初始化计算机视觉（CV）应用的系统，方法和装置。 在一些实施例中，用于初始化计算机视觉（CV）应用的最佳相机轨迹可以基于初始相机姿态和估计的枢轴距离来确定。 例如，可以基于由相机拍摄的第一图像来估计初始相机姿态。 此外，可以用相机的期望的移动方向的指示来实时地更新显示。 在一些实施例中，期望移动方向的指示可以部分地基于当前摄像机姿态和最佳轨迹，其中当前摄像机姿态可以基于由照相机拍摄的当前图像来估计。

公开(公告)号：WO2014149664A1

公开(公告)日：2014-09-25

申请号：PCT/US2014/020160

申请日：2014-03-04

Applicant: QUALCOMM INCORPORATED

Inventor： SADASIVAM, Shankar ,  SWAMINATHAN, Ashwin ,  RAMACHANDRAN, Mahesh

IPC: H04N5/232

CPC classification number: H04N5/23245 ,  H04N5/23216

Abstract: Embodiments of the present invention are directed toward providing intelligent sampling strategies that make efficient use of an always-on camera. To do so, embodiments can utilize sensor information to determine contextual information regarding the mobile device and/or a user of the mobile device. A sampling rate of the always-on camera can then be modulated based on the contextual information.

Abstract translation: 本发明的实施例旨在提供能够有效利用始终在线的相机的智能采样策略。 为此，实施例可以利用传感器信息来确定关于移动设备和/或移动设备的用户的上下文信息。 然后可以基于上下文信息来调制始终在线摄像机的采样率。

公开(公告)号：WO2014099479A1

公开(公告)日：2014-06-26

申请号：PCT/US2013/074067

申请日：2013-12-10

Applicant: QUALCOMM INCORPORATED

Inventor： SWAMINATHAN, Ashwin ,  RAMACHANDRAN, Mahesh

IPC: G06F3/147 ,  G06K9/22 ,  G06F3/01

CPC classification number: G06F3/013 ,  G06F3/0481 ,  G06F3/147 ,  G06K9/00604 ,  G06K9/00671 ,  G06K9/228 ,  G06K9/3233 ,  G09G2340/12

Abstract: Methods and apparatus relating to enabling augmented reality applications using eye gaze tracking are disclosed. An exemplary method according to the disclosure includes displaying an image to a user of a scene viewable by the user, receiving information indicative of an eye gaze of the user, determining an area of interest within the image based on the eye gaze information, determining an image segment based on the area of interest, initiating an object recognition process on the image segment, and displaying results of the object recognition process.

Abstract translation: 公开了使用眼睛注视跟踪来实现增强现实应用的方法和装置。 根据本公开的示例性方法包括将图像显示给用户可见的场景的用户，接收指示用户的眼睛凝视的信息，基于眼睛凝视信息确定图像内的感兴趣区域，确定 基于感兴趣区域的图像片段，在图像片段上开始对象识别处理，并显示对象识别处理的结果。

公开(公告)号：WO2014070524A1

公开(公告)日：2014-05-08

申请号：PCT/US2013/066169

申请日：2013-10-22

Applicant: QUALCOMM INCORPORATED

Inventor： RAMACHANDRAN, Mahesh ,  RAMANANDAN, Arvind ,  BRUNNER, Christopher ,  CHARI, Murali Ramaswamy

IPC: G01P21/00 ,  G01C25/00

CPC classification number: G01P21/00 ,  G01C25/00 ,  G01C25/005

Abstract: An accelerometer in a mobile device is calibrated by taking multiple measurements of acceleration vectors when the mobile device is held stationary at different orientations with respect to a plane normal. A circle is calculated that fits respective tips of measured acceleration vectors in the accelerometer coordinate system. The radius of the circle and the lengths of the measured acceleration vectors are used to calculate a rotation angle for aligning the accelerometer coordinate system with the mobile device surface. A gyroscope in the mobile device is calibrated by taking multiple measurements of a rotation axis when the mobile device is rotated at different rates with respect to the rotation axis. A line is calculated that fits the measurements. The angle between the line and an axis of the gyroscope coordinate system is used to align the gyroscope coordinate system with the mobile device surface.

Abstract translation: 当移动设备以相对于平面法线的不同取向保持静止时，通过对加速度矢量进行多次测量来校准移动设备中的加速度计。 计算一个圆圈，该圆圈适合加速度计坐标系中测量加速度向量的各个尖端。 使用圆的半径和测量的加速度矢量的长度来计算用于使加速度计坐标系与移动设备表面对准的旋转角度。 当移动设备相对于旋转轴以不同的速率旋转时，通过对旋转轴进行多次测量来校准移动设备中的陀螺仪。 计算符合测量值的线。 陀螺仪坐标系的线和轴之间的角度用于将陀螺仪坐标系与移动设备表面对齐。

公开(公告)号：WO2014070390A1

公开(公告)日：2014-05-08

申请号：PCT/US2013/063876

申请日：2013-10-08

Applicant: QUALCOMM INCORPORATED

Inventor： RAMACHANDRAN, Mahesh ,  TYAGI, Abhishek ,  DIAZ SPINDOLA, Serafin

IPC: G06T7/00

CPC classification number: G06T11/60 ,  G06K9/3241 ,  G06K9/38 ,  G06T7/579

Abstract: Method, apparatus, and computer program product for merging multiple maps for computer vision based tracking comprises receiving a plurality of maps of a scene in a venue from at least one mobile device, identifying multiple keyframes of the plurality of maps of the scene, and eliminating redundant keyframes to generate a global map of the scene.

