公开(公告)号：WO2016133650A2

公开(公告)日：2016-08-25

申请号：PCT/US2016/014579

申请日：2016-01-22

Applicant: QUALCOMM INCORPORATED

Inventor： MENDEZ MENDEZ, Erick ,  WAGNER, Daniel ,  GERVAUTZ, Michael

IPC: G06T11/00

CPC classification number: G06T11/001 ,  G06T19/006

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.

Abstract translation: 公开了一种用于在彩色传输技术中使用多尺度的色彩测量特征的方法和装置。 在一个实施例中，所实现的功能包括：将地面真实图像目标帧的大小调整到多个不同的尺度; 在所述多个不同尺度的每一个上从所述地面真实图像目标帧中选择一个或多个颜色测量特征; 对地面真实图像目标帧中的每个颜色测量特征进行颜色测量; 以及至少部分地基于所述颜色测量来调整增强帧中的虚拟对象的颜色。

公开(公告)号：WO2016122872A1

公开(公告)日：2016-08-04

申请号：PCT/US2016/013098

申请日：2016-01-12

Applicant: QUALCOMM INCORPORATED

Inventor： PARK, Youngmin ,  WAGNER, Daniel

IPC: G06T7/20

CPC classification number: G06K9/46 ,  G06K9/00624 ,  G06K2009/4666 ,  G06T7/246 ,  G06T7/50 ,  G06T7/60 ,  G06T2207/10028 ,  G06T2207/20021

Abstract: Disclosed are a system, apparatus, and method for performing occlusion handling for simultaneous localization and mapping. Occluded map points may be detected according to a depth-mask created according to an image keyframe. Dividing a scene into sections may optimize the depth-mask. Size of depth-mask points may be adjusted according to intensity. Visibility may be verified with an optimized subset of possible map points. Visibility may be propagated to nearby points in response to determining an initial visibility of a first point's surrounding image patch. Visibility may also be organized and optimized according to a grid.

Abstract translation: 公开了一种用于执行同时定位和映射的遮挡处理的系统，装置和方法。 可以根据根据图像关键帧创建的深度掩模来检测闭合的地图点。 将场景划分为多个部分可以优化深度掩码。 深度屏蔽点的大小可以根据强度进行调整。 可以通过可能的地图点的优化子集验证可见性。 响应于确定第一点的周围图像块的初始可视性，可见性可以传播到附近点。 还可以根据网格组织和优化可见性。

公开(公告)号：WO2014158620A1

公开(公告)日：2014-10-02

申请号：PCT/US2014/018787

申请日：2014-02-26

Applicant: QUALCOMM INCORPORATED

Inventor： WAGNER, Daniel ,  PAN, Qi

IPC: G06T7/00 ,  G06T7/20

CPC classification number: G06T7/0044 ,  G06T7/246 ,  G06T7/74 ,  G06T19/006 ,  G06T2207/30244

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：WO2011150386A1

公开(公告)日：2011-12-01

申请号：PCT/US2011/038429

申请日：2011-05-27

Applicant: QUALCOMM INCORPORATED ,  WAGNER, Daniel ,  SZALAVARI, Zsolt, Szabolcs

Inventor： WAGNER, Daniel ,  SZALAVARI, Zsolt, Szabolcs

IPC: G06T7/20

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.

Abstract translation: 移动平台使用排除不想要的部分的目标的特征数据集来目视地检测和/或跟踪包括动态变化部分或其他不期望的部分的目标。 通过提供目标的图像并识别目标的不期望的部分来创建要素数据集。 不期望的部分的识别可以是自动的或通过用户选择。 为不希望的部分生成图像掩模。 图像掩码用于在目标的要素数据集的创建中排除不需要的部分。 例如，图像掩模可以覆盖在图像上，并且仅从目标图像的未屏蔽区域提取特征。 或者，可以从图像的所有区域提取特征，以及用于去除从不期望的部分提取的特征的图像掩模。

公开(公告)号：WO2016182754A1

公开(公告)日：2016-11-17

申请号：PCT/US2016/029843

申请日：2016-04-28

Applicant: QUALCOMM INCORPORATED

Inventor： WAGNER, Daniel ,  KIM, Kiyoung

IPC: G06K9/62

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.

