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公开(公告)号：WO2014058565A1
公开(公告)日：2014-04-17
申请号：PCT/US2013/059797
申请日：2013-09-13
Applicant: QUALCOMM INCORPORATED
CPC classification number: G01C25/00 , G06T7/73 , G06T2207/10016 , G06T2207/30244
Abstract: An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.
Abstract translation: 公开了一种使用相机姿态和陀螺仪旋转来生成诸如增强现实应用（AR app）的应用的参数的装置和方法。 基于来自图像的姿态和来自陀螺仪的旋转来估计参数（例如，使用具有QR因子分解的最小二乘估计或卡尔曼滤波器）。 参数表示旋转，刻度和/或非正交性参数以及可选的陀螺仪偏置误差。 此外，尺度和非正交性参数可用于调节原始陀螺仪测量以补偿比例和非正交性。
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公开(公告)号：WO2013188310A1
公开(公告)日：2013-12-19
申请号：PCT/US2013/045015
申请日：2013-06-10
Applicant: QUALCOMM INCORPORATED
Inventor： BRUNNER, Christopher , RAMACHANDRAN, Mahesh , RAMANANDAN, Arvind , CHARI, Murali Ramaswamy
IPC: H04N5/232
CPC classification number: G01C21/16 , H04N5/23254 , H04N5/23258 , H04N17/002
Abstract: A mobile device compensates for lack of a time stamp when an image frame is captured by estimating the frame time stamp latency. The mobile device captures images frames and time stamps each frame after the frame time stamp latency. A vision based rotation is determined from a pair of frames. A plurality of inertia based rotations is measured using time stamped signals from an inertial sensor in the mobile device based on different possible delays between time stamping each frame and time stamps on the signals from the inertial sensors. The determined rotations may be about the camera's optical axis. The vision based rotation is compared to the plurality of inertia based rotations to determine an estimated frame time stamp latency, which is used to correct the frame time stamp latency when time stamping subsequently captured frames. A median latency determined using different frame pairs may be used.
Abstract translation: 当通过估计帧时间戳延迟来捕获图像帧时，移动设备补偿缺少时间戳。 移动设备在帧时间戳延迟之后每帧捕获图像帧和时间戳。 基于视觉的旋转由一对帧确定。 基于来自移动设备中的惯性传感器的时间戳信号，基于每个帧的时间戳和来自惯性传感器的信号的时间戳之间的不同可能的延迟来测量多个基于惯量的旋转。 确定的旋转可以是关于相机的光轴。 将基于视觉的旋转与多个基于惯性的旋转进行比较，以确定估计的帧时间戳延迟，其用于在随后拍摄的帧时间戳时校正帧时间戳等待时间。 可以使用使用不同帧对确定的中值等待时间。
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公开(公告)号：EP3049820B1
公开(公告)日：2019-12-25
申请号：EP14783744.7
申请日：2014-09-26
Applicant: Qualcomm Incorporated
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公开(公告)号：EP3049821B1
公开(公告)日：2019-01-02
申请号：EP14851454.0
申请日：2014-09-26
Applicant: Qualcomm Incorporated
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公开(公告)号：EP2992507B1
公开(公告)日：2018-07-25
申请号：EP14736494.7
申请日：2014-05-02
Applicant: Qualcomm Incorporated
Inventor： MULLONI, Alessandro , REITMAYR, Gerhard , RAMACHANDRAN, Mahesh , WAGNER, Daniel
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.
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Patent Agency Ranking26.发明公开SYSTEMS AND METHODS OF MERGING MULTIPLE MAPS FOR COMPUTER VISION BASED TRACKING 有权系统和方法几款显卡的对于计算机大通即期整理
公开(公告)号：EP2915138A1
公开(公告)日：2015-09-09
申请号：EP13780459.7
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 are disclosed. In one embodiment, a method of 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 merging the multiple keyframes to generate a global map of the scene.
Abstract translation: 方法，装置，和用于合并用于基于计算机视觉跟踪多个地图计算机程序产品游离缺失光盘。 在一个，实施例合并了基于计算机视觉跟踪多个映射步骤包括：接收在从至少一个移动设备的场所的场景的地图的复数，识别场景的地图的多个多个关键帧，和合并的倍数的方法 关键帧生成场景的全球地图。
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27.发明公开GYROSCOPE CONDITIONING AND GYRO-CAMERA ALIGNMENT 审中-公开KREISELAUFBEREITUNG UND KREISELKAMERAAUSRICHTUNG
公开(公告)号：EP2906909A1
公开(公告)日：2015-08-19
申请号：EP13766218.5
申请日：2013-09-13
Applicant: Qualcomm Incorporated
CPC classification number: G01C25/00 , G06T7/73 , G06T2207/10016 , G06T2207/30244
Abstract: An apparatus and method for generating parameters for an application, such as an augmented reality application (AR app), using camera pose and gyroscope rotation is disclosed. The parameters are estimated based on pose from images and rotation from a gyroscope (e.g., using least-squares estimation with QR factorization or a Kalman filter). The parameters indicate rotation, scale and/or non-orthogonality parameters and optionally gyroscope bias errors. In addition, the scale and non-orthogonality parameters may be used for conditioning raw gyroscope measurements to compensate for scale and non-orthogonality.
Abstract translation: 公开了一种使用相机姿态和陀螺仪旋转来生成诸如增强现实应用（AR app）的应用的参数的装置和方法。 根据来自图像的姿态和来自陀螺仪的旋转来估计参数（例如，使用具有QR因子分解的最小二乘估计或卡尔曼滤波器）。 参数表示旋转，刻度和/或非正交性参数以及可选的陀螺仪偏置误差。 此外，尺度和非正交性参数可用于调节原始陀螺仪测量以补偿尺度和非正交性。
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公开(公告)号：EP3075148B1
公开(公告)日：2019-01-16
申请号：EP14805399.4
申请日：2014-10-29
Applicant: Qualcomm Incorporated
Inventor： RAMACHANDRAN, Mahesh , VRCELJ, Bojan , KRISHNAMOORTHI, Raghuraman
IPC: H04N13/254 , H04N13/271 , H04N5/232 , G06K9/00 , G06K9/20
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29.发明公开
公开(公告)号：EP2974268A1
公开(公告)日：2016-01-20
申请号：EP14713987.7
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。
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30.发明公开METHOD FOR INITIALIZING AND SOLVING THE LOCAL GEOMETRY OR SURFACE NORMALS OF SURFELS USING IMAGES IN A PARALLELIZABLE ARCHITECTURE 有权表面单元的方法初始化和当地的地理环境和表面的分辨率常规性矢量通过使用图像可并行体系结构
公开(公告)号：EP2915142A1
公开(公告)日：2015-09-09
申请号：EP13786566.3
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: 一种系统和方法被描述在用于解决在场景观察到在视频流中的对象的表面法线。 该系统和方法可以包括采样视频流，以产生一组关键帧; 生成假设表面法线的一组中的每个关键帧的mappoints的; 翘曲对应mappoints的贴剂中的第一关键帧与从每个假设表面法线计算的变形矩阵的第二关键帧的视点; 得分每个假设表面在两个关键帧正常翘曲之间的误差; 以及丢弃与所述第一和第二关键帧之间的高翘曲错误假设表面法线。
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