Abstract translation: 用于合并用于基于计算机视觉的跟踪的多个地图的方法，装置和计算机程序产品包括从至少一个移动设备接收场地中的场景的多个地图，识别场景的多个地图中的多个关键帧，以及消除 冗余关键帧来生成场景的全局映射。

公开(公告)号：WO2013048641A1

公开(公告)日：2013-04-04

申请号：PCT/US2012/051739

申请日：2012-08-21

Applicant: QUALCOMM INCORPORATED ,  RAMACHANDRAN, Mahesh ,  SWAMINATHAN, Ashwin ,  CHARI, Murali R. ,  DIAZ SPINDOLA, Serafin

Inventor： RAMACHANDRAN, Mahesh ,  SWAMINATHAN, Ashwin ,  CHARI, Murali R. ,  DIAZ SPINDOLA, Serafin

IPC: G06T7/20

CPC classification number: G06T7/2066 ,  G06T7/207 ,  G06T7/269 ,  G06T2207/10016 ,  G06T2207/20016 ,  G06T2207/30244

Abstract: Reference free tracking of position by a mobile platform is performed using images of a planar surface. Tracking is performed optical flow techniques, such as pyramidal Lucas-Kanade optical flow with multiple levels of resolution, where displacement is determined with pixel accuracy at lower resolutions and at sub-pixel accuracy at full resolution, which improves computation time for real time performance. Periodic drift correction is performed by matching features between a current frame and a keyframe. The keyframe may be replaced with the drift corrected current image.

Abstract translation: 使用平面表面的图像来执行移动平台对位置的自由跟踪。 跟踪采用光流技术，如具有多级分辨率的锥形Lucas-Kanade光流，其中以较低分辨率的像素精度和全分辨率的亚像素精度确定位移，从而提高实时性能的计算时间。 通过匹配当前帧和关键帧之间的特征来执行周期漂移校正。 关键帧可以用漂移校正的当前图像代替。

公开(公告)号：WO2014099410A1

公开(公告)日：2014-06-26

申请号：PCT/US2013/073511

申请日：2013-12-06

Applicant: QUALCOMM INCORPORATED

Inventor： RAMACHANDRAN, Mahesh ,  BRUNNER, Christopher ,  RAMANANDAN, Arvind ,  DIAZ SPINDOLA, Serafin ,  CHARI, Murali Ramaswamy

IPC: G01C21/16 ,  G01C25/00 ,  G06T7/00

CPC classification number: G06F3/017 ,  G01C21/165 ,  G01C25/005 ,  G06F3/0304 ,  G06F3/0346 ,  G06F3/0487 ,  G06T7/73 ,  G06T7/80 ,  G06T2207/30208

Abstract: A mobile device determines a vision based pose using images captured by a camera and determines a sensor based pose using data from inertial sensors, such as accelerometers and gyroscopes. The vision based pose and sensor based pose are used separately in a visualization application, which displays separate graphics for the different poses. For example, the visualization application may be used to calibrate the inertial sensors, where the visualization application displays a graphic based on the vision based pose and a graphic based on the sensor based pose and prompts a user to move the mobile device in a specific direction with the displayed graphics to accelerate convergence of the calibration of the inertial sensors. Alternatively, the visualization application may be a motion based game or a photography application that displays separate graphics using the vision based pose and the sensor based pose.

Abstract translation: 移动设备使用由摄像机拍摄的图像来确定基于视觉的姿势，并且使用来自诸如加速度计和陀螺仪的惯性传感器的数据来确定基于传感器的姿态。 基于视觉的姿势和基于传感器的姿势在可视化应用程序中单独使用，可视化应用程序显示不同姿态的单独图形。 例如，可视化应用程序可用于校准惯性传感器，其中可视化应用基于基于视觉的姿态显示图形和基于基于传感器的姿态的图形，并且提示用户将特定方向移动移动设备 具有显示的图形以加速惯性传感器校准的收敛。 或者，可视化应用可以是基于运动的游戏或摄影应用，其使用基于视觉的姿势和基于传感器的姿势来显示单独的图形。

公开(公告)号：WO2014070457A1

公开(公告)日：2014-05-08

申请号：PCT/US2013/065249

申请日：2013-10-16

Applicant: QUALCOMM INCORPORATED

Inventor： RAMACHANDRAN, Mahesh ,  WAGNER, Daniel ,  CHARI, Murali Ramaswamy

IPC: G06T7/20

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：WO2014070391A1

公开(公告)日：2014-05-08

申请号：PCT/US2013/063900

申请日：2013-10-08

Applicant: QUALCOMM INCORPORATED

Inventor： RAMANANDAN, Arvind ,  BRUNNER, Christopher ,  RAMACHANDRAN, Mahesh ,  CHARI, Murali Ramaswamy

IPC: G06T7/00

CPC classification number: G06T7/004 ,  G06T7/70 ,  G06T7/74 ,  G06T2207/30244

Abstract: Systems, apparatus and methods for estimating gravity and/or scale in a mobile device are presented. A difference between an image-based pose and an inertia-based pose is using to update the estimations of gravity and/or scale. The image-based pose is computed from two poses and is scaled with the estimation of scale prior to the difference. The inertia-based pose is computed from accelerometer measurements, which are adjusted by the estimation for gravity.

Abstract translation: 提出了用于估计移动设备中的重力和/或尺度的系统，装置和方法。 基于图像的姿势和基于惯性的姿势之间的差异正在用于更新重力和/或尺度的估计。 基于图像的姿势是从两个姿态计算的，并且在差异之前用缩放比例缩放。 基于惯性的姿态由加速度计测量计算，通过重力估计进行调整。