Abstract translation: 公开的实施例部分地通过将考虑用于选择的每个候选关键点分配相似性分数来促进关键点选择。 相似度得分可以基于与图像贴片周围区域中的局部图像部分中的关键点相关联的图像贴片的图像贴片的最大测量相似度。 可以选择具有最低相似性得分的候选关键点的子集，并用于检测和/或跟踪后续图像中的对象和/或确定相机姿态。

公开(公告)号：WO2016094081A1

公开(公告)日：2016-06-16

申请号：PCT/US2015/062319

申请日：2015-11-24

Applicant: QUALCOMM INCORPORATED

Inventor： PARK, Youngmin ,  MENDEZ MENDEZ, Erick ,  REITMAYR, Gerhard ,  WAGNER, Daniel ,  DIAZ SPINDOLA, Serafin

IPC: G06T7/00

CPC classification number: G06T19/006 ,  G06T7/13 ,  G06T7/38 ,  G06T2200/04 ,  G06T2207/10012 ,  G06T2207/10016 ,  G06T2207/10024 ,  G06T2207/10028 ,  H04N13/15 ,  H04N13/167 ,  H04N2213/003

Abstract: Disclosed are a system, apparatus, and method for depth and color camera image synchronization. Depth and color camera input images are received or otherwise obtained unsynchronized and without associated creation timestamps. An image of one type is compared with an image of a different type to determine a match for synchronization. Matches may be determined according to edge detection or depth coordinate detection. When a match is determined a synchronized pair is formed for processing within an augmented reality output. Optionally the synchronized pair may be transformed to improve the match between the image pair.

Abstract translation: 公开了用于深度和彩色相机图像同步的系统，装置和方法。 深度和彩色相机输入图像被接收或以其他方式获得不同步并且没有关联的创建时间戳。 将一种类型的图像与不同类型的图像进行比较以确定用于同步的匹配。 可以根据边缘检测或深度坐标检测来确定匹配。 当确定匹配时，形成用于在增强现实输出中进行处理的同步对。 可选地，可以变换同步对以改善图像对之间的匹配。

公开(公告)号：WO2014130237A1

公开(公告)日：2014-08-28

申请号：PCT/US2014/014763

申请日：2014-02-05

Applicant: QUALCOMM INCORPORATED

Inventor： WAGNER, Daniel ,  PAN, Qi

IPC: G06F17/30

CPC classification number: G06F17/30286 ,  G06T17/00

Abstract: Disclosed is a computing device that can perform automatic image rectification for a visual search. A method implemented at a computing device includes receiving one or more images from an image capture device, storing the one or more images with the computing device, building a three dimensional (3D) geometric model for one or more potential objects of interest within an environment based on at least one image of the one or more images, and automatically creating at least one rectified image having at least one potential object of interest for a visual search.

Abstract translation: 公开了一种可以执行视觉搜索的自动图像校正的计算装置。 在计算设备处实现的方法包括从图像捕获设备接收一个或多个图像，用计算设备存储一个或多个图像，在环境中为一个或多个感兴趣的潜在对象建立三维（3D）几何模型 基于所述一个或多个图像的至少一个图像，并且自动创建具有至少一个潜在的目标物体的至少一个整流图像用于视觉搜索。

公开(公告)号：WO2013081917A1

公开(公告)日：2013-06-06

申请号：PCT/US2012/066114

申请日：2012-11-20

Applicant: QUALCOMM INCORPORATED

Inventor： WAGNER, Daniel ,  GERVAUTZ, Michael

IPC: G06T7/00

CPC classification number: G06T7/74 ,  G06T2207/10016

Abstract: Method and apparatus for tracking three-dimensional (3D) objects are disclosed. In one embodiment, a method of tracking a 3D object includes constructing a database to store a set of two-dimensional (2D) images of the 3D object using a tracking background, where the tracking background includes at least one known pattern, receiving a tracking image, determining whether the tracking image matches at least one image in the database in accordance with feature points of the tracking image, and providing information about the tracking image in respond to the tracking image matches the at least one image in the database. The method of constructing a database also includes capturing the set of 2D images of the 3D object with the tracking background, extracting a set of feature points from each 2D image, and storing the set of feature points in the database.

