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1.发明申请公开(公告)号：US20200077073A1
公开(公告)日：2020-03-05
申请号：US16114748
申请日：2018-08-28
Applicant: QUALCOMM Incorporated
Inventor： James Nash , Kalin Atanassov , Narayana Karthik Ravirala
IPC: H04N13/246 , G06T7/80 , G06T7/593 , G06K9/62
Abstract: A stereoscopic imaging device is configured to capture multiple corresponding images of objects from a first camera and a second camera. The stereoscopic imaging device can determine multiple sets of keypoint matches based on the multiple corresponding images of objects, and can accumulate the keypoints. In some examples, the stereoscopic imaging device can determine a vertical disparity between the first camera and the second camera based on the multiple sets of keypoint matches. In some examples, the stereoscopic imaging device can determine yaw errors between the first camera and the second camera based on the sets of keypoint matches, and can determine a yaw disparity between the first camera and the second camera based on the determined yaw errors. The stereoscopic imaging device can generate calibration data to calibrate one or more of the first camera and the second camera based on the determined vertical disparity and/or yaw disparity.
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公开(公告)号：US10445861B2
公开(公告)日：2019-10-15
申请号：US15432783
申请日：2017-02-14
Applicant: QUALCOMM Incorporated
Inventor： Hasib Siddiqui , Kalin Atanassov , James Nash
Abstract: Systems and method for refining a depth map of a scene based upon a captured image of the scene. A captured depth map of the scene may contain outage areas or other areas of low confidence. The depth map may be aligned with a color image of the scene, and the depth values of the depth map may be adjusted based upon corresponding color values of the color image. An amount of refinement for each depth value of the aligned depth map is based upon the confidence value of the depth value and a smoothing function based upon a corresponding location of the depth value on the color image.
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公开(公告)号：US20170024846A1
公开(公告)日：2017-01-26
申请号：US14991871
申请日：2016-01-08
Applicant: QUALCOMM Incorporated
IPC: G06T1/20 , G06F3/0488 , G06F3/0484
CPC classification number: G06T1/20 , G06F3/04842 , G06F3/0488 , G06T3/0068 , G06T7/30 , H04N5/145 , H04N5/232 , H04N5/23238 , H04N5/23296
Abstract: An electronic device for selecting a transform is described. The electronic device includes at least one image sensor, a memory, and a processor coupled to the memory and to the at least one image sensor. The processor is configured to obtain at least two images from the at least one image sensor. The processor is also configured to characterize structural content of each of the at least two images to produce a characterization for each image that is relevant to transform performance. The processor is further configured to select at least one transform from a set of transforms based on the characterization. The processor is additionally configured to apply the at least one transform to at least one of the images to substantially align the at least two images.
Abstract translation: 描述用于选择变换的电子设备。 电子设备包括至少一个图像传感器，存储器和耦合到存储器和至少一个图像传感器的处理器。 处理器被配置为从至少一个图像传感器获得至少两个图像。 处理器还被配置为表征所述至少两个图像中的每一个的结构内容，以产生与变换性能相关的每个图像的表征。 处理器还被配置为基于表征从一组变换中选择至少一个变换。 处理器另外被配置为将至少一个变换应用于至少一个图像以基本上对准至少两个图像。
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公开(公告)号：US10157439B2
公开(公告)日：2018-12-18
申请号：US14991871
申请日：2016-01-08
Applicant: QUALCOMM Incorporated
IPC: G06K9/36 , G06T1/20 , G06F3/0484 , G06F3/0488 , H04N5/14 , G06T3/00 , H04N5/232 , G06T7/30
Abstract: An electronic device for selecting a transform is described. The electronic device includes at least one image sensor, a memory, and a processor coupled to the memory and to the at least one image sensor. The processor is configured to obtain at least two images from the at least one image sensor. The processor is also configured to characterize structural content of each of the at least two images to produce a characterization for each image that is relevant to transform performance. The processor is further configured to select at least one transform from a set of transforms based on the characterization. The processor is additionally configured to apply the at least one transform to at least one of the images to substantially align the at least two images.
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公开(公告)号：US20200096640A1
公开(公告)日：2020-03-26
申请号：US16143070
申请日：2018-09-26
Applicant: QUALCOMM Incorporated
Inventor： Kalin Atanassov , Sergiu Goma , James Nash
Abstract: Aspects of the present disclosure relate to systems and methods for structured light (SL) depth systems. A depth finding system includes one or more processors and a memory, coupled to the one or more processors, includes instructions that, when executed by the one or more processors, cause the system to capture a plurality of frames based on transmitted pulses of light, where each of the frames is captured by scanning a sensor array after a respective one of the pulses has been transmitted, and generate an image depicting reflections of the transmitted light by combining the plurality of frames, where each of the frames provides a different portion of the image.