Abstract translation: 公开了用于跟踪三维（3D）对象的方法和装置。 在一个实施例中，跟踪3D对象的方法包括使用跟踪背景构建数据库以存储3D对象的一组二维（2D）图像，其中跟踪背景包括至少一个已知模式，接收跟踪 图像，根据跟踪图像的特征点确定跟踪图像是否与数据库中的至少一个图像匹配，以及响应跟踪图像提供关于跟踪图像的信息与数据库中的至少一个图像匹配。 构建数据库的方法还包括利用跟踪背景拍摄3D对象的一组2D图像，从每个2D图像提取一组特征点，以及将该组特征点存储在数据库中。

公开(公告)号：WO2015127246A1

公开(公告)日：2015-08-27

申请号：PCT/US2015/016875

申请日：2015-02-20

Applicant: QUALCOMM INCORPORATED

Inventor： KNOBLAUCH, Daniel ,  MULLONI, Alessandro ,  WAGNER, Daniel

IPC: G06T11/00 ,  G06T15/04

CPC classification number: G06T15/04 ,  G06T5/003 ,  G06T11/001 ,  G06T17/10 ,  G06T17/205 ,  G06T2200/04 ,  G06T2200/28 ,  G06T2210/61

Abstract: One disclosed example method for view independent color equalized 3D scene texturing includes capturing a plurality of keyframes of an object; accessing a 3D representation of the object comprising a surface mesh model for the object, the surface mesh model comprising a plurality of polygons; for each polygon, assigning one of the plurality of keyframes to the polygon based on one or more image quality characteristics associated with a portion of the keyframe corresponding to the polygon; reducing a number of assigned keyframes by changing associations between assigned keyframes; and for each polygon of the surface mesh model having an assigned keyframe: equalizing a texture color of at least a portion of the polygon based at least in part on one or more image quality characteristics of the plurality of keyframes associated with the polygon; and assigning the equalized texture color to the 3D representation of the object.

Abstract translation: 用于查看独立颜色均衡的3D场景纹理的一个公开的示例性方法包括捕获对象的多个关键帧; 访问包括用于对象的表面网格模型的对象的3D表示，所述表面网格模型包括多个多边形; 对于每个多边形，基于与所述多边形对应的关键帧的一部分相关联的一个或多个图像质量特征，将所述多个关键帧中的一个分配给所述多边形; 通过改变分配的关键帧之间的关联来减少多个分配的关键帧; 并且对于具有分配关键帧的表面网格模型的每个多边形：至少部分地基于与多边形相关联的多个关键帧的一个或多个图像质量特性来均衡多边形的至少一部分的纹理颜色; 并将均衡的纹理颜色分配给对象的3D表示。

公开(公告)号：WO2014159789A1

公开(公告)日：2014-10-02

申请号：PCT/US2014/025147

申请日：2014-03-13

Applicant: QUALCOMM INCORPORATED

Inventor： WAGNER, Daniel ,  PARK, Youngmin ,  PAN, Qi

IPC: G06T7/00

CPC classification number: G06K9/3241 ,  G06T7/20 ,  G06T7/74 ,  G06T19/006 ,  G06T2207/10016 ,  G06T2207/20201

Abstract: Various methods, apparatuses and/or articles of manufacture are provided which may be implemented for use by an electronic device to track objects across two or more digital images. For example, an electronic device may generate a plurality of warped patches corresponding to a reference patch of a reference image, and combine two or more warped patches to form a blurred warped patch corresponding to the reference patch with a motion blur effect applied to a digital representation corresponding to a keypoint of an object to be tracked.

Abstract translation: 提供了各种方法，装置和/或制造品，其可以被实现为由电子设备用于跟踪跨越两个或更多个数字图像的物体。 例如，电子设备可以生成与参考图像的参考图像相对应的多个翘曲的斑块，并且组合两个或更多个扭曲的斑块以形成与参考斑块相对应的模糊的弯曲斑块，其中运动模糊效应被应用于数字 对应于要跟踪的对象的关键点的表示。