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Patent Agency Ranking
公开(公告)号：US20190228535A1
公开(公告)日：2019-07-25
申请号：US16040157
申请日：2018-07-19
Applicant: QUALCOMM Incorporated
Inventor： Hasib Siddiqui , James Nash , Kalin Atanassov
Abstract: Aspects of the present disclosure relate to processing captured images from structured light systems. An example device may include one or more processors and a memory. The memory may include instructions that, when executed by the one or more processors, cause the device to receive a captured image of a scene from a structured light receiver, analyze one or more first portions of the captured image at a first scale, and analyze one or more second portions of the captured image at a second scale finer than the first scale. The analysis of the one or more second portions may be based on the analysis of the one or more first portions. The instructions further may cause the device to determine for each of the one or more second portions a codeword from a codeword distribution and determine one or more depths in the scene based on the one or more determined codewords.
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公开(公告)号：US10337923B2
公开(公告)日：2019-07-02
申请号：US15703947
申请日：2017-09-13
Applicant: QUALCOMM Incorporated
Inventor： Hasib Siddiqui , Magdi Mohamed , James Nash , Kalin Atanassov
Abstract: Systems and methods are disclosed for processing spectral imaging (SI) data. A training operation estimates reconstruction matrices based on a spectral mosaic of an SI sensor, generates directionally interpolated maximum a-priori (MAP) estimations of image data based on the estimated reconstruction matrices. The training operation may determine filter coefficients for each of a number of cross-band interpolation filters based at least in part on the MAP estimations, and may determine edge classification factors based at least in part on the determined filter coefficients. The training operation may configure a cross-band interpolation circuit based at least in part on the determined filter coefficients and the determined edge classification factors. The configured cross-band interpolation circuit captures mosaic data using the SI sensor, and recovers full-resolution spectral data from the captured mosaic data.
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公开(公告)号：US20180308249A1
公开(公告)日：2018-10-25
申请号：US15493859
申请日：2017-04-21
Applicant: QUALCOMM Incorporated
Inventor： James Nash , Kalin Atanassov , Albrecht Johannes Linder
CPC classification number: G06T7/73 , G06K9/4604 , G06T7/33 , G06T2207/10028
Abstract: Systems and methods configured to generate virtual gimbal information for range images produced from 3D depth scans are described. In operation according to embodiments, known and advantageous spatial geometries of features of a scanned volume are exploited to generate virtual gimbal information for a pose. The virtual gimbal information of embodiments may be used to align a range image of the pose with one or more other range images for the scanned volume, such as for combining the range images for use in indoor mapping, gesture recognition, object scanning, etc. Implementations of range image registration using virtual gimbal information provide a realtime one shot direct pose estimator by detecting and estimating the normal vectors for surfaces of features between successive scans which effectively imparts a coordinate system for each scan with an orthogonal set of gimbal axes and defines the relative camera attitude.
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公开(公告)号：US20180232859A1
公开(公告)日：2018-08-16
申请号：US15432783
申请日：2017-02-14
Applicant: QUALCOMM Incorporated
Inventor： Hasib Siddiqui , Kalin Atanassov , James Nash
CPC classification number: G06T5/002 , G06T5/005 , G06T5/50 , G06T7/50 , G06T7/90 , G06T2207/10024 , G06T2207/10028
Abstract: Systems and method for refining a depth map of a scene based upon a captured image of the scene. A captured depth map of the scene may contain outage areas or other areas of low confidence. The depth map may be aligned with a color image of the scene, and the depth values of the depth map may be adjusted based upon corresponding color values of the color image. An amount of refinement for each depth value of the aligned depth map is based upon the confidence value of the depth value and a smoothing function based upon a corresponding location of the depth value on the color image.
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公开(公告)号：US10991112B2
公开(公告)日：2021-04-27
申请号：US16040157
申请日：2018-07-19
Applicant: QUALCOMM Incorporated
Inventor： Hasib Siddiqui , James Nash , Kalin Atanassov
Abstract: Aspects relate to processing captured images from structured light systems. An example device may include one or more processors and a memory. The memory may include instructions that, when executed by the one or more processors, cause the device to receive a captured image of a scene from a structured light receiver, analyze one or more first portions of the captured image at a first scale, and analyze one or more second portions of the captured image at a second scale finer than the first scale. The analysis of the one or more second portions may be based on the analysis of the one or more first portions. The instructions further may cause the device to determine for each of the one or more second portions a codeword from a codeword distribution and determine one or more depths in the scene based on the one or more determined codewords